text: // Autogenerated file, see write_tunable_param_functions for details
  
  #include "ctl_tunable_funcs.h"
  #include <config_reader/config_reader.h>
  #include <ros/console.h>
  #include <msg_conversions/msg_conversions.h>
  
  // Do config setup and add includes
  void ctl_ReadParams(config_reader::ConfigReader* config,  RT_MODEL_ctl_controller0_T* ctl) {
  
    auto & p = ctl->defaultParam;
  
    if (!msg_conversions::config_read_array(config, "tun_accel_gain", 3 , p->tun_accel_gain))
      ROS_FATAL("Unspecified tun_accel_gain.");
    if (!msg_conversions::config_read_array(config, "tun_alpha_gain", 3 , p->tun_alpha_gain))
      ROS_FATAL("Unspecified tun_alpha_gain.");
    if (!config->GetReal("tun_ctl_att_sat_lower", &p->tun_ctl_att_sat_lower))
      ROS_FATAL("Unspecified tun_ctl_att_sat_lower.");
    if (!config->GetReal("tun_ctl_att_sat_upper", &p->tun_ctl_att_sat_upper))
      ROS_FATAL("Unspecified tun_ctl_att_sat_upper.");
    if (!config->GetReal("tun_ctl_linear_force_limit", &p->tun_ctl_linear_force_limit))
      ROS_FATAL("Unspecified tun_ctl_linear_force_limit.");
    if (!config->GetReal("tun_ctl_pos_sat_lower", &p->tun_ctl_pos_sat_lower))
      ROS_FATAL("Unspecified tun_ctl_pos_sat_lower.");
    if (!config->GetReal("tun_ctl_pos_sat_upper", &p->tun_ctl_pos_sat_upper))
      ROS_FATAL("Unspecified tun_ctl_pos_sat_upper.");
    if (!config->GetReal("tun_ctl_stopped_pos_thresh", &p->tun_ctl_stopped_pos_thresh))
      ROS_FATAL("Unspecified tun_ctl_stopped_pos_thresh.");
    if (!config->GetReal("tun_ctl_stopped_quat_thresh", &p->tun_ctl_stopped_quat_thresh))
      ROS_FATAL("Unspecified tun_ctl_stopped_quat_thresh.");
    if (!config->GetReal("tun_truth_q_omega_filt_enable", &p->tun_truth_q_omega_filt_enable))
      ROS_FATAL("Unspecified tun_truth_q_omega_filt_enable.");
    if (!config->GetReal("tun_truth_velocity_filt_enable", &p->tun_truth_velocity_filt_enable))
      ROS_FATAL("Unspecified tun_truth_velocity_filt_enable.");
    bool debug_ctl_use_truth;
    if (!config->GetBool("tun_debug_ctl_use_truth", &debug_ctl_use_truth))
    ROS_FATAL("Unspecified tun_debug_ctl_use_truth.");
    p->tun_debug_ctl_use_truth = debug_ctl_use_truth;
  }
  