1)

Why will he thank Hashem with a straight heart?

1.

Radak: [The Mitzvos] will teach me to thank You with a straight heart, when I learn and understand that they are all Your righteous Mishpatim.

2.

Malbim: For Mishpatim, I will thank with a straight heart. "Yashar" refers to Binah. Yosher Levav is one whose heart's understanding is vast, to the point that he grasps everything via his Binah. It is a sharp power that passes through all matters to understand a matter amidst a matter.

2)

What are "Mishpatim"?

1.

Radak (1): Mishpatim are monetary laws Bein Adam l'Chavero.

2.

Malbim: They are Mitzvos that are totally understood.

3)

Why does it say "Mishpetei Tzidkecha"?

1.

Radak (1): Tzedek is the justness of Mitzvos; they were said justly.

2.

Malbim: This refers to when he will understand their justness and straightness.

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