Merge remote-tracking branch 'origin/develop' into feature_imtq_assy

CHANGELOG.md

@@ -26,6 +26,11 @@ will consitute of a breaking change warranting a new major release:
 
 - 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.
+
+## Added
+
+- Added Syrlinks Assembly object to allow recovery handling and to fix faulty FDIR behaviour.
 
 ## Added
 

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 267 translations.
  * @details
- * Generated on: 2023-03-01 18:34:32
+ * Generated on: 2023-03-02 17:08:11
  */
 #include "translateEvents.h"
 

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 157 translations.
+ * Contains 158 translations.
- * Generated on: 2023-03-01 18:34:32
+ * Generated on: 2023-03-02 17:08:11
  */
 #include "translateObjects.h"
 
@@ -142,8 +142,9 @@ const char *HEATER_7_HPA_STRING = "HEATER_7_HPA";
 const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
 const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
 const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS";
-const char *RW_ASS_STRING = "RW_ASS";
+const char *RW_ASSY_STRING = "RW_ASSY";
 const char *CAM_SWITCHER_STRING = "CAM_SWITCHER";
+const char *SYRLINKS_ASSY_STRING = "SYRLINKS_ASSY";
 const char *TM_FUNNEL_STRING = "TM_FUNNEL";
 const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL";
 const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL";
@@ -439,9 +440,11 @@ const char *translateObject(object_id_t object) {
     case 0x73000003:
       return TCS_BOARD_ASS_STRING;
     case 0x73000004:
-      return RW_ASS_STRING;
+      return RW_ASSY_STRING;
     case 0x73000006:
       return CAM_SWITCHER_STRING;
+    case 0x73000007:
+      return SYRLINKS_ASSY_STRING;
     case 0x73000100:
       return TM_FUNNEL_STRING;
     case 0x73000101:

bsp_q7s/core/ObjectFactory.cpp

@@ -9,6 +9,7 @@
 #include <mission/devices/MgmRm3100CustomHandler.h>
 #include <mission/system/objects/CamSwitcher.h>
 #include <mission/system/objects/ImtqAssembly.h>
+#include <mission/system/objects/SyrlinksAssembly.h>
 
 #include "OBSWConfig.h"
 #include "bsp_q7s/boardtest/Q7STestTask.h"
@@ -580,12 +581,14 @@ void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
                        syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
   syrlinksUartCookie->setParityEven();
 
+  auto* syrlinksAssy = new SyrlinksAssembly(objects::SYRLINKS_ASSY);
+  syrlinksAssy->connectModeTreeParent(satsystem::com::SUBSYSTEM);
   auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HANDLER);
   auto syrlinksHandler =
       new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
                           pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
   syrlinksHandler->setPowerSwitcher(pwrSwitcher);
-  syrlinksHandler->connectModeTreeParent(satsystem::com::SUBSYSTEM);
+  syrlinksHandler->connectModeTreeParent(*syrlinksAssy);
 #if OBSW_DEBUG_SYRLINKS == 1
   syrlinksHandler->setDebugMode(true);
 #endif

bsp_q7s/core/scheduling.cpp

@@ -150,6 +150,10 @@ void scheduling::initTasks() {
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("COM_SUBSYSTEM", objects::COM_SUBSYSTEM);
   }
+  result = genericSysTask->addComponent(objects::SYRLINKS_ASSY);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("SYRLINKS_ASSY", objects::SYRLINKS_ASSY);
+  }
   result = genericSysTask->addComponent(objects::PL_SUBSYSTEM);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
@@ -249,9 +253,9 @@ void scheduling::initTasks() {
   }
 #endif /* OBSW_ADD_ACS_HANDLERS */
 #if OBSW_ADD_RW == 1
-  result = acsSysTask->addComponent(objects::RW_ASS);
+  result = acsSysTask->addComponent(objects::RW_ASSY);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("RW_ASS", objects::RW_ASS);
+    scheduling::printAddObjectError("RW_ASS", objects::RW_ASSY);
   }
 #endif
 #if OBSW_ADD_SUS_BOARD_ASS == 1

common/config/eive/objects.h

@@ -142,8 +142,9 @@ enum commonObjects : uint32_t {
   ACS_BOARD_ASS = 0x73000001,
   SUS_BOARD_ASS = 0x73000002,
   TCS_BOARD_ASS = 0x73000003,
-  RW_ASS = 0x73000004,
+  RW_ASSY = 0x73000004,
   CAM_SWITCHER = 0x73000006,
+  SYRLINKS_ASSY = 0x73000007,
   IMTQ_ASSY = 0x73000008,
   EIVE_SYSTEM = 0x73010000,
   ACS_SUBSYSTEM = 0x73010001,

generators/bsp_hosted_objects.csv

@@ -134,8 +134,9 @@
 0x73000001;ACS_BOARD_ASS
 0x73000002;SUS_BOARD_ASS
 0x73000003;TCS_BOARD_ASS
-0x73000004;RW_ASS
+0x73000004;RW_ASSY
 0x73000006;CAM_SWITCHER
+0x73000007;SYRLINKS_ASSY
 0x73000100;TM_FUNNEL
 0x73000101;PUS_TM_FUNNEL
 0x73000102;CFDP_TM_FUNNEL

generators/bsp_q7s_objects.csv

@@ -139,8 +139,9 @@
 0x73000001;ACS_BOARD_ASS
 0x73000002;SUS_BOARD_ASS
 0x73000003;TCS_BOARD_ASS
-0x73000004;RW_ASS
+0x73000004;RW_ASSY
 0x73000006;CAM_SWITCHER
+0x73000007;SYRLINKS_ASSY
 0x73000100;TM_FUNNEL
 0x73000101;PUS_TM_FUNNEL
 0x73000102;CFDP_TM_FUNNEL

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 267 translations.
  * @details
- * Generated on: 2023-03-01 18:34:32
+ * Generated on: 2023-03-02 17:08:11
  */
 #include "translateEvents.h"
 

generators/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 161 translations.
+ * Contains 162 translations.
- * Generated on: 2023-03-01 18:34:32
+ * Generated on: 2023-03-02 17:08:11
  */
 #include "translateObjects.h"
 
@@ -147,8 +147,9 @@ const char *HEATER_7_HPA_STRING = "HEATER_7_HPA";
 const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
 const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
 const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS";
-const char *RW_ASS_STRING = "RW_ASS";
+const char *RW_ASSY_STRING = "RW_ASSY";
 const char *CAM_SWITCHER_STRING = "CAM_SWITCHER";
+const char *SYRLINKS_ASSY_STRING = "SYRLINKS_ASSY";
 const char *TM_FUNNEL_STRING = "TM_FUNNEL";
 const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL";
 const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL";
@@ -453,9 +454,11 @@ const char *translateObject(object_id_t object) {
     case 0x73000003:
       return TCS_BOARD_ASS_STRING;
     case 0x73000004:
-      return RW_ASS_STRING;
+      return RW_ASSY_STRING;
     case 0x73000006:
       return CAM_SWITCHER_STRING;
+    case 0x73000007:
+      return SYRLINKS_ASSY_STRING;
     case 0x73000100:
       return TM_FUNNEL_STRING;
     case 0x73000101:

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 267 translations.
  * @details
- * Generated on: 2023-03-01 18:34:32
+ * Generated on: 2023-03-02 17:08:11
  */
 #include "translateEvents.h"
 

linux/fsfwconfig/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 161 translations.
+ * Contains 162 translations.
- * Generated on: 2023-03-01 18:34:32
+ * Generated on: 2023-03-02 17:08:11
  */
 #include "translateObjects.h"
 
@@ -147,8 +147,9 @@ const char *HEATER_7_HPA_STRING = "HEATER_7_HPA";
 const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
 const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
 const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS";
-const char *RW_ASS_STRING = "RW_ASS";
+const char *RW_ASSY_STRING = "RW_ASSY";
 const char *CAM_SWITCHER_STRING = "CAM_SWITCHER";
+const char *SYRLINKS_ASSY_STRING = "SYRLINKS_ASSY";
 const char *TM_FUNNEL_STRING = "TM_FUNNEL";
 const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL";
 const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL";
@@ -453,9 +454,11 @@ const char *translateObject(object_id_t object) {
     case 0x73000003:
       return TCS_BOARD_ASS_STRING;
     case 0x73000004:
-      return RW_ASS_STRING;
+      return RW_ASSY_STRING;
     case 0x73000006:
       return CAM_SWITCHER_STRING;
+    case 0x73000007:
+      return SYRLINKS_ASSY_STRING;
     case 0x73000100:
       return TM_FUNNEL_STRING;
     case 0x73000101:

mission/controller/AcsController.cpp

@@ -157,20 +157,23 @@ void AcsController::performSafe() {
   guidance.getTargetParamsSafe(sunTargetDir, satRateSafe);
   // if MEKF is working
   double magMomMtq[3] = {0, 0, 0}, errAng = 0.0;
-  bool magMomMtqValid = false;
   if (result == MultiplicativeKalmanFilter::MEKF_RUNNING) {
-    safeCtrl.safeMekf(now, mekfData.quatMekf.value, mekfData.quatMekf.isValid(),
+    result = safeCtrl.safeMekf(now, mekfData.quatMekf.value, mekfData.quatMekf.isValid(),
-                      mgmDataProcessed.magIgrfModel.value, mgmDataProcessed.magIgrfModel.isValid(),
+                               mgmDataProcessed.magIgrfModel.value,
-                      susDataProcessed.sunIjkModel.value, susDataProcessed.isValid(),
+                               mgmDataProcessed.magIgrfModel.isValid(),
-                      mekfData.satRotRateMekf.value, mekfData.satRotRateMekf.isValid(),
+                               susDataProcessed.sunIjkModel.value, susDataProcessed.isValid(),
-                      sunTargetDir, satRateSafe, &errAng, magMomMtq, &magMomMtqValid);
+                               mekfData.satRotRateMekf.value, mekfData.satRotRateMekf.isValid(),
+                               sunTargetDir, satRateSafe, &errAng, magMomMtq);
   } else {
-    safeCtrl.safeNoMekf(
+    result = safeCtrl.safeNoMekf(
         now, susDataProcessed.susVecTot.value, susDataProcessed.susVecTot.isValid(),
         susDataProcessed.susVecTotDerivative.value, susDataProcessed.susVecTotDerivative.isValid(),
         mgmDataProcessed.mgmVecTot.value, mgmDataProcessed.mgmVecTot.isValid(),
         mgmDataProcessed.mgmVecTotDerivative.value, mgmDataProcessed.mgmVecTotDerivative.isValid(),
-        sunTargetDir, satRateSafe, &errAng, magMomMtq, &magMomMtqValid);
+        sunTargetDir, satRateSafe, &errAng, magMomMtq);
+  }
+  if (result == returnvalue::FAILED) {
+    // ToDo: this should never ever happen or we are dead. prob add an event at least
   }
 
   actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs);

mission/controller/acs/control/Detumble.cpp

@@ -1,11 +1,3 @@
-
-/*
- * Detumble.cpp
- *
- *  Created on: 17 Aug 2022
- *      Author: Robin Marquardt
- */
-
 #include "Detumble.h"
 
 #include <fsfw/globalfunctions/constants.h>
@@ -31,6 +23,12 @@ ReturnValue_t Detumble::bDotLaw(const double *magRate, const bool magRateValid,
   if (!magRateValid || !magFieldValid) {
     return DETUMBLE_NO_SENSORDATA;
   }
+
+  // change unit from uT to T
+  double magFieldT[3] = {0, 0, 0}, magRateT[3] = {0, 0, 0};
+  VectorOperations<double>::mulScalar(magField, 1e-6, magFieldT, 3);
+  VectorOperations<double>::mulScalar(magRate, 1e-6, magRateT, 3);
+
   double gain = detumbleParameter->gainD;
   double factor = -gain / pow(VectorOperations<double>::norm(magField, 3), 2);
   VectorOperations<double>::mulScalar(magRate, factor, magMom, 3);

mission/controller/acs/control/SafeCtrl.cpp

@@ -32,15 +32,13 @@ ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool quatBJValid,
                                  double *magFieldModel, bool magFieldModelValid,
                                  double *sunDirModel, bool sunDirModelValid, double *satRateMekf,
                                  bool rateMekfValid, double *sunDirRef, double *satRatRef,
-                                 double *outputAngle, double *outputMagMomB, bool *outputValid) {
+                                 double *outputAngle, double *outputMagMomB) {
   if (!quatBJValid || !magFieldModelValid || !sunDirModelValid || !rateMekfValid) {
-    *outputValid = false;
     return SAFECTRL_MEKF_INPUT_INVALID;
   }
 
-  double kRate = 0, kAlign = 0;
+  double kRate = safeModeControllerParameters->k_rate_mekf;
-  kRate = safeModeControllerParameters->k_rate_mekf;
+  double kAlign = safeModeControllerParameters->k_align_mekf;
-  kAlign = safeModeControllerParameters->k_align_mekf;
 
   //	Calc sunDirB ,magFieldB with mekf output and model
   double dcmBJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
@@ -49,22 +47,22 @@ ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool quatBJValid,
   MatrixOperations<double>::multiply(*dcmBJ, sunDirModel, sunDirB, 3, 3, 1);
   MatrixOperations<double>::multiply(*dcmBJ, magFieldModel, magFieldB, 3, 3, 1);
 
-  double crossSun[3] = {0, 0, 0};
+  // change unit from uT to T
+  VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldB, 3);
 
+  double crossSun[3] = {0, 0, 0};
   VectorOperations<double>::cross(sunDirRef, sunDirB, crossSun);
   double normCrossSun = VectorOperations<double>::norm(crossSun, 3);
 
   //	calc angle alpha between sunDirRef and sunDIr
-  double alpha = 0, dotSun = 0;
+  double dotSun = VectorOperations<double>::dot(sunDirRef, sunDirB);
-  dotSun = VectorOperations<double>::dot(sunDirRef, sunDirB);
+  double alpha = acos(dotSun);
-  alpha = acos(dotSun);
 
   //	Law Torque calculations
   double torqueCmd[3] = {0, 0, 0}, torqueAlign[3] = {0, 0, 0}, torqueRate[3] = {0, 0, 0},
          torqueAll[3] = {0, 0, 0};
 
-  double scalarFac = 0;
+  double scalarFac = kAlign * alpha / normCrossSun;
-  scalarFac = kAlign * alpha / normCrossSun;
   VectorOperations<double>::mulScalar(crossSun, scalarFac, torqueAlign, 3);
 
   double rateSafeMode[3] = {0, 0, 0};
@@ -82,23 +80,22 @@ ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool quatBJValid,
   VectorOperations<double>::mulScalar(torqueMgt, 1 / pow(normMag, 2), outputMagMomB, 3);
 
   *outputAngle = alpha;
-  *outputValid = true;
-
   return returnvalue::OK;
 }
 
 // Will be the version in worst case scenario in event of no working MEKF (nor GYRs)
-void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, double *sunRateB,
+ReturnValue_t SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, double *sunRateB,
                           bool sunRateBValid, double *magFieldB, bool magFieldBValid,
                           double *magRateB, bool magRateBValid, double *sunDirRef,
-                          double *satRateRef, double *outputAngle, double *outputMagMomB,
+                          double *satRateRef, double *outputAngle, double *outputMagMomB) {
-                          bool *outputValid) {
   // Check for invalid Inputs
   if (!susDirBValid || !magFieldBValid || !magRateBValid) {
-    *outputValid = false;
+    return returnvalue::FAILED;
-    return;
   }
 
+  // change unit from uT to T
+  VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldB, 3);
+
   // normalize sunDir and magDir
   double magDirB[3] = {0, 0, 0};
   VectorOperations<double>::normalize(magFieldB, magDirB, 3);
@@ -108,13 +105,11 @@ void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, doubl
   double cosAngleSunMag = VectorOperations<double>::dot(magDirB, susDirB);
 
   // Rate parallel to sun direction and magnetic field direction
-  double rateParaSun = 0, rateParaMag = 0;
+  double dotSunRateMag = VectorOperations<double>::dot(sunRateB, magDirB);
-  double dotSunRateMag = 0, dotmagRateSun = 0, rateFactor = 0;
+  double dotmagRateSun = VectorOperations<double>::dot(magRateB, susDirB);
-  dotSunRateMag = VectorOperations<double>::dot(sunRateB, magDirB);
+  double rateFactor = 1 - pow(cosAngleSunMag, 2);
-  dotmagRateSun = VectorOperations<double>::dot(magRateB, susDirB);
+  double rateParaSun = (dotmagRateSun + cosAngleSunMag * dotSunRateMag) / rateFactor;
-  rateFactor = 1 - pow(cosAngleSunMag, 2);
+  double rateParaMag = (dotSunRateMag + cosAngleSunMag * dotmagRateSun) / rateFactor;
-  rateParaSun = (dotmagRateSun + cosAngleSunMag * dotSunRateMag) / rateFactor;
-  rateParaMag = (dotSunRateMag + cosAngleSunMag * dotmagRateSun) / rateFactor;
 
   // Full rate or estimate
   double estSatRate[3] = {0, 0, 0};
@@ -130,7 +125,7 @@ void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, doubl
    * is sufficiently large */
   double angleSunMag = acos(cosAngleSunMag);
   if (angleSunMag < safeModeControllerParameters->sunMagAngleMin) {
-    return;
+    return returnvalue::FAILED;
   }
 
   // Rate for Torque Calculation
@@ -138,9 +133,8 @@ void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, doubl
   VectorOperations<double>::subtract(estSatRate, satRateRef, diffRate, 3);
 
   // Torque Align calculation
-  double kRateNoMekf = 0, kAlignNoMekf = 0;
+  double kRateNoMekf = safeModeControllerParameters->k_rate_no_mekf;
-  kRateNoMekf = safeModeControllerParameters->k_rate_no_mekf;
+  double kAlignNoMekf = safeModeControllerParameters->k_align_no_mekf;
-  kAlignNoMekf = safeModeControllerParameters->k_align_no_mekf;
 
   double cosAngleAlignErr = VectorOperations<double>::dot(sunDirRef, susDirB);
   double crossSusSunRef[3] = {0, 0, 0};
@@ -171,5 +165,5 @@ void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, doubl
 
   std::memcpy(outputMagMomB, magMomB, 3 * sizeof(double));
   *outputAngle = angleAlignErr;
-  *outputValid = true;
+  return returnvalue::OK;
 }

mission/controller/acs/control/SafeCtrl.h

@@ -23,14 +23,12 @@ class SafeCtrl {
                          bool magFieldModelValid, double *sunDirModel, bool sunDirModelValid,
                          double *satRateMekf, bool rateMekfValid, double *sunDirRef,
                          double *satRatRef,  // From Guidance (!)
-                         double *outputAngle, double *outputMagMomB, bool *outputValid);
+                         double *outputAngle, double *outputMagMomB);
 
-  void safeNoMekf(timeval now, double *susDirB, bool susDirBValid, double *sunRateB,
+  ReturnValue_t safeNoMekf(timeval now, double *susDirB, bool susDirBValid, double *sunRateB,
-                  bool sunRateBValid, double *magFieldB, bool magFieldBValid, double *magRateB,
+                           bool sunRateBValid, double *magFieldB, bool magFieldBValid,
-                  bool magRateBValid, double *sunDirRef, double *satRateRef, double *outputAngle,
+                           double *magRateB, bool magRateBValid, double *sunDirRef,
-                  double *outputMagMomB, bool *outputValid);
+                           double *satRateRef, double *outputAngle, double *outputMagMomB);
-
-  void idleSunPointing();  // with reaction wheels
 
  protected:
  private:

mission/core/GenericFactory.cpp

@@ -139,9 +139,10 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
       new CcsdsDistributor(config::EIVE_PUS_APID, objects::CCSDS_PACKET_DISTRIBUTOR);
   new PusDistributor(config::EIVE_PUS_APID, objects::PUS_PACKET_DISTRIBUTOR, ccsdsDistrib);
 
-  PusTmFunnel::FunnelCfg cfdpFunnelCfg(objects::CFDP_TM_FUNNEL, *tmStore, *ipcStore, 50);
+  PusTmFunnel::FunnelCfg cfdpFunnelCfg(objects::CFDP_TM_FUNNEL, "CfdpTmFunnel", *tmStore, *ipcStore,
+                                       50);
   *cfdpFunnel = new CfdpTmFunnel(cfdpFunnelCfg, config::EIVE_CFDP_APID);
-  PusTmFunnel::FunnelCfg pusFunnelCfg(objects::PUS_TM_FUNNEL, *tmStore, *ipcStore,
+  PusTmFunnel::FunnelCfg pusFunnelCfg(objects::PUS_TM_FUNNEL, "PusTmFunnel", *tmStore, *ipcStore,
                                       config::MAX_PUS_FUNNEL_QUEUE_DEPTH);
   *pusFunnel = new PusTmFunnel(pusFunnelCfg, *timeStamper, sdcMan);
 #if OBSW_ADD_TCPIP_SERVERS == 1
@@ -236,7 +237,7 @@ void ObjectFactory::createRwAssy(PowerSwitchIF& pwrSwitcher, power::Switch_t the
                                  std::array<DeviceHandlerBase*, 4> rws,
                                  std::array<object_id_t, 4> rwIds) {
   RwHelper rwHelper(rwIds);
-  auto* rwAss = new RwAssembly(objects::RW_ASS, &pwrSwitcher, theSwitch, rwHelper);
+  auto* rwAss = new RwAssembly(objects::RW_ASSY, &pwrSwitcher, theSwitch, rwHelper);
   for (size_t idx = 0; idx < rwIds.size(); idx++) {
     ReturnValue_t result = rws[idx]->connectModeTreeParent(*rwAss);
     if (result != returnvalue::OK) {

mission/devices/ImtqHandler.cpp

@@ -395,7 +395,7 @@ LocalPoolDataSetBase* ImtqHandler::getDataSetHandle(sid_t sid) {
   } else if (sid == negZselfTestDataset.getSid()) {
     return &negZselfTestDataset;
   } else {
-    sif::error << "IMTQHandler::getDataSetHandle: Invalid sid" << std::endl;
+    sif::error << "ImtqHandler::getDataSetHandle: Invalid SID" << std::endl;
     return nullptr;
   }
 }

mission/devices/SusHandler.cpp

@@ -37,7 +37,7 @@ void SusHandler::doShutDown() {
     updatePeriodicReply(false, REPLY);
     commandExecuted = false;
     internalState = InternalState::NONE;
-    setMode(_MODE_POWER_DOWN);
+    setMode(MODE_OFF);
   }
 }
 

mission/system/fdir/SyrlinksFdir.cpp

@@ -47,8 +47,8 @@ ReturnValue_t SyrlinksFdir::eventReceived(EventMessage* event) {
       }
       // else
       if (missedReplyCount.incrementAndCheck()) {
-        // handleRecovery(event->getEvent());
+        handleRecovery(event->getEvent());
-        triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+        // triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
       }
       break;
     case StorageManagerIF::GET_DATA_FAILED:
@@ -80,7 +80,7 @@ ReturnValue_t SyrlinksFdir::eventReceived(EventMessage* event) {
       break;
     case Fuse::POWER_BELOW_LOW_LIMIT:
       // Device might got stuck during boot, retry.
-      // handleRecovery(event->getEvent());
+      handleRecovery(event->getEvent());
       triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
       break;
       //****Thermal*****

mission/system/objects/CMakeLists.txt

@@ -8,6 +8,7 @@ target_sources(
           PayloadSubsystem.cpp
           AcsBoardAssembly.cpp
           ImtqAssembly.cpp
+          SyrlinksAssembly.cpp
           Stack5VHandler.cpp
           SusAssembly.cpp
           RwAssembly.cpp

mission/system/objects/ComSubsystem.cpp

@@ -30,6 +30,7 @@ void ComSubsystem::performChildOperation() {
   if (countdownActive) {
     checkTransmitterCountdown();
   }
+
   Subsystem::performChildOperation();
 }
 

mission/system/objects/DualLaneAssemblyBase.cpp

@@ -235,3 +235,8 @@ void DualLaneAssemblyBase::setPreferredSide(duallane::Submodes submode) {
   }
   this->defaultSubmode = submode;
 }
+
+ReturnValue_t DualLaneAssemblyBase::checkAndHandleHealthState(Mode_t deviceMode,
+                                                              Submode_t deviceSubmode) {
+  return returnvalue::OK;
+}

mission/system/objects/DualLaneAssemblyBase.h

@@ -74,6 +74,7 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
   MessageQueueId_t getEventReceptionQueue() override;
 
   bool sideSwitchTransition(Mode_t mode, Submode_t submode);
+  ReturnValue_t checkAndHandleHealthState(Mode_t deviceMode, Submode_t deviceSubmode);
 
   /**
    * Implemented by user. Will be called if a full mode operation has finished.

mission/system/objects/SusAssembly.cpp

@@ -24,6 +24,12 @@ ReturnValue_t SusAssembly::commandChildren(Mode_t mode, Submode_t submode) {
     modeTable[idx].setMode(MODE_OFF);
     modeTable[idx].setSubmode(SUBMODE_NONE);
   }
+  if (recoveryState == RecoveryState::RECOVERY_IDLE) {
+    result = checkAndHandleHealthStates(mode, submode);
+    if (result == NEED_TO_CHANGE_HEALTH) {
+      return returnvalue::OK;
+    }
+  }
   if (recoveryState != RecoveryState::RECOVERY_STARTED) {
     if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
       result = handleNormalOrOnModeCmd(mode, submode);
@@ -148,3 +154,23 @@ void SusAssembly::refreshHelperModes() {
     helper.susModes[idx] = childrenMap[helper.susIds[idx]].mode;
   }
 }
+
+ReturnValue_t SusAssembly::checkAndHandleHealthStates(Mode_t deviceMode, Submode_t deviceSubmode) {
+  using namespace returnvalue;
+  ReturnValue_t status = returnvalue::OK;
+  auto overwriteHealthForOneDev = [&](object_id_t dev) {
+    HealthState health = healthHelper.healthTable->getHealth(dev);
+    if (health == FAULTY or health == PERMANENT_FAULTY) {
+      overwriteDeviceHealth(dev, health);
+      status = NEED_TO_CHANGE_HEALTH;
+    } else if (health == EXTERNAL_CONTROL) {
+      modeHelper.setForced(true);
+    }
+  };
+  if (deviceSubmode == duallane::DUAL_MODE) {
+    for (uint8_t idx = 0; idx < 12; idx++) {
+      overwriteHealthForOneDev(helper.susIds[idx]);
+    }
+  }
+  return status;
+}

mission/system/objects/SusAssembly.h

@@ -66,6 +66,7 @@ class SusAssembly : public DualLaneAssemblyBase {
   void powerStateMachine(Mode_t mode, Submode_t submode);
   ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
   void refreshHelperModes();
+  ReturnValue_t checkAndHandleHealthStates(Mode_t deviceMode, Submode_t deviceSubmode);
 };
 
 #endif /* MISSION_SYSTEM_SUSASSEMBLY_H_ */

mission/system/objects/SyrlinksAssembly.cpp

@@ -0,0 +1,57 @@
+#include "SyrlinksAssembly.h"
+
+#include <eive/objects.h>
+
+using namespace returnvalue;
+
+SyrlinksAssembly::SyrlinksAssembly(object_id_t objectId) : AssemblyBase(objectId) {
+  ModeListEntry entry;
+  entry.setObject(objects::SYRLINKS_HANDLER);
+  entry.setMode(MODE_OFF);
+  entry.setSubmode(SUBMODE_NONE);
+  commandTable.insert(entry);
+}
+
+ReturnValue_t SyrlinksAssembly::commandChildren(Mode_t mode, Submode_t submode) {
+  commandTable[0].setMode(mode);
+  commandTable[0].setSubmode(submode);
+  HybridIterator<ModeListEntry> iter(commandTable.begin(), commandTable.end());
+  if (recoveryState == RECOVERY_IDLE) {
+    ReturnValue_t result = checkAndHandleHealthState(mode, submode);
+    if (result == NEED_TO_CHANGE_HEALTH) {
+      return OK;
+    }
+  }
+  executeTable(iter);
+  return returnvalue::OK;
+}
+
+ReturnValue_t SyrlinksAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
+  if (childrenMap[objects::SYRLINKS_HANDLER].mode != wantedMode) {
+    return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t SyrlinksAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
+  if (mode == MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_OFF) {
+    return returnvalue::OK;
+  }
+  return returnvalue::FAILED;
+}
+
+ReturnValue_t SyrlinksAssembly::checkAndHandleHealthState(Mode_t deviceMode,
+                                                          Submode_t deviceSubmode) {
+  HealthState health = healthHelper.healthTable->getHealth(objects::SYRLINKS_HANDLER);
+  if (health == FAULTY or health == PERMANENT_FAULTY) {
+    overwriteDeviceHealth(objects::SYRLINKS_HANDLER, health);
+    return NEED_TO_CHANGE_HEALTH;
+  } else if (health == EXTERNAL_CONTROL) {
+    modeHelper.setForced(true);
+  }
+  return OK;
+}
+
+void SyrlinksAssembly::handleChildrenLostMode(ReturnValue_t result) {
+  startTransition(mode, submode);
+}

mission/system/objects/SyrlinksAssembly.h

@@ -0,0 +1,20 @@
+#ifndef MISSION_SYSTEM_OBJECTS_SYRLINKSASSEMBLY_H_
+#define MISSION_SYSTEM_OBJECTS_SYRLINKSASSEMBLY_H_
+#include <fsfw/devicehandlers/AssemblyBase.h>
+
+class SyrlinksAssembly : public AssemblyBase {
+ public:
+  SyrlinksAssembly(object_id_t objectId);
+
+ private:
+  FixedArrayList<ModeListEntry, 1> commandTable;
+
+  ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
+  ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
+  ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
+  void handleChildrenLostMode(ReturnValue_t result) override;
+
+  ReturnValue_t checkAndHandleHealthState(Mode_t deviceMode, Submode_t deviceSubmode);
+};
+
+#endif /* MISSION_SYSTEM_OBJECTS_SYRLINKSASSEMBLY_H_ */

mission/system/tree/acsModeTree.cpp

@@ -110,7 +110,7 @@ Subsystem& satsystem::acs::init() {
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
-  iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
+  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
   iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
   check(ACS_SUBSYSTEM.addTable(
             TableEntry(ACS_TABLE_PTG_TRANS_0.first, &ACS_TABLE_PTG_TRANS_0.second)),
@@ -165,7 +165,7 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::IMTQ_ASSY, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
   iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
   iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
-  iht(objects::RW_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
+  iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
   check(ss.addTable(TableEntry(ACS_TABLE_OFF_TRANS_1.first, &ACS_TABLE_OFF_TRANS_1.second)), ctxc);
 
   // Build OFF sequence
@@ -207,7 +207,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
   iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
-  iht(objects::RW_ASS, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
+  iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
   check(ss.addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true),
         ctxc);
 
@@ -262,7 +262,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
   iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
-  iht(objects::RW_ASS, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
+  iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
   check(ss.addTable(&ACS_TABLE_DETUMBLE_TRANS_0.second, ACS_TABLE_DETUMBLE_TRANS_0.first, false,
                     true),
         ctxc);
@@ -305,7 +305,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
   // Build IDLE target
   iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_IDLE, ACS_TABLE_IDLE_TGT.second);
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
-  iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
+  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
   ss.addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true);
@@ -316,7 +316,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
-  iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
+  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
   iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
   ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);
 
@@ -358,7 +358,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
-  iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
+  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
   iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
   check(ss.addTable(&ACS_TABLE_PTG_TARGET_TGT.second, ACS_TABLE_PTG_TARGET_TGT.first, false, true),
         ctxc);
@@ -407,7 +407,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
-  iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
+  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
   iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
   check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TGT.first,
                                &ACS_TABLE_PTG_TARGET_NADIR_TGT.second)),
@@ -458,7 +458,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
-  iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
+  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
   iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
   check(ss.addTable(
             TableEntry(ACS_TABLE_PTG_TARGET_GS_TGT.first, &ACS_TABLE_PTG_TARGET_GS_TGT.second)),
@@ -508,7 +508,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
-  iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
+  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
   iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
   check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first,
                                &ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second)),

mission/system/tree/comModeTree.cpp

@@ -105,11 +105,11 @@ void buildRxOnlySequence(Subsystem& ss, ModeListEntry& eh) {
   // Build RX Only table. We could track the state of the CCSDS IP core handler
   // as well but I do not think this is necessary because enabling that should
   // not interfere with the Syrlinks Handler.
-  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_ONLY, COM_TABLE_RX_ONLY_TGT.second);
+  iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_ONLY, COM_TABLE_RX_ONLY_TGT.second);
   check(ss.addTable(TableEntry(COM_TABLE_RX_ONLY_TGT.first, &COM_TABLE_RX_ONLY_TGT.second)), ctxc);
 
   // Build RX Only transition 0
-  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_ONLY, COM_TABLE_RX_ONLY_TRANS_0.second);
+  iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_ONLY, COM_TABLE_RX_ONLY_TRANS_0.second);
   check(ss.addTable(TableEntry(COM_TABLE_RX_ONLY_TRANS_0.first, &COM_TABLE_RX_ONLY_TRANS_0.second)),
         ctxc);
 
@@ -147,7 +147,7 @@ void buildTxAndRxLowRateSequence(Subsystem& ss, ModeListEntry& eh) {
   };
 
   // Build RX and TX low datarate table.
-  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_LOW_DATARATE,
+  iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_AND_TX_LOW_DATARATE,
       COM_TABLE_RX_AND_TX_LOW_RATE_TGT.second);
   iht(objects::CCSDS_HANDLER, ON, static_cast<Submode_t>(::com::CcsdsSubmode::DATARATE_LOW),
       COM_TABLE_RX_AND_TX_LOW_RATE_TGT.second);
@@ -163,7 +163,7 @@ void buildTxAndRxLowRateSequence(Subsystem& ss, ModeListEntry& eh) {
         ctxc);
 
   // Build TX and RX low transition 1
-  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_LOW_DATARATE,
+  iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_AND_TX_LOW_DATARATE,
       COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.second);
   check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.first,
                                &COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.second)),
@@ -199,7 +199,7 @@ void buildTxAndRxHighRateSequence(Subsystem& ss, ModeListEntry& eh) {
   };
 
   // Build RX and TX high datarate table.
-  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_HIGH_DATARATE,
+  iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_AND_TX_HIGH_DATARATE,
       COM_TABLE_RX_AND_TX_HIGH_RATE_TGT.second);
   iht(objects::CCSDS_HANDLER, ON, static_cast<Submode_t>(::com::CcsdsSubmode::DATARATE_HIGH),
       COM_TABLE_RX_AND_TX_HIGH_RATE_TGT.second);
@@ -215,7 +215,7 @@ void buildTxAndRxHighRateSequence(Subsystem& ss, ModeListEntry& eh) {
         ctxc);
 
   // Build TX and RX high transition 1
-  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_HIGH_DATARATE,
+  iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_AND_TX_HIGH_DATARATE,
       COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.second);
   check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.first,
                                &COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.second)),
@@ -253,7 +253,7 @@ void buildTxAndRxDefaultRateSequence(Subsystem& ss, ModeListEntry& eh) {
   };
 
   // Build RX and TX default datarate table.
-  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_DEFAULT_DATARATE,
+  iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_AND_TX_DEFAULT_DATARATE,
       COM_TABLE_RX_AND_TX_DEFAULT_RATE_TGT.second);
   iht(objects::CCSDS_HANDLER, ON, static_cast<Submode_t>(::com::CcsdsSubmode::DATARATE_DEFAULT),
       COM_TABLE_RX_AND_TX_DEFAULT_RATE_TGT.second);
@@ -269,7 +269,7 @@ void buildTxAndRxDefaultRateSequence(Subsystem& ss, ModeListEntry& eh) {
         ctxc);
 
   // Build TX and RX default transition 1
-  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_DEFAULT_DATARATE,
+  iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_AND_TX_DEFAULT_DATARATE,
       COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1.second);
   check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1.first,
                                &COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1.second)),

mission/tmtc/TmFunnelBase.cpp

@@ -5,7 +5,7 @@
 #include "fsfw/ipc/QueueFactory.h"
 
 TmFunnelBase::TmFunnelBase(FunnelCfg cfg)
-    : SystemObject(cfg.objectId), tmStore(cfg.tmStore), ipcStore(cfg.ipcStore) {
+    : SystemObject(cfg.objectId), name(cfg.name), tmStore(cfg.tmStore), ipcStore(cfg.ipcStore) {
   tmQueue = QueueFactory::instance()->createMessageQueue(cfg.tmMsgDepth);
 }
 
@@ -37,8 +37,7 @@ ReturnValue_t TmFunnelBase::sendPacketToDestinations(store_address_t origStoreId
           message.setStorageId(storeId);
         } else {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-          sif::error << "PusTmFunnel::handlePacket: Store too full to create data copy"
+          sif::error << name << "::handlePacket: Store too full to create data copy" << std::endl;
-                     << std::endl;
 #endif
         }
       } else {
@@ -48,7 +47,8 @@ ReturnValue_t TmFunnelBase::sendPacketToDestinations(store_address_t origStoreId
     result = tmQueue->sendMessage(dest.queueId, &message);
     if (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "PusTmFunnel::handlePacket: Error sending TM to downlink handler" << std::endl;
+      sif::error << name << "::handlePacket: Error sending TM to downlink handler " << dest.name
+                 << std::endl;
 #endif
       tmStore.deleteData(message.getStorageId());
     }

mission/tmtc/TmFunnelBase.h

@@ -12,10 +12,15 @@
 class TmFunnelBase : public AcceptsTelemetryIF, public SystemObject {
  public:
   struct FunnelCfg {
-    FunnelCfg(object_id_t objId, StorageManagerIF& tmStore, StorageManagerIF& ipcStore,
+    FunnelCfg(object_id_t objId, const char* name, StorageManagerIF& tmStore,
-              uint32_t tmMsgDepth)
+              StorageManagerIF& ipcStore, uint32_t tmMsgDepth)
-        : objectId(objId), tmStore(tmStore), ipcStore(ipcStore), tmMsgDepth(tmMsgDepth) {}
+        : objectId(objId),
+          name(name),
+          tmStore(tmStore),
+          ipcStore(ipcStore),
+          tmMsgDepth(tmMsgDepth) {}
     object_id_t objectId;
+    const char* name;
     StorageManagerIF& tmStore;
     StorageManagerIF& ipcStore;
     uint32_t tmMsgDepth;
@@ -30,6 +35,7 @@ class TmFunnelBase : public AcceptsTelemetryIF, public SystemObject {
   ~TmFunnelBase() override;
 
  protected:
+  const char* name;
   StorageManagerIF& tmStore;
   StorageManagerIF& ipcStore;
 
@@ -43,7 +49,6 @@ class TmFunnelBase : public AcceptsTelemetryIF, public SystemObject {
   };
 
   std::vector<Destination> destinations;
-
   MessageQueueIF* tmQueue = nullptr;
 };
 

tmtc

@@ -1 +1 @@
-Subproject commit 2dd850f0725d37256c17576bf7d3ae4423184044
+Subproject commit 77fbcede10d44fd15dc7d5d1b3965f06c6a8e7fc