ACM.rpm_cmd, ACM.x[2]*RAD_PER_SEC_2_RPM, sm.omg_elec*RAD_PER_SEC_2_RPM
CTRL.iq_cmd, ACM.x[1]*AINV2PINV
CTRL.id_cmd, ACM.x[0]*AINV2PINV
ACM.x[3]/M_PI*180