the software, written in c++, will be written to maintain a high level of inversion of control, allowing only explicit dependencies, to ensure high testing/verification efficacy. It will implement a _mediator_, _command_ software design pattern, defining interoperability through explicit _request_ data structures, to acheive loose coupling between components to further aid in software verification/testing. The C++ code will be verified by a high level of unit test coverage across the system (using Google's _Google Test_ C++ testing framework), aggregate component software testing, and software-in-the-loop simulation testing.