Do ADCS or GNC apps already exist?

[WillKrobothDF]

I want to set up some flight software for a LEO cubesat which performs some seemingly standard tasks:

• Process quaternion readings from a star tracker to determine spacecraft attitude
• Process GPS readings to determine spacecraft orbit
• Incorporate IMU sensor data to the previous two processes
• Control a reaction wheel pyramid for 3 axis attitude control
• Control magnetorquers to dump reaction wheel momentum

I figure a lot of satellites need to do stuff like this, so it seems like a waste of time for everyone to go out and solve these problems over and over again independently. Are there any pre-existing cFS (or any other framework) apps that can handle tasks like these?

[dccutrig]

Take a look a NOS3: https://github.com/nasa/nos3