m-dna · leaf-nam · May 13, 2026 · May 13, 2026
diff --git a/include/dto/control_test_command.h b/include/dto/control_test_command.h
@@ -8,7 +8,7 @@
 #pragma pack(push, 1)
 struct ControlTestCommand {
   IcdId message_id;
-  uint8_t start;  // 1 = 시작, 0 = 종료
+  uint8_t start;  // 1 = 중기 유도 시작, 2 = 호밍 유도 시작, 0 = 종료
 };
 #pragma pack(pop)
 

diff --git a/include/dto/hils_rotate_command.h b/include/dto/hils_rotate_command.h
@@ -0,0 +1,16 @@
+#ifndef HILS_ROTATE_COMMAND_H
+#define HILS_ROTATE_COMMAND_H
+
+#include <cstdint>
+
+#include "../enum/icd_id.h"
+
+#pragma pack(push, 1)
+struct HilsRotateCommand {
+  IcdId message_id;
+  int32_t yaw_theta;
+  int32_t pitch_theta;
+};
+#pragma pack(pop)
+
+#endif  // HILS_ROTATE_COMMAND_H
diff --git a/include/dto/homing_end_command.h b/include/dto/homing_end_command.h
@@ -0,0 +1,14 @@
+#ifndef HOMING_END_COMMAND_H
+#define HOMING_END_COMMAND_H
+
+#include <cstdint>
+
+#include "../enum/icd_id.h"
+
+#pragma pack(push, 1)
+struct HomingEndCommand {
+  IcdId message_id;
+};
+#pragma pack(pop)
+
+#endif  // HOMING_END_COMMAND_H
diff --git a/include/dto/homing_end_res.h b/include/dto/homing_end_res.h
@@ -0,0 +1,16 @@
+#ifndef HOMING_END_RES_H
+#define HOMING_END_RES_H
+
+#include <cstdint>
+
+#include "../enum/icd_id.h"
+#include "../enum/subsystem.h"
+
+#pragma pack(push, 1)
+struct HomingEndRes {
+  IcdId message_id;
+  SubSystem my_sub_system;
+};
+#pragma pack(pop)
+
+#endif  // HOMING_END_RES_H
diff --git a/include/dto/homing_start_command.h b/include/dto/homing_start_command.h
@@ -0,0 +1,14 @@
+#ifndef HOMING_START_COMMAND_H
+#define HOMING_START_COMMAND_H
+
+#include <cstdint>
+
+#include "../enum/icd_id.h"
+
+#pragma pack(push, 1)
+struct HomingStartCommand {
+  IcdId message_id;
+};
+#pragma pack(pop)
+
+#endif  // HOMING_START_COMMAND_H
diff --git a/include/dto/homing_start_res.h b/include/dto/homing_start_res.h
@@ -0,0 +1,16 @@
+#ifndef HOMING_START_RES_H
+#define HOMING_START_RES_H
+
+#include <cstdint>
+
+#include "../enum/icd_id.h"
+#include "../enum/subsystem.h"
+
+#pragma pack(push, 1)
+struct HomingStartRes {
+  IcdId message_id;
+  SubSystem my_sub_system;
+};
+#pragma pack(pop)
+
+#endif  // HOMING_START_RES_H
diff --git a/include/dto/telemetry_data.h b/include/dto/telemetry_data.h
@@ -0,0 +1,18 @@
+#ifndef TELEMETRY_DATA_H
+#define TELEMETRY_DATA_H
+
+#include <cstdint>
+
+#include "../enum/icd_id.h"
+#include "ins_main_data.h"
+#include "skr_main_data.h"
+
+#pragma pack(push, 1)
+struct TelemetryData {
+  IcdId message_id;
+  InsMainData ins_data;
+  SkrMainData skr_data;
+};
+#pragma pack(pop)
+
+#endif  // TELEMETRY_DATA_H
diff --git a/include/enum/icd_id.h b/include/enum/icd_id.h
@@ -4,41 +4,56 @@
 #include <cstdint>
 
 enum class IcdId : uint16_t {
-  COMMON_PARAMETER = 0x0000,        // 공통매개변수(common_parameter)
-  ACT_INFO = 0x0001,                // ACT정보(act_info)
-  FULL_SYSTEM_INFO = 0x0002,        // 부체계 정보 및 GCU 정보(full_system_info)
-  INS_DATA = 0x0003,                // INS값(ins_data)
-  INS_INFO = 0x0004,                // INS정보(ins_info)
-  SKR_INFO = 0x0005,                // SKR정보(skr_info)
-  FEATURE_INSPECT_COMMAND = 0x0006, // 기능점검명령(feature_inspect_command)
-  FEATURE_INSPECT_READY_RES = 0x0007, // 기능점검준비완료응답(feature_inspect_ready_res)
-  TARGET_DISTANCE_REQ = 0x0008, // 목표거리오차요청(target_distance_req)
-  TARGET_DISTANCE_RES = 0x0009, // 목표거리오차응답(target_distance_res)
-  POSITION_REQ = 0x000A,        // 자세요청(position_req)
-  POSITION_RES = 0x000B,        // 자세응답(position_res)
-  FIN_CONTROL_REQ = 0x000C,     // 핀제어요청(fin_control_req)
-  FIN_CONTROL_RES = 0x000D,     // 핀제어응답(fin_control_res)
-  FEATURE_INSPECT_FINISH_COMMAND = 0x000E, // 기능점검종료명령(feature_inspect_finish_command)
-  FEATURE_INSPECT_FINISH_RES = 0x000F,               // 기능점검종료응답(feature_inspect_finish_res)
-  ONE_TEST_RESULT = 0x0010, // 1회 수행결과 전송(one_test_result)
-  REBOOT_COMMAND = 0x0011,  // 재부팅 명령 전송(reboot_command)
-  REBOOT_RES = 0x0012,      // 재부팅 명령 응답(reboot_res)
-  FEATURE_INSPECT_READY_COMMAND = 0x0013,             // 기능점검준비완료명령(feature_inspect_ready_command)
-  ACT_DATA = 0x0014,      // ACT값(act_data)
-  INS_MAIN_DATA = 0x0015, // INS실제값(ins_main_data)
-  SKR_MAIN_DATA = 0x0016, // SKR실제값(skr_main_data)
-  FIN_CONTROL_MAIN_COMMAND = 0x0017, // 핀제어실제명령(fin_control_main_command)
-  GUIDANCE_COMMAND = 0x0018,         // 유도 명령 (guidance_command)
-  MISSILE_TARGET_STATE = 0x0019, // 미사일/표적 참값 상태 (missile_target_state)
-  NAVIGATION_TEST_COMMAND = 0x001A, // 항법시험 명령 (navigation_test_command)
-  CONTROL_TEST_COMMAND = 0x001B,    // 제어시험 명령 (control_test_command)
-  CONTROL_TEST_MISSILE_TARGET_STATE = 0x001C, // 제어시험 미사일/표적 상태 (control_test_missile_target_state)
-  CONTROL_TEST_ATTITUDE_FEEDBACK = 0x001D, // 제어시험 자세 피드백 (control_test_attitude_feedback)
-  PCAM_VIDEO_DATA = 0x001E, // PCA 비디오 데이터 (pcam_video_data)
-
+  COMMON_PARAMETER = 0x0000,  // 공통매개변수(common_parameter)
+  ACT_INFO = 0x0001,          // ACT정보(act_info)
+  FULL_SYSTEM_INFO = 0x0002,  // 부체계 정보 및 GCU 정보(full_system_info)
+  INS_DATA = 0x0003,          // INS값(ins_data)
+  INS_INFO = 0x0004,          // INS정보(ins_info)
+  SKR_INFO = 0x0005,          // SKR정보(skr_info)
+  FEATURE_INSPECT_COMMAND = 0x0006,  // 기능점검명령(feature_inspect_command)
+  FEATURE_INSPECT_READY_RES =
+      0x0007,  // 기능점검준비완료응답(feature_inspect_ready_res)
+  TARGET_DISTANCE_REQ = 0x0008,  // 목표거리오차요청(target_distance_req)
+  TARGET_DISTANCE_RES = 0x0009,  // 목표거리오차응답(target_distance_res)
+  POSITION_REQ = 0x000A,         // 자세요청(position_req)
+  POSITION_RES = 0x000B,         // 자세응답(position_res)
+  FIN_CONTROL_REQ = 0x000C,      // 핀제어요청(fin_control_req)
+  FIN_CONTROL_RES = 0x000D,      // 핀제어응답(fin_control_res)
+  FEATURE_INSPECT_FINISH_COMMAND =
+      0x000E,  // 기능점검종료명령(feature_inspect_finish_command)
+  FEATURE_INSPECT_FINISH_RES =
+      0x000F,                // 기능점검종료응답(feature_inspect_finish_res)
+  ONE_TEST_RESULT = 0x0010,  // 1회 수행결과 전송(one_test_result)
+  REBOOT_COMMAND = 0x0011,   // 재부팅 명령 전송(reboot_command)
+  REBOOT_RES = 0x0012,       // 재부팅 명령 응답(reboot_res)
+  FEATURE_INSPECT_READY_COMMAND =
+      0x0013,         // 기능점검준비완료명령(feature_inspect_ready_command)
+  ACT_DATA = 0x0014,  // ACT값(act_data)
+  INS_MAIN_DATA = 0x0015,  // INS실제값(ins_main_data)
+  SKR_MAIN_DATA = 0x0016,  // SKR실제값(skr_main_data)
+  FIN_CONTROL_MAIN_COMMAND =
+      0x0017,                 // 핀제어실제명령(fin_control_main_command)
+  GUIDANCE_COMMAND = 0x0018,  // 유도 명령 (guidance_command)
+  MISSILE_TARGET_STATE =
+      0x0019,  // 미사일/표적 참값 상태 (missile_target_state)
+  NAVIGATION_TEST_COMMAND = 0x001A,  // 항법시험 명령 (navigation_test_command)
+  CONTROL_TEST_COMMAND = 0x001B,     // 제어시험 명령 (control_test_command)
+  CONTROL_TEST_MISSILE_TARGET_STATE =
+      0x001C,  // 제어시험 미사일/표적 상태 (control_test_missile_target_state)
+  CONTROL_TEST_ATTITUDE_FEEDBACK =
+      0x001D,  // 제어시험 자세 피드백 (control_test_attitude_feedback)
+  PCAM_VIDEO_DATA = 0x001E,       // PCA 비디오 데이터 (pcam_video_data)
+  HOMING_START_COMMAND = 0x001F,  // homing_start_command
+  HOMING_START_RES = 0x0020,      // homing_start_res
+  HOMING_END_COMMAND = 0x0021,    // homing_end_command
+  HOMING_END_RES = 0x0022,        // homing_end_res
+  TELEMETRY_DATA = 0x0023,        // telemetry_data
+  HILS_ROTATE_COMMAND = 0x0024,   // hils_rotate_command
   // 아래는 테스트용 ICD ID입니다. 실제 운용에서는 사용X.
-  COMM_RELIABLE_TEST = 0xFFF0, // 통신 신뢰성 테스트용 ICD ID (comm_reliable_test)
-  COMM_BIG_DATA_TEST = 0xFFF1 // 통신 대용량 데이터 테스트용 ICD ID (comm_big_data_test)
+  COMM_RELIABLE_TEST =
+      0xFFF0,  // 통신 신뢰성 테스트용 ICD ID (comm_reliable_test)
+  COMM_BIG_DATA_TEST =
+      0xFFF1  // 통신 대용량 데이터 테스트용 ICD ID (comm_big_data_test)
 };
 
-#endif // ICD_ID_H
+#endif  // ICD_ID_H