eive-obsw/CHANGELOG.md

Change Log
=======

All notable changes to this project will be documented in this file.

The format is based on [Keep a Changelog](http://keepachangelog.com/).

The [milestone](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones)
list yields a list of all related PRs for each release.

Starting at v2.0.0, this project will adhere to semantic versioning and the the following changes
will consitute of a breaking change warranting a new major release:

- The TMTC interface changes in any shape of form.
- The behaviour of the OBSW changes in a major shape or form relevant for operations

# [unreleased]

## Changed

- Telemetry relevant datasets for the RWs are now set invalid and partially reset on shotdown.
- Bump FSFW: merged upstream.

# [v1.37.2] 2023-03-14

- Changed `PoolManager` bugfix implementation in the FSFW.
- Some tweaks for IPC and TM store configuration

# [v1.37.1] 2023-03-14

This version works on the EM as well.

eive-tmtc: v2.19.1

## Added

- Added `EXECUTE_SHELL_CMD` action command for `CoreController` to execute arbitrary Linux commands.
- Add `PcduHandlerDummy` component.
- Added parameter for timeout until `MEKF_INVALID_MODE_VIOLATION` event is triggered.
- EIVE system: Add boot mode which is also the initial mode. The fallback mode of the boot mode
  will be the SAFE mode. The boot mode can also be used to switch as many devices as possible OFF.
## Fixed

- Pointing control of the `AcsController` was still expecting submodes instead of modes.
- Limitation of RW speeds was done before converting them to the correct unit scale.
- The Syrlinks task now has a proper name instead of `MAIN_SPI`.
- Make whole EIVE system initial transition work for the EM. This was also made possible by
  always scheduling most EIVE components instead of tying the scheduling to preprocessor defines.
- Store more TCP und UDP packets.
- Bump fsfw for small tweak in local datapool manager: Re-enable or re-disabling dataset
  generation will not fail anymore.
- Bump FSFW to simplify HK helpers: Was previously buggy and did not allow to use
  minmum sampling frequency. Now both diagnostics and HK can use minimum
  sampling frequency for requesting HK
- Bump FSFW to allow the TC/TM/IPC pools to spill to higher pools/pool pages.

## Changed

- Set `OBSW_ADD_TCS_CTRL` to 1. Always add TCS controller now for both EM and FM.
- generators module: Bump `fsfwgen` dependency to v0.3.1. The returnvalue CSV files are now sorted.
- generators module: Always generate subsystem ID CSV files now.
- The COM subsystem is now not commanded by the EIVE system anymore. Instead,
  a separate RX_ONLY mode command will be sent at OBSW boot. After that,
  commanding is done autonomously by the COM subsystem internally or by the operator. This prevents
  the transmitter from going off during fallbacks to the SAFE mode, which might not always be
  desired.

# [v1.37.0] 2023-03-11

eive-tmtc: v2.18.1

## Added

- `SensorProcessing` now includes an FDIR for GPS altitude. If the measured GPS altitude is out
  of bounds of the range defined in the `AcsParameters`, the altitude defaults to an altitude
  set in the `AcsParameters`.
- `AcsController` will now never command a RW speed larger than the maximum allowed speed.

## Fixed

- `PAPB_EMPTY_SIGNAL_VC1` GPIO was not set up properly.
- Fix for heater names: HPA heater (index 7) is now the Syrlinks heater.
- `AcsParameters` setter were previously all for scalar parameters. Now vector and matrix
  parameters use their respective setters.
- Several `AcsController` components had their own implementation of `AcsParameters`. This resulted
  in those parameters not being updated, while the actual ones were updated. All instances of
  `AcsParameters` not belonging to `AcsController` are eiter removed or replaced by pointer
  instances.
- Instead of updating the `gsTargetModeControllerParameters`, the `targetModeControllerParameters`
  were updated.
- Instead of updating the `idleModeControllerParameters`, the `targetModeControllerParameters`
  were updated.
- Fixed Idle Mode Controller never calling `ptgLaw` and therefore never calculating control
  values.
- Fixed wrong check on wether file used for persistant boolean flag on successful still existed.
- Scaling of MTQ Cmds now scales the current values to command with the current values and not
  the values of the last step, which would result in undefined behaviour.
- Solved naming collision between file used for solar array deployment and confirmation for
  ACS for solar array deployment.
- Fixed that scaling of RW torque would result in a zero vector unless the maximum value was exceeded.
- Bias for the GYR data was substracted within the wrong rf (sensor rf vs body rf).

## Changed

- Refactored TM pipeline to optimize usage of the PTME and communication downlink bandwidth.
  This was done by moving the dumping of TMs to the VCs into separate threads with permanent loops.
  These threads are then able to process high TM loads on demand. The PUS TM funnel will route
  PUS packets to the approrpiate persisten TM stores and then demultiplex the TM to all registered
  TM destinations as before.
- Service 5 now handles 40 events per cycle instead of 15
- Remove periodic SD card check. The file system is not mounted read-only anymore when using an
  ext4 filesystem
- The `detumbleCounter` now does not get hard reset anymore, if the critical rate does not get
  violated anymore. Instead it is incrementally reset.
- The RW antistiction now only takes the RW speeds in account.
- ACS CTRL transition to DETUBMLE is now done in CTRL internally. No
  system level handling necessary anymore.
- More fixes and improvements for SD card handling. Extend SD card setup in core controller to
  create full initial state for SD card manager are core controller as early as possible, turn
  execution of setup file update blocking. This might solve the issue with the SD card manager
  sometimes blocking for a long time.
- Request raw MTM measurement twice for IMTQ, might reduce number of times measurement could not
  be retrieved.
- Event manager and event service have larger queues now: 45 -> 120 for Service 5, 80 -> 120 for
  event manager
- ACS mode changes: The ACS CTRL submodes are now modes. DETUBMLE is now submode of SAFE mode.
- EIVE system now tracks the mode of the ACS subsyste in SAFE mode.

# [v1.36.0] 2023-03-08

eive-tmtc: v2.17.2

## Added

- Star Tracker Assembly
- New `REBOOT_COUNTER` and `INDIVIDUAL_BOOT_COUNTS` events. The first contains the total boot count
  as a u64, the second one contains the individual boot counts as 4 u16. Add new core controller
  action command `ANNOUNCE_BOOT_COUNTS` with action ID 3 which triggers both events. These events
  will also be triggered on each reboot.

## Changed

- Persistent TM stores will now create new files on each reboot.
- Fast ACS subsystem commanding: Command SUS board consecutively with other devices now
- Star Tracker: Use ground confguration for EM and flight config for FM by default.

## Fixed

- Command TCS controller off first for TCS subsystem transition to off.
- Health handling for TCS board assembly
- Mode fallback from IDLE mode to SAFE mode due to ACS errors/events now works properly for
  the ACS subsystem
- Bugfix in IDLE transition for system.
- `std::filesystem` API usages: Avoid exceptions by using variants which return an error code
  instead of throwing exceptions.
- GPS fix loss was not reported if mode is unset.
- Star Tracker: OFF to NORMAL transition now posssible. Requires FSFW bump which sets
  transition source modes properly for those transitions.
  FSFW PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/131
- Star Tracker JSON initialization is now done during object initization instead of redoing it
  when building a command. This avoids missed deadlines issues in the ACS PST.
- Allow arbitrary submodes for dual lane boards to avoid FDIR reactions of subsystem components.
  Bump FSFW to allow this.
- PUS 15 was not scheduled
- Transmitter timeout set to 2 minutes instead of 15 minutes. This will prevent to discharge the
  battery in case the syrlinks starts transmitting due to detection of unintentional bitlock. This
  happened e.g. on ground when the uplink to the flying latop was established.
- ACS system components are now always scheduled (EM specific)

# [v1.35.1] 2023-03-04

## Fixed

- ACS Board Assembly FDIR: Prevent permanent SAFE mode fallbacks by introducing special health
  handling.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/418/files
- Watchdog fixes
- IMTQ timing fixes

## Added

- Add IMTQ assembly

# [v1.35.0] 2023-03-04

eive-tmtc: v2.16.4

## Added

- Improved the OBSW watchdog by adding a watch functionality. The watch functionality is optional
  and has to be enabled specifically by the application being watched by the watchdog when
  starting the watchdog. If the watch functionality is enabled and the OBSW has not pinged
  the watchdog via the FIFO for 2 minutes, the watchdog will restart the OBSW service via systemd.
  The primary OBSW will only activate the watch functionality if it is the OBSW inside the
  `/usr/bin` directory. This allows debugging the system by leaving flashed or manually copied
  debugging images 2 minutes to start the watchdog without the watch functionality.

## Fixed

- Bumped FSFW: `Countdown` and `Stopwatch` use new monotonic clock API now.
- IMTQ: Various fixes, most notably missing buffer time after starting MGM measurement
  and corrections for actuator commanding.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/430

# [v1.34.0] 2023-03-03

eive-tmtc: v2.16.3

This might include the fix for the race condition where CPU usage jumped to 200 %. The race
condition was traced to the `Countdown` class, more specifically to the `getUptime` function where
the `/proc/uptime` file is read.

## Changed

- The SD card prefix is now set earlier inside the `CoreController` constructor
- The watchdog handling was moved outside the `CoreController` into the main loop.
- Moved polling of all SPI parts to the same PST.
- Allow quicker transition for the EIVE system component by allowing consecutive TCS and ACS
  component commanding again.
- Changed a lot of lock guards to use timeouts
- Queue sizes of TCP/UDP servers increased from 20 to 50
- Significantly simplified and improved lock guard handling in TCS and ACS board polling
  tasks.

## Fixed

- IMTQ: Sets were filled with wrong data, e.g. Raw MTM was filled with calibrated MTM measurements.
- Set RM3100 dataset to valid.
- Fixed units in calculation of ACS control laws safe and detumble.
- Bump FSFW for change in Countdown: Use system clock instead of reading uptime from file
  to prevent possible race condition.
- GPS: No fix considered a fault now after 30 minutes instead of 5 hours.
- SUS Assembly FDIR: Prevent permanent SAFE mode fallbacks by introducing special health
  handling.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/418/files

## Added

- Added Syrlinks Assembly object to allow recovery handling and to fix faulty FDIR behaviour.

# [v1.33.0] 2023-03-01

eive-tmtc: v2.16.2

## Changed

- Move ACS board polling to separate worker thread.
- Move SUS board polling to separate worker thread.

## Fixed

- Linux GPS handler now checks the individual `*_SET` flags when analysing the `gpsd` struct.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/400

# [v1.32.0] 2023-02-24

eive-tmtc: v2.16.1

## Fixed

- ADIS1650X: Added missing MDL_RANG pool entry for configuration set
- Bumped FSFW for bugfix in health service: No execution complete for targeted health announce
  command.
- Removed matrix determinant calculation as part of the `MEKF`, which would take about
  300ms of runtime
- Resetting the `MEKF` now also actually resets its stored state
- Bumped FSFW for bugfix in destination handler: Better error handling and able to process
  destination folder path.

## Changed

- Added basic persistent TM store for PUS telemetry and basic interface to dump and delete
  telemetry. Implementation is based on a timed rotating files, with the addition that files
  might be generated more often if the maximum file size of 8192 bytes is exceeded.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/320/files
- Commented out commanding of actuators as part of the `AcsController`
- Collection sets of the `AcsController` now get updated before running the actual ACS
  algorithm
- `GpsController` now always gets scheduled
- The `CoreController` now initializes the initial clock from the time file as early as possible
  (in the constructor) if possible, which should usually be the case.

## Added

- Added basic persistent TM store for PUS telemetry and basic interface to dump and delete
  telemetry.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/320/files
- `ExecutableComIfDummy` class to have a dummy for classes like the RTD polling class.
- Added `AcsController` action command to confirm solar array deployment, which then deletes
  two files
- Added `AcsController` action command to reset `MEKF`
- `GpsCtrlDummy` now initializes the `gpsSet`
- `RwDummy` now initializes with a non faulty state


# [v1.31.1] 2023-02-23

## Fixed

- ADIS1650X configuration set was empty because the local pool variables were not registered.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/402
- ACS Controller: Correction for size of MEKF dataset and some optimization and fixes
  for actuator control which lead to a crash.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/403

# [v1.31.0] 2023-02-23

eive-tmtc: v2.16.0

## Fixed

- Usage of floats as iterators and using them to calculate a uint8_t index in `SusConverter`
- Removed unused variables in the `AcsController`
- Remove shadowing variables inside ACS assembly classes.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/385

## Changed

COM PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/364

* Moved transmitter timer and handling of carrier and bitlock event from CCSDS handler to COM
  subsystem
* Added parameter command to be able to change the transmitter timeout
* Solves [#362](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/362)
* Solves [#360](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/360)
* Solves [#361](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/361)
* Solves [#386](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/386)
- All `targetQuat` functions in `Guidance` now return the target quaternion (target
  in ECI frame), which is passed on to `CtrlValData`.
- Moved polling sequence table definitions and source code to `mission/core` folder.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/395

## Added

- `MEKF` now returns an unique returnvalue depending on why the function terminates. These
  returnvalues are used in the `AcsController` to determine on how to procede with its
  perform functions. In case the `MEKF` did terminate before estimating the quaternion
  and rotational rate, an info event will be triggered. Another info event can only be
  triggered after the `MEKF` has run successfully again. If the `AcsController` tries to
  perform any pointing mode and the `MEKF` fails, the `performPointingCtrl` function will
  set the RWs to the last RW speeds and set a zero dipole vector. If the `MEKF` does not
  recover within 5 cycles (2 mins) the `AcsController` triggers another event, resulting in
  the `AcsSubsystem` being commanded to `SAFE`.
- `MekfData` now includes `mekfStatus`
- `CtrlValData` now includes `tgtRotRate`

# [v1.30.0] 2023-02-22

eive-tmtc: v2.14.0

Event IDs for PDEC handler have changed in a breaking manner.

## Added and Fixed

- PDEC: Added basic FDIR to limit the number of allowed TC interrupts and to allow complete task
  lockups in the case an IRQ is immediately re-raised by the PDEC module. This is done by only
  allowing a certain number of handled IRQs (whether they yield a valid TC or not) during
  time windows of one second. Right now, 800 IRQs/TCs are allowed per time window.
  This time window is reset if a TC reception timeout after 500ms occurs. TBD whether the maximum
  allowed number will be a configurable parameter. If the number of occured IRQs is exceeded,
  an event is triggered and the task is delayed for 400 ms.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/393

# [v1.29.1] 2023-02-21

## Fixed

- Limit number of handled messages for core TM handlers:
  - https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/391
  - https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/390
  - https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/389
- HeaterHandler better handling for faulty message reception
  Issue: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/388
- Disable stopwatch in MAX31865 polling task

# [v1.29.0] 2023-02-21

eive-tmtc: v2.13.0

## Changed

- Refactored IMTQ handlers to also perform low level I2C communication tasks in separate thread.
  This avoids the various delays needed for I2C communication with that device inside the ACS PST.
  (e.g. 1 ms delay between each transfer, or 10 ms integration delay for MGM measurements).

## Added

- Added new heater info set for the TCS controller. This set contains the heater switch states
  and the current draw.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/351
- The HeaterHandler now exposes a mode which reflects whether the heater power
  is on or off. It also triggers mode events for its heater children objects
  which show whether the specific heaters are on or off. The heater handler
  will be part of the TCS tree.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/351

# [v1.28.1] 2023-02-21

## Fixed

- Patch version which compiles for EM
- CFDP Funnel bugfix: CCSDS wrapping was buggy and works properly now.
- PDEC: Some adaptions to prevent task lockups on invalid FAR states.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/393
- CMakeLists.txt fix which broke CI/CD builds when server could not retrieve full git SHA.
- Possible regression in the MAX31865 polling task: Using a `ManualCsLockGuard` for reconfiguring
  and then polling the sensor is problematic, invalid sensor values will be read.
  CS probably needs to be de-asserted or some other HW/SPI specific issue. Letting the SPI ComIF
  do the locking does the job.

## Changed

- Add `-Wshadow=local` shadowing warnings and fixed all of them
- Updated generated CSV files: Support for skip directive and explicit
  "No description" info string
- The polling threads for actuator polling now have a slightly higher priority than the ACS PST
  to ensure timing requirements are met.

## Added

- git post checkout hook which initializes and updates the submodules
  automatically.

# [v1.28.0] 2023-02-17

eive-tmtc: v2.12.7

## Added

- In case the ACS Controller does recognize more than one RW to be invalid and therefore not
  available, it does not perform pointing control but aborts shortly after `sensorProcessing`. If the
  problem persits for 5 ACS cycles, the `MULTIPLE_RW_INVALID` event is triggered, which invokes the
  transition of the `AcsSubsystem` to safe mode.

## Changed

- Igrf13 model vector now outputs as uT instead of nT
- Changed timings for `AcsPst`, more time for sun sensors.
- Added values for MGM sensor fusion
- Refactored RW Software: Polling runs in separate thread, all RWs are now polled in under 60 ms.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/381
- Bumped FSFW to allow initializing child modes in `SubsystemBase` derived objects.

## Fixed

- Fixed values for GYR sensor fusion
- Fixed speed types for `rwHandlingParameter`
- Pseudo inverse used for allocating torque to RWs and RW antistiction now actually consider the
  state of the RWs

# [v1.27.2] 2023-02-14

Reaction Wheel handling was determined to be (quasi) broken and needs to be fixed in future release
to be usable by ACS controller.

eive-tmtc: v2.12.6

## Added

- Function for the ACS controller to command MTQ and RWs called by all subroutines
- RwHandler now handles commanding of RW speeds via RwSpeedActuationSet
- Tracing supports which allows checking whether threads are running as usual.

## Changed

- Remove 2 TCS threads.
- Move low level polling into ACS PST, move high level device handlers into TCS system task.
- ActCmds now returns command vectors as integers as required by the actuators
  and scales them to the appropriate range
- All RwHandler are now polled five times per ACS cycle
- Remove 2 TCS threads. Move low level polling into ACS PST, move high level device handlers into
  TCS system task.
- Further reduce number of threads:
  1. Remove PUS low priority task, move assigned threads to the generic system task
  2. Group events and verification tasks into PUS high priority task
  3. Group all other components into PUS medium priority task
  4. Add SCEX device handler to PL task, remove dedicated thread

## Removed

- lwgps dependency not compiled anymore, is not used

# [v1.27.1] 2023-02-13

## Fixed

- Fix for SPI ComIF: Set transfer size to 0 for failed transfers
- Fix shadowing issue with locks in MAX31865 low level handler

# [v1.27.0] 2023-02-13

eive-tmtc: v2.12.5

Added EIVE system top mode component. Currently, only SAFE and IDLE mode are
implemented, and the system does not do more than commanding TCS and ACS
into the correct modes. It does not have a lot of mode tracking capabilities
yet because the ACS controller might alternate between SAFE and DETUMBLE.
It takes around 5-10 seconds for the EIVE system to reach the SAFE mode.

The new system is used at software boot to command the satellite into safe mode
on each reboot. This behaviour can be disabled with the
`OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP` flag.

## Added

- New EIVE system component like explained above.

## Changed

- The satellite now commands itself into SAFE mode on each reboot, which
  triggers a lot of events on each SW reboot. The TCS subsystem will commanded
  to NORMAL mode immediately while the ACS subsystem will be commanded to
  SAFE mode. The payload subsystem will be commanded OFF.
- `RELEASE_BUILD` flag moved to `commonConfig.h`
- The ACS subsystem transitions are now staggered: The SUS board assembly
  is commanded as a separate transition. This reduces the risk of long bus lockups.
- No INFO mode event translations for release builds to reduce number of
  printouts.
- More granular locking inside the MAX31865 low level read handler.

## Fixed

- More DHB thermal module fixes.
- ACS PST frequency extended to 0.8 seconds in debug builds to avoid SPI
  bus lockups.
- Local datapool fixes for the `PlocSupervisorHandler`

# [v1.26.4] 2023-02-10

eive-tmtc: v2.12.3

## Fixed

- `SdCardManager.cpp` `isSdCardUsable`: Use `ext4` instead of `vfat` to check read-only state.

# [v1.26.3] 2023-02-09

eive-tmtc: v2.12.2

## Added

- First version of a TCS controller heater control loop, but
  the loop is disabled for now.

## Changed

- Reworked dummy handling for the TCS controller.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/325
- Generator scripts now generate files for hosted and for Q7S build.

## Fixed

- GPS Controller: Set fix value to 0 when switching off to allow
  `GPS_FIX_CHANGE` to work when switching the GPS back on.

# [v1.26.2] 2023-02-08

## Changed

- ACS Controller scheduling is now configurable via the `eive/definitions.h` file. Also ensured
  that scheduling is done in big blocks to reduce risk of missed deadlines.
- Replaced chained locks for polling new sensor data to the `AcsController`.
- Made TM store even larger.

## Fixed

- Bugfix for PDEC handler which causes the PIR register of the PDEC to never
  be cleared on release builds. The dummy variable used to read the register
  needs to be declared volatile to avoid compiler optimizations.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/374
- Bumped FSFW for fix of possible memory leaks in TCP/IP TMTC bridge
  inside the FSFW.

## Added

- Create TCS controller for EM build.

# [v1.26.1] 2023-02-08

- Initialize parameter helper in ACS controller.

# [v1.26.0] 2023-02-08

eive-tmtc v2.12.1

## Changed

### ACS

- Readded calibration matrices for MGM calibration.
- Added calculation of satellite velocity vector from GPS position data
- Added detumble mode using GYR values
- Added inertial pointing mode
- Added nadir pointing mode
- Added ground station target mode
- Added antistiction for RWs
- Added `sunTargetSafe` differentiation for LEOP
- Added check for existance of `SD_0_SKEWED_PTG_FILE` and `SD_1_SKEWED_PTG_FILE` to determine
  which `sunTargetSafe` to use
- Added `gpsVelocity` and `gpsPosition` to `gpsProcessed`
- Removed deprecated `OutputValues`
- Added `HasParametersIF` to `AcsParameters`
- Added `ReceivesParameterMessagesIF` and `ParameterHelper` to `AcsController`
- Updated `AcsParameters` with actual values and changed structure
- Sun vector model and magnetic field vector model calculations are always executed now
- `domainId` is now used as identifier for parameter structs
- Changed onboard GYR value handling from deg/s to rad/s

## Fixed

- Single sourcing the version information into `CMakeLists.txt`. The `git describe` functionality
  is only used to retrieve the git SHA hash now. Also removed `OBSWVersion.h` accordingly.
- Build system: Fixed small bug, where the version itself was
  stored as the git SHA hash in `commonConfig.h`. This will be
  an empty string now for regular versions.
- Bump FSFW for important fix in PUS mode service.

### ACS

- Bugfixes in 'SensorProcessing' where previously MGM values would be calibrated before being
  transformed in body RF. However, the calibration values are in the body RF. Also fixed the
  validity flag of 'mgmVecTotDerivative'.
- Fixed calculation of model sun vector
- Fixed calculation of model magnetic field vector
- Fixed MEKF algorithm
- Fixed several variable initializations
- Fixed several variable types
- Fixed use of `sunMagAngleMin` for safe mode
- Fixed MEKF not using correct `sampleTime`
- Fixed assignment of `SUS0` and `SUS6` calibration matrices due to wiring being mixed up
- Various smaller bugfixes

# [v1.25.0] 2023-02-06

eive-tmtc version: v2.12.0

## Changed

- Updated Subsystem mode IDs to avoid clashes with regular device handler modes.

## Fixed

- `GpsHyperionLinuxController`: Fix `gpsd` polling by continuously calling `gps_read` in one cycle
  until it does not have any data left anymore. Also, the data is now polled in a permanent loop,
  where controller handling is done on 0.2 second timeouts.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/368

# [v1.24.0] 2023-02-03

- eive-tmtc v2.10.0
- `AcsSubsystem`: OFF, SAFE and DETUMBLE mode were tested. Auto-transitions SAFE <-> DETUMBLE tested
  as well. Other modes still need to be tested.

## Fixed

- `AcsController`: Parameter fix in `DetumbleParameter`.
- Set GPS set entries to invalid on MODE_OFF command.
- Bump FSFW for bugfix in `setNormalDatapoolEntriesInvalid` where the validity was not set to false
  properly
- Fixed usage of uint instead of int for commanding MTQ. Also fixed the range in which the ACS Ctrl
  commands the MTQ to match the actual commanding range.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/363
- Regression: Revert swap of SUS0 and SUS6. Those devices are on separate power lines. In a
  future fix, the calibration matrices of SUS0 and SUS6 will be swapped.

## Changed

- Update ACS scheduling to represent the actual ACS design. There is one ACS PST now for all
  timing sensitive ACS operations. In the debug builds, the new ACS polling sequence table
  will have a period of 0.6 seconds, but will remain 0.4 seconds for the release build.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
- `ACS::SensorValues` is now an ACS controller member to reduce the risk of stack overflow.
- ACS Subsystem Sequence Mode IDs updated.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
  TMTC PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/130
- Update and tweak ACS subsystem to represent the actual ACS design
- Event handling in the ACS subsystem for events triggered by the ACS controller.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365

# [v1.23.1] 2023-02-02

TMTC rev: 15adb9bf2ec68304a4f87b8dd418c1a8353283a3

## Fixed

- Bugfix in FSFW where the sequence flags of the PUS packets were set to continuation segment (0b00)
  instead of unsegmented (0b11).
- Bugfix in FSFW where the MGM RM3100 value Z axis data was parse incorrectly.
  PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/123

# [v1.23.0] 2023-02-01

TMTC version: v2.9.0

## Changed

- Bumped FSFW to include improvements and bugfix for Health Service. The health service now
  supports the announce all health info command.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/725

## Fixed

- Bumped FSFW to include fixes in the time service.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/726
- The CCSDS handler starts the transmitter timer each time it is commanded to MODE_ON and times
  out the timer when the handler is commanded to MODE_OFF
- If the timer is timed out the CCSDS handler will disable the TX clock which will cause the
  syrlinks to got to standby mode
- PDEC handler now parses the FAR register also in interrupt mode


# [v1.22.1] 2023-01-30

## Changed

- Updated FSFW to include addition where the `SO_REUSEADDR` option is set
  on the TCP server, which should improve its ergonomics.

# [v1.22.0] 2023-01-28

TMTC version: v2.6.1

## Added

- First COM subsystem implementation. It mirrors the Syrlinks mode/submodes but also takes
  care of commanding the CCSDS handler. It expects the Syrlinks submodes as mode commands.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/358
- The CCSDS handler has has a new submode (3) to configure the default datarate.
- Default datarate parameter commanding moved to COM subsystem.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/358

# [v1.21.0] 2023-01-26

TMTC version: v2.5.0
Syrlinks PR: PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/353

## Fixed

- The `OBSW_SYRLINKS_SIMULATED` flag is set to 0 for for both EM and FM.
- MGM4 handling in ACS sensor processing: Bugfix in `mulScalar` operation
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/354
- Subsystem ID clash: CORE subsystem ID was the same as Syrlinks subsystem ID.

## Changed

- Startracker temperature set and PCDU switcher set are diagnostic now
- `SyrlinksHkHandler` renamed to `SyrlinksHandler` to better reflect that it does more than
  just HK and is also responsible for setting the TX mode of the device.
- `SyrlinksHandler`: Go to startup immediately because the Syrlinks device should always be on
  by default.
- `SyrlinksHandler`: Go to normal mode at startup.

## Added

- The Syrlinks handler has submodes for the TX mode now: RX Only (0), RX and TX default
  datarate (1), RX and TX Low Rate (2), RX and TX High Rate (3) and TX Carrier Wave (4).
  The submodes apply for both ON and NORMAL mode. The default datarate can be updated using
  a parameter command (domain ID 0 and unique ID 0) with value 0 for low rate and 1 for high rate.
- The Syrlinks handler always sets TX to standby when switching off
- The Syrlinks handler triggers a new TX_ON event when the transmitter was switched on successfully
  and a TX_OFF event when it was switched off successfully.
- Startracker temperature set and PCDU switcher set are diagnostic now
- The CCSDS handler can accept mode commands now. It accepts ON and OFF commands. Furthermore
  it has a submode for low datarate (1) and high datarate (2) for the ON command.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/352

# [v1.20.0] 2023-01-24

## Added

- The Q7S SW now checks for a file named `boot_delay_secs.txt` in the home directory.
  If it exists and the file is empty, it will delay for 6 seconds before continuing
  with the regular boot. It can also try to read delay seconds from the file.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/340.
- Basic TCS Subsystem component.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/319
- Expose base set of STR periodic housekeeping packets

## Changed

- Moved some PDEC/PTME configuration to `common/config/eive/definitions.h`
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/319
- The ACS Controller Gyro Sets (raw and processed) and the MEKF dataset are diagnostics now.
- Bumped FSFW for Service 11 improvement which includes size and CRC check for contained TC
- Syrlinks module now always included for both EM and FM
- SA Deployment: Allow specifying the switch interval and the initial channel. This allows testing
  the new deployment procedure where each channel is burned for half of the whole burn duration.
  It also allows burning only one channel for the whole burn duration. The autonomous mechanism
  was adapted to burn each channel for half of the burn time by default.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/347
  TMTC PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/127
- `Max31865RtdLowlevelHandler.cpp`: For each RTD device, the config is now re-written before
  every read. This seems to fix some issue with invalid temperature sensor readings.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/345

## Fixed

- `GyroADIS1650XHandler`: Updated handler to determine correct dynamic range from `RANG_MDL`
  register readout. This is because ADIS16505-3BMLZ devices are used on the ACS board and the
  previous range setting was wrong. Also fixed a small error properly set internal state
  on shut-down.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/342
- Syrlinks Handler: Read RX frequency shift as 24 bit signed number now. Also include
  validity handling for datasets.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/350
- `GyroADIS1650XHandler`: Changed calculation of angular rate to be sensitivity based instead of 
  max. range based, as previous fix still left an margin of error between ADIS16505 sensors 
  and L3GD20 sensors.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/346

# [v1.19.0] 2023-01-10

## Changed

- 5V stack is now off by default

## Fixed

- PLOC SUPV: Minor adaptions and important bugfix for UART manager
- Allow cloning and building the hosted OBSW version without proprietary libraries,
  which also avoids the need to have a Gitea account.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/337

## Added

- First version of ACS controller
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/329
- Allow commanding the 5V stack internally in software
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/334
- Add automatic 5V stack commanding for all connected devices
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/335

# [v1.18.0] 2022-12-01

## Changed

- PLOC Supervisor: Changes baudrate to 921600
- Renamed `/dev/ul-plsv` to `/dev/ploc_supv`, is not a UART lite anymore
- Renamed `/dev/i2c_eive` to `/dev/i2c_pl` and `/dev/i2c-2` to `/dev/i2c_ps`.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/328

# [v1.17.0] 2022-11-28

## Added

- PLOC Supervisor Update: Update SW to use newest PLOC SUPV version by TAS
  PR 1: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/316
  PR 2: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/324
  PR 3: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/326

# [v1.16.0] 2022-11-18

- It is now possible to compile Linux components for the hosted build conditionally
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/322
- ACS Subsystem. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/231
- Payload Subsystem. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/231
- Add IRQ mode for PDEC handler. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/310
- Extended TM funnels to allow multiple TM recipients.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/312
- DHB: Transitions to normal mode now possible directly, which simplifies subsystem implementations
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/313
- MAX3185 Low Level Handler and Device Handler: Simplifications and bugfixes to allow switching
  off without triggering unrequested replies
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/313
- Add remaining missing TMP1075 device handlers.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/318

# [v1.15.0] 2022-10-27

- Consistent device file naming
- Remove rad sensor from EM build, lead to weird bugs on EM which
  prevented `xsc_boot_copy` from working properly
- CFDP closure handling is now working
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/307
- Safety mechanism for SD card handling on graceful reboots
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/308
- Solar Array Deployment handler update
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/305
- IMTQ updates as preparation for ACS controller expansion
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/306
- P60 Module: Reduce number of set IDs, use same set IDs for core, auxiliary
  and config HK set across the three PCDU modules

# [v1.14.1] 11.10.2022

- Various bugfixes and regression fixes
- General file handling at program initialization now works properly again
- Scratch buffer preferred SD card handling works again
- Use scoped locks in TCS controller to avoid deadlocks

# [v1.14.0] 10.10.2022

- Provide full SW update capability for the OBSW.
  This includes very basic CFDP integration, a software update
  procedure specified in detail in the README and some high level
  commands to make this easier for operators.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/302
- Update for FSFW: `HasReturnvaluesIF` class replaced by namespace `returnvalue`
- Add some GomSpace clients as a submodule dependency. Use this dependency to deserialize the
  GomSpace TM tables
- Add API to retrieve GomSpace device parameter tables
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/287
- Add API to save and load GomSpace config tables
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/293
- Increase number of allowed consescutive action commands from 3 to 16
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/294
- Fix for EM SW: Always create ACS Task
- Added Scex device handler and Scex uart reader
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/303
- ACS Subsystem. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/228

# [v1.13.0] 24.08.2022

- Added first version of ACS Controller with gathers MGM data in a set
- Some tweaks for IMTQ handler

# [v1.12.1] 05.07.2022

- Disable periodic TCS controller HK generation by default

# [v1.12.0] 04.07.2022

## Added

- Dummy components to run OBSW without relying on external hardware
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/266
- Basic Thermal Controller
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/266
- PUS11 TC scheduler
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/259
- Regular reboot command
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/242
- Commands for individual RTD devices
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/84
- `RwAssembly` added to system components. Assembly works in principle,
  issues making 4 consecutives RWs communicate at once..
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/224
- Adds a yocto helper script which is able to install the release build binaries
  (OBSW and Watchdog) into the `q7s-yocto` repository as long as the `q7s-package`
  or `q7s-yocto` repo was cloned in the same directory the EIVE OBSW repo.
  This makes updating the root filesystem a lot easier. It also creates and installs a
  version file.
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/248
- Create the generic image by default for the Q7S build. The unique binary with the
  username appended at the end is created as a side-product now
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/248

## Fixed

- `q7s-cp.py` bugfix
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/256
- Generator scripts output now produce platform-independent artifacts
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/267

### Heater

- Adds `HealthIF` to heaters. Heaters are own system object with queues now which allows to set them faulty.
- SW will attempt to shut down heaters which are on but marked faulty
- Some simplifications for `HeaterHandler`, use `std::vector` instead of `std::unordered_map` for primary container. Using the heater indexes 0 to 7 allows to use natural array indexing
- Some additional input sanity checks in `executeAction`
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/236

## Changed

- CCSDS handler improvements
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/268
- Build unittest as default side product of hosted builds
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/244
- Let CI/CD build host build and run unittest side product in same step
- Catch2 pre-installed in CI/CD docker container, Xiphos SDK installed in CI/CD docker
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/247
- Sun Sensors have names denoting their location and poiting in the satellite now
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/245
- Better RTD names denoting their purpose (and location consequently)
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/246

# [v1.11.0]

## Fixed

- Host build working again

## Added

- Custom Syrlinks FDIR which disabled most of the default FDIR functionality
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/232
- Custom Gomspace FDIR which disabled most of the default FDIR functionality
- Custom Syrlinks FDIR which disabled most of the default FDIR functionality

## Changed

- PCDU handler only called once in PST, but can handle multiple messages now
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/221
  Bugfix: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/235
- Update rootfs base of Linux, all related OBSW changes
- Add `/usr/local/bin` to PATH. All shell scripts are there now
- Add Syrlinks and TMP devices to Software by default
- Update GPS Linux Hyperion Handler to use socket interface. Still allows switching
  back to SHM interface, but the SHM interface is a possible cause of SW crashes
- Updated code for changed FSFW HAL GPIO API: `readGpio` prototype has changed
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/240 and
  https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/76

### GPS

PRs: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/239

- Rename GPS device to `/dev/gps0`
- Use gpsd version 3.17 now. Includes API changes

### EM and FM splitup & Build Workflow improvements

PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/238

- Split up `bsp_q7s` in separate EM and FM build with module loading set to different
  default values. The EM object factory is unique which allows building a parallel setup
  with dummy components
- All major BSPs have an own `OBSWConfig.h.in` file which simplifies the file significantly
- Renamed Q7S primary build folders:
  - `cmake-build-debug-q7s` for primary development build
  - `cmake-build-release-q7s` for primary release build
  - `cmake-build-debug-q7s-em` for primary development build of the EM software
  - `cmake-build-release-q7s-em` for primary release build of the EM software
- Refactored Q7S helper script handling. It is now intended and preferred to copy the environment
  script to the same folder level as the `eive-obsw` and source it. This will also
  add the path containing the shell helper scripts to `PATH`
- The actual helper shell scripts were renamed as well to `q7s-<buildSystem>-<buildType>.sh`

# [v1.10.1]

Version bump

# [v1.10.0]

For all releases equal or prior to v1.10.0,
see [milestones](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones)