Merge remote-tracking branch 'origin/main' into smaller-ploc-tweaks
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This commit is contained in:
Robin Müller 2024-01-31 17:11:13 +01:00
commit 0eebc4b00f
Signed by: muellerr
GPG Key ID: A649FB78196E3849
30 changed files with 336 additions and 266 deletions

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@ -16,6 +16,16 @@ will consitute of a breaking change warranting a new major release:
# [unreleased] # [unreleased]
## Fixed
- PLOC SUPV latchup report could not be handled previously.
- Bugfix in PLOC SUPV latchup report parsing.
# [v7.6.0] 2024-01-30
- Bumped `eive-tmtc` to v5.13.0
- Bumped `eive-fsfw`
## Added ## Added
- Added new parameter for MPSoC which allows to skip SUPV commanding. - Added new parameter for MPSoC which allows to skip SUPV commanding.
@ -23,12 +33,31 @@ will consitute of a breaking change warranting a new major release:
## Changed ## Changed
- Increased allowed mode transition time for PLOC SUPV. - Increased allowed mode transition time for PLOC SUPV.
- Detumbling can now be triggered from all modes of the `AcsController`. In case the
current mode is a higher pointing mode, the STR will be set to faulty, to trigger a
transition to safe first. Then, in a second step, a transition to detumble is triggered.
## Fixed ## Fixed
- If the PCDU handler fails reading data from the IPC store, it will
not try to do a deserialization anymore.
- All action commands sent by the PLOC SUPV to itself will have no sender now. - All action commands sent by the PLOC SUPV to itself will have no sender now.
- PLOC SUPV latchup report could not be handled previously. - RW speed commands get reset to 0 RPM, if the `AcsController` has changed its mode
- Bugfix in PLOC SUPV latchup report parsing. to Safe
- Antistiction for RWs will set commanded speed to 0 RPM, if a wheel is detected as not
working
- Removed parameter to disable antistiction, as deactivating it would result in the
`AcsController` being allowed sending invalid speed commands to the RW Handler, which
would then trigger FDIR and turning off the functioning device
- `RwHandler` returnvalues would use the `INTERFACE_ID` of the `DeviceHandlerBase`
- The `AcsController` will reset its stored guidance values on mode change and lost
orientation.
- The nullspace controller will only be used if all RWs are available.
- Calculation of required rotation rate in pointing modes has been fixed to actual
calculation of rotation rate from two quaternions.
- Fixed alignment matrix and pseudo inverses of RWs, to match the wrong definition of
positive rotation.
>>>>>>> origin/main
# [v7.5.5] 2024-01-22 # [v7.5.5] 2024-01-22
@ -54,7 +83,6 @@ will consitute of a breaking change warranting a new major release:
## Fixed ## Fixed
- Fixed faulty scaling within the QUEST algorithm. - Fixed faulty scaling within the QUEST algorithm.
>>>>>>> 16fa3d1e269cba5af4a22c7ba59e6a8e4a5980f5
# [v7.5.1] 2023-12-13 # [v7.5.1] 2023-12-13

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@ -10,8 +10,8 @@
cmake_minimum_required(VERSION 3.13) cmake_minimum_required(VERSION 3.13)
set(OBSW_VERSION_MAJOR 7) set(OBSW_VERSION_MAJOR 7)
set(OBSW_VERSION_MINOR 5) set(OBSW_VERSION_MINOR 6)
set(OBSW_VERSION_REVISION 5) set(OBSW_VERSION_REVISION 0)
# set(CMAKE_VERBOSE TRUE) # set(CMAKE_VERBOSE TRUE)

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@ -1,7 +1,7 @@
/** /**
* @brief Auto-generated event translation file. Contains 318 translations. * @brief Auto-generated event translation file. Contains 319 translations.
* @details * @details
* Generated on: 2023-12-13 11:29:45 * Generated on: 2024-01-30 09:10:05
*/ */
#include "translateEvents.h" #include "translateEvents.h"
@ -94,7 +94,7 @@ const char *FILESTORE_ERROR_STRING = "FILESTORE_ERROR";
const char *FILENAME_TOO_LARGE_ERROR_STRING = "FILENAME_TOO_LARGE_ERROR"; const char *FILENAME_TOO_LARGE_ERROR_STRING = "FILENAME_TOO_LARGE_ERROR";
const char *HANDLING_CFDP_REQUEST_FAILED_STRING = "HANDLING_CFDP_REQUEST_FAILED"; const char *HANDLING_CFDP_REQUEST_FAILED_STRING = "HANDLING_CFDP_REQUEST_FAILED";
const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION"; const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY"; const char *RATE_RECOVERY_STRING = "RATE_RECOVERY";
const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID"; const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO"; const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY"; const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY";
@ -103,6 +103,7 @@ const char *PTG_CTRL_NO_ATTITUDE_INFORMATION_STRING = "PTG_CTRL_NO_ATTITUDE_INFO
const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE"; const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
const char *TLE_TOO_OLD_STRING = "TLE_TOO_OLD"; const char *TLE_TOO_OLD_STRING = "TLE_TOO_OLD";
const char *TLE_FILE_READ_FAILED_STRING = "TLE_FILE_READ_FAILED"; const char *TLE_FILE_READ_FAILED_STRING = "TLE_FILE_READ_FAILED";
const char *PTG_RATE_VIOLATION_STRING = "PTG_RATE_VIOLATION";
const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT"; const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED"; const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED"; const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@ -505,7 +506,7 @@ const char *translateEvents(Event event) {
case (11200): case (11200):
return SAFE_RATE_VIOLATION_STRING; return SAFE_RATE_VIOLATION_STRING;
case (11201): case (11201):
return SAFE_RATE_RECOVERY_STRING; return RATE_RECOVERY_STRING;
case (11202): case (11202):
return MULTIPLE_RW_INVALID_STRING; return MULTIPLE_RW_INVALID_STRING;
case (11203): case (11203):
@ -522,6 +523,8 @@ const char *translateEvents(Event event) {
return TLE_TOO_OLD_STRING; return TLE_TOO_OLD_STRING;
case (11209): case (11209):
return TLE_FILE_READ_FAILED_STRING; return TLE_FILE_READ_FAILED_STRING;
case (11210):
return PTG_RATE_VIOLATION_STRING;
case (11300): case (11300):
return SWITCH_CMD_SENT_STRING; return SWITCH_CMD_SENT_STRING;
case (11301): case (11301):

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@ -2,7 +2,7 @@
* @brief Auto-generated object translation file. * @brief Auto-generated object translation file.
* @details * @details
* Contains 175 translations. * Contains 175 translations.
* Generated on: 2023-12-13 11:29:45 * Generated on: 2024-01-30 09:10:05
*/ */
#include "translateObjects.h" #include "translateObjects.h"

2
fsfw

@ -1 +1 @@
Subproject commit e64e8b274d436502d5c5b87865b9006e52e4b1aa Subproject commit b5e7179af1da085b9be598b4897f2664012781af

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@ -88,7 +88,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
10804;0x2a34;FILENAME_TOO_LARGE_ERROR;LOW;P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name;fsfw/src/fsfw/cfdp/handler/defs.h 10804;0x2a34;FILENAME_TOO_LARGE_ERROR;LOW;P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name;fsfw/src/fsfw/cfdp/handler/defs.h
10805;0x2a35;HANDLING_CFDP_REQUEST_FAILED;LOW;CFDP request handling failed. P2: Returncode.;fsfw/src/fsfw/cfdp/handler/defs.h 10805;0x2a35;HANDLING_CFDP_REQUEST_FAILED;LOW;CFDP request handling failed. P2: Returncode.;fsfw/src/fsfw/cfdp/handler/defs.h
11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;The limits for the rotation in safe mode were violated.;mission/acs/defs.h 11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;The limits for the rotation in safe mode were violated.;mission/acs/defs.h
11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;The system has recovered from a safe rate rotation violation.;mission/acs/defs.h 11201;0x2bc1;RATE_RECOVERY;MEDIUM;The system has recovered from a rate rotation violation.;mission/acs/defs.h
11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;Multiple RWs are invalid, uncommandable and therefore higher ACS modes cannot be maintained.;mission/acs/defs.h 11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;Multiple RWs are invalid, uncommandable and therefore higher ACS modes cannot be maintained.;mission/acs/defs.h
11203;0x2bc3;MEKF_INVALID_INFO;INFO;MEKF was not able to compute a solution. P1: MEKF state on exit;mission/acs/defs.h 11203;0x2bc3;MEKF_INVALID_INFO;INFO;MEKF was not able to compute a solution. P1: MEKF state on exit;mission/acs/defs.h
11204;0x2bc4;MEKF_RECOVERY;INFO;MEKF is able to compute a solution again.;mission/acs/defs.h 11204;0x2bc4;MEKF_RECOVERY;INFO;MEKF is able to compute a solution again.;mission/acs/defs.h
@ -97,6 +97,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
11207;0x2bc7;SAFE_MODE_CONTROLLER_FAILURE;HIGH;The ACS safe mode controller was not able to compute a solution and has failed. P1: Missing information about magnetic field, P2: Missing information about rotational rate;mission/acs/defs.h 11207;0x2bc7;SAFE_MODE_CONTROLLER_FAILURE;HIGH;The ACS safe mode controller was not able to compute a solution and has failed. P1: Missing information about magnetic field, P2: Missing information about rotational rate;mission/acs/defs.h
11208;0x2bc8;TLE_TOO_OLD;INFO;The TLE for the SGP4 Propagator has become too old.;mission/acs/defs.h 11208;0x2bc8;TLE_TOO_OLD;INFO;The TLE for the SGP4 Propagator has become too old.;mission/acs/defs.h
11209;0x2bc9;TLE_FILE_READ_FAILED;LOW;The TLE could not be read from the filesystem.;mission/acs/defs.h 11209;0x2bc9;TLE_FILE_READ_FAILED;LOW;The TLE could not be read from the filesystem.;mission/acs/defs.h
11210;0x2bca;PTG_RATE_VIOLATION;MEDIUM;The limits for the rotation in pointing mode were violated.;mission/acs/defs.h
11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/power/defs.h 11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/power/defs.h
11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/power/defs.h 11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/power/defs.h
11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/power/defs.h 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/power/defs.h

1 Event ID (dec) Event ID (hex) Name Severity Description File Path
88 10804 0x2a34 FILENAME_TOO_LARGE_ERROR LOW P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name fsfw/src/fsfw/cfdp/handler/defs.h
89 10805 0x2a35 HANDLING_CFDP_REQUEST_FAILED LOW CFDP request handling failed. P2: Returncode. fsfw/src/fsfw/cfdp/handler/defs.h
90 11200 0x2bc0 SAFE_RATE_VIOLATION MEDIUM The limits for the rotation in safe mode were violated. mission/acs/defs.h
91 11201 0x2bc1 SAFE_RATE_RECOVERY RATE_RECOVERY MEDIUM The system has recovered from a safe rate rotation violation. The system has recovered from a rate rotation violation. mission/acs/defs.h
92 11202 0x2bc2 MULTIPLE_RW_INVALID HIGH Multiple RWs are invalid, uncommandable and therefore higher ACS modes cannot be maintained. mission/acs/defs.h
93 11203 0x2bc3 MEKF_INVALID_INFO INFO MEKF was not able to compute a solution. P1: MEKF state on exit mission/acs/defs.h
94 11204 0x2bc4 MEKF_RECOVERY INFO MEKF is able to compute a solution again. mission/acs/defs.h
97 11207 0x2bc7 SAFE_MODE_CONTROLLER_FAILURE HIGH The ACS safe mode controller was not able to compute a solution and has failed. P1: Missing information about magnetic field, P2: Missing information about rotational rate mission/acs/defs.h
98 11208 0x2bc8 TLE_TOO_OLD INFO The TLE for the SGP4 Propagator has become too old. mission/acs/defs.h
99 11209 0x2bc9 TLE_FILE_READ_FAILED LOW The TLE could not be read from the filesystem. mission/acs/defs.h
100 11210 0x2bca PTG_RATE_VIOLATION MEDIUM The limits for the rotation in pointing mode were violated. mission/acs/defs.h
101 11300 0x2c24 SWITCH_CMD_SENT INFO Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index mission/power/defs.h
102 11301 0x2c25 SWITCH_HAS_CHANGED INFO Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index mission/power/defs.h
103 11302 0x2c26 SWITCHING_Q7S_DENIED MEDIUM No description mission/power/defs.h

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@ -454,6 +454,12 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x5208;IMTQ_CmdErrUnknown;No description;8;IMTQ_HANDLER;mission/acs/imtqHelpers.h 0x5208;IMTQ_CmdErrUnknown;No description;8;IMTQ_HANDLER;mission/acs/imtqHelpers.h
0x5209;IMTQ_StartupCfgError;No description;9;IMTQ_HANDLER;mission/acs/imtqHelpers.h 0x5209;IMTQ_StartupCfgError;No description;9;IMTQ_HANDLER;mission/acs/imtqHelpers.h
0x520a;IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;10;IMTQ_HANDLER;mission/acs/imtqHelpers.h 0x520a;IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;10;IMTQ_HANDLER;mission/acs/imtqHelpers.h
0x53a0;RWHA_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;RW_HANDLER;mission/acs/RwHandler.h
0x53a1;RWHA_InvalidRampTime;Action Message with invalid ramp time was received.;161;RW_HANDLER;mission/acs/RwHandler.h
0x53a2;RWHA_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;RW_HANDLER;mission/acs/RwHandler.h
0x53a3;RWHA_ExecutionFailed;Command execution failed;163;RW_HANDLER;mission/acs/RwHandler.h
0x53a4;RWHA_CrcError;Reaction wheel reply has invalid crc;164;RW_HANDLER;mission/acs/RwHandler.h
0x53a5;RWHA_ValueNotRead;No description;165;RW_HANDLER;mission/acs/RwHandler.h
0x53b0;RWHA_SpiWriteFailure;No description;176;RW_HANDLER;mission/acs/rwHelpers.h 0x53b0;RWHA_SpiWriteFailure;No description;176;RW_HANDLER;mission/acs/rwHelpers.h
0x53b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;177;RW_HANDLER;mission/acs/rwHelpers.h 0x53b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;177;RW_HANDLER;mission/acs/rwHelpers.h
0x53b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;178;RW_HANDLER;mission/acs/rwHelpers.h 0x53b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;178;RW_HANDLER;mission/acs/rwHelpers.h
@ -487,12 +493,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x54b6;STRH_StartrackerAlreadyBooted;Star tracker is already in firmware mode;182;STR_HANDLER;mission/acs/str/StarTrackerHandler.h 0x54b6;STRH_StartrackerAlreadyBooted;Star tracker is already in firmware mode;182;STR_HANDLER;mission/acs/str/StarTrackerHandler.h
0x54b7;STRH_StartrackerNotRunningFirmware;Star tracker must be in firmware mode to run this command;183;STR_HANDLER;mission/acs/str/StarTrackerHandler.h 0x54b7;STRH_StartrackerNotRunningFirmware;Star tracker must be in firmware mode to run this command;183;STR_HANDLER;mission/acs/str/StarTrackerHandler.h
0x54b8;STRH_StartrackerNotRunningBootloader;Star tracker must be in bootloader mode to run this command;184;STR_HANDLER;mission/acs/str/StarTrackerHandler.h 0x54b8;STRH_StartrackerNotRunningBootloader;Star tracker must be in bootloader mode to run this command;184;STR_HANDLER;mission/acs/str/StarTrackerHandler.h
0x59a0;SUSS_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;SUS_HANDLER;mission/acs/RwHandler.h 0x59a0;SUSS_ErrorUnlockMutex;No description;160;SUS_HANDLER;mission/acs/archive/LegacySusHandler.h
0x59a1;SUSS_InvalidRampTime;Action Message with invalid ramp time was received.;161;SUS_HANDLER;mission/acs/RwHandler.h 0x59a1;SUSS_ErrorLockMutex;No description;161;SUS_HANDLER;mission/acs/archive/LegacySusHandler.h
0x59a2;SUSS_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;SUS_HANDLER;mission/acs/RwHandler.h
0x59a3;SUSS_ExecutionFailed;Command execution failed;163;SUS_HANDLER;mission/acs/RwHandler.h
0x59a4;SUSS_CrcError;Reaction wheel reply has invalid crc;164;SUS_HANDLER;mission/acs/RwHandler.h
0x59a5;SUSS_ValueNotRead;No description;165;SUS_HANDLER;mission/acs/RwHandler.h
0x5e00;GOMS_PacketTooLong;No description;0;GOM_SPACE_HANDLER;mission/power/GomspaceDeviceHandler.h 0x5e00;GOMS_PacketTooLong;No description;0;GOM_SPACE_HANDLER;mission/power/GomspaceDeviceHandler.h
0x5e01;GOMS_InvalidTableId;No description;1;GOM_SPACE_HANDLER;mission/power/GomspaceDeviceHandler.h 0x5e01;GOMS_InvalidTableId;No description;1;GOM_SPACE_HANDLER;mission/power/GomspaceDeviceHandler.h
0x5e02;GOMS_InvalidAddress;No description;2;GOM_SPACE_HANDLER;mission/power/GomspaceDeviceHandler.h 0x5e02;GOMS_InvalidAddress;No description;2;GOM_SPACE_HANDLER;mission/power/GomspaceDeviceHandler.h
@ -509,9 +511,11 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x67a2;SADPL_MainSwitchTimeoutFailure;No description;162;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h 0x67a2;SADPL_MainSwitchTimeoutFailure;No description;162;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
0x67a3;SADPL_SwitchingDeplSa1Failed;No description;163;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h 0x67a3;SADPL_SwitchingDeplSa1Failed;No description;163;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
0x67a4;SADPL_SwitchingDeplSa2Failed;No description;164;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h 0x67a4;SADPL_SwitchingDeplSa2Failed;No description;164;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
0x6a00;ACSCTRL_FileDeletionFailed;File deletion failed and at least one file is still existent.;0;ACS_CTRL;mission/controller/AcsController.h 0x6aa0;ACSCTRL_FileDeletionFailed;File deletion failed and at least one file is still existent.;160;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
0x6a01;ACSCTRL_WriteFileFailed;Writing the TLE to the file has failed.;1;ACS_CTRL;mission/controller/AcsController.h 0x6aa1;ACSCTRL_WriteFileFailed;Writing the TLE to the file has failed.;161;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
0x6a02;ACSCTRL_ReadFileFailed;Reading the TLE to the file has failed.;2;ACS_CTRL;mission/controller/AcsController.h 0x6aa2;ACSCTRL_ReadFileFailed;Reading the TLE to the file has failed.;162;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
0x6aa3;ACSCTRL_SingleRwUnavailable;A single RW has failed.;163;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
0x6aa4;ACSCTRL_MultipleRwUnavailable;Multiple RWs have failed.;164;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
0x6b02;ACSMEKF_MekfUninitialized;No description;2;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h 0x6b02;ACSMEKF_MekfUninitialized;No description;2;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6b03;ACSMEKF_MekfNoGyrData;No description;3;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h 0x6b03;ACSMEKF_MekfNoGyrData;No description;3;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6b04;ACSMEKF_MekfNoModelVectors;No description;4;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h 0x6b04;ACSMEKF_MekfNoModelVectors;No description;4;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h

1 Full ID (hex) Name Description Unique ID Subsytem Name File Path
454 0x5208 IMTQ_CmdErrUnknown No description 8 IMTQ_HANDLER mission/acs/imtqHelpers.h
455 0x5209 IMTQ_StartupCfgError No description 9 IMTQ_HANDLER mission/acs/imtqHelpers.h
456 0x520a IMTQ_UnexpectedSelfTestReply The status reply to a self test command was received but no self test command has been sent. This should normally never happen. 10 IMTQ_HANDLER mission/acs/imtqHelpers.h
457 0x53a0 RWHA_InvalidSpeed Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000] 160 RW_HANDLER mission/acs/RwHandler.h
458 0x53a1 RWHA_InvalidRampTime Action Message with invalid ramp time was received. 161 RW_HANDLER mission/acs/RwHandler.h
459 0x53a2 RWHA_SetSpeedCommandInvalidLength Received set speed command has invalid length. Should be 6. 162 RW_HANDLER mission/acs/RwHandler.h
460 0x53a3 RWHA_ExecutionFailed Command execution failed 163 RW_HANDLER mission/acs/RwHandler.h
461 0x53a4 RWHA_CrcError Reaction wheel reply has invalid crc 164 RW_HANDLER mission/acs/RwHandler.h
462 0x53a5 RWHA_ValueNotRead No description 165 RW_HANDLER mission/acs/RwHandler.h
463 0x53b0 RWHA_SpiWriteFailure No description 176 RW_HANDLER mission/acs/rwHelpers.h
464 0x53b1 RWHA_SpiReadFailure Used by the spi send function to tell a failing read call 177 RW_HANDLER mission/acs/rwHelpers.h
465 0x53b2 RWHA_MissingStartSign Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E 178 RW_HANDLER mission/acs/rwHelpers.h
493 0x54b6 STRH_StartrackerAlreadyBooted Star tracker is already in firmware mode 182 STR_HANDLER mission/acs/str/StarTrackerHandler.h
494 0x54b7 STRH_StartrackerNotRunningFirmware Star tracker must be in firmware mode to run this command 183 STR_HANDLER mission/acs/str/StarTrackerHandler.h
495 0x54b8 STRH_StartrackerNotRunningBootloader Star tracker must be in bootloader mode to run this command 184 STR_HANDLER mission/acs/str/StarTrackerHandler.h
496 0x59a0 SUSS_InvalidSpeed SUSS_ErrorUnlockMutex Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000] No description 160 SUS_HANDLER mission/acs/RwHandler.h mission/acs/archive/LegacySusHandler.h
497 0x59a1 SUSS_InvalidRampTime SUSS_ErrorLockMutex Action Message with invalid ramp time was received. No description 161 SUS_HANDLER mission/acs/RwHandler.h mission/acs/archive/LegacySusHandler.h
0x59a2 SUSS_SetSpeedCommandInvalidLength Received set speed command has invalid length. Should be 6. 162 SUS_HANDLER mission/acs/RwHandler.h
0x59a3 SUSS_ExecutionFailed Command execution failed 163 SUS_HANDLER mission/acs/RwHandler.h
0x59a4 SUSS_CrcError Reaction wheel reply has invalid crc 164 SUS_HANDLER mission/acs/RwHandler.h
0x59a5 SUSS_ValueNotRead No description 165 SUS_HANDLER mission/acs/RwHandler.h
498 0x5e00 GOMS_PacketTooLong No description 0 GOM_SPACE_HANDLER mission/power/GomspaceDeviceHandler.h
499 0x5e01 GOMS_InvalidTableId No description 1 GOM_SPACE_HANDLER mission/power/GomspaceDeviceHandler.h
500 0x5e02 GOMS_InvalidAddress No description 2 GOM_SPACE_HANDLER mission/power/GomspaceDeviceHandler.h
511 0x67a2 SADPL_MainSwitchTimeoutFailure No description 162 SA_DEPL_HANDLER mission/SolarArrayDeploymentHandler.h
512 0x67a3 SADPL_SwitchingDeplSa1Failed No description 163 SA_DEPL_HANDLER mission/SolarArrayDeploymentHandler.h
513 0x67a4 SADPL_SwitchingDeplSa2Failed No description 164 SA_DEPL_HANDLER mission/SolarArrayDeploymentHandler.h
514 0x6a00 0x6aa0 ACSCTRL_FileDeletionFailed File deletion failed and at least one file is still existent. 0 160 ACS_CTRL mission/controller/AcsController.h mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
515 0x6a01 0x6aa1 ACSCTRL_WriteFileFailed Writing the TLE to the file has failed. 1 161 ACS_CTRL mission/controller/AcsController.h mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
516 0x6a02 0x6aa2 ACSCTRL_ReadFileFailed Reading the TLE to the file has failed. 2 162 ACS_CTRL mission/controller/AcsController.h mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
517 0x6aa3 ACSCTRL_SingleRwUnavailable A single RW has failed. 163 ACS_CTRL mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
518 0x6aa4 ACSCTRL_MultipleRwUnavailable Multiple RWs have failed. 164 ACS_CTRL mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
519 0x6b02 ACSMEKF_MekfUninitialized No description 2 ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
520 0x6b03 ACSMEKF_MekfNoGyrData No description 3 ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
521 0x6b04 ACSMEKF_MekfNoModelVectors No description 4 ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h

View File

@ -88,7 +88,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
10804;0x2a34;FILENAME_TOO_LARGE_ERROR;LOW;P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name;fsfw/src/fsfw/cfdp/handler/defs.h 10804;0x2a34;FILENAME_TOO_LARGE_ERROR;LOW;P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name;fsfw/src/fsfw/cfdp/handler/defs.h
10805;0x2a35;HANDLING_CFDP_REQUEST_FAILED;LOW;CFDP request handling failed. P2: Returncode.;fsfw/src/fsfw/cfdp/handler/defs.h 10805;0x2a35;HANDLING_CFDP_REQUEST_FAILED;LOW;CFDP request handling failed. P2: Returncode.;fsfw/src/fsfw/cfdp/handler/defs.h
11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;The limits for the rotation in safe mode were violated.;mission/acs/defs.h 11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;The limits for the rotation in safe mode were violated.;mission/acs/defs.h
11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;The system has recovered from a safe rate rotation violation.;mission/acs/defs.h 11201;0x2bc1;RATE_RECOVERY;MEDIUM;The system has recovered from a rate rotation violation.;mission/acs/defs.h
11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;Multiple RWs are invalid, uncommandable and therefore higher ACS modes cannot be maintained.;mission/acs/defs.h 11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;Multiple RWs are invalid, uncommandable and therefore higher ACS modes cannot be maintained.;mission/acs/defs.h
11203;0x2bc3;MEKF_INVALID_INFO;INFO;MEKF was not able to compute a solution. P1: MEKF state on exit;mission/acs/defs.h 11203;0x2bc3;MEKF_INVALID_INFO;INFO;MEKF was not able to compute a solution. P1: MEKF state on exit;mission/acs/defs.h
11204;0x2bc4;MEKF_RECOVERY;INFO;MEKF is able to compute a solution again.;mission/acs/defs.h 11204;0x2bc4;MEKF_RECOVERY;INFO;MEKF is able to compute a solution again.;mission/acs/defs.h
@ -97,6 +97,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
11207;0x2bc7;SAFE_MODE_CONTROLLER_FAILURE;HIGH;The ACS safe mode controller was not able to compute a solution and has failed. P1: Missing information about magnetic field, P2: Missing information about rotational rate;mission/acs/defs.h 11207;0x2bc7;SAFE_MODE_CONTROLLER_FAILURE;HIGH;The ACS safe mode controller was not able to compute a solution and has failed. P1: Missing information about magnetic field, P2: Missing information about rotational rate;mission/acs/defs.h
11208;0x2bc8;TLE_TOO_OLD;INFO;The TLE for the SGP4 Propagator has become too old.;mission/acs/defs.h 11208;0x2bc8;TLE_TOO_OLD;INFO;The TLE for the SGP4 Propagator has become too old.;mission/acs/defs.h
11209;0x2bc9;TLE_FILE_READ_FAILED;LOW;The TLE could not be read from the filesystem.;mission/acs/defs.h 11209;0x2bc9;TLE_FILE_READ_FAILED;LOW;The TLE could not be read from the filesystem.;mission/acs/defs.h
11210;0x2bca;PTG_RATE_VIOLATION;MEDIUM;The limits for the rotation in pointing mode were violated.;mission/acs/defs.h
11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/power/defs.h 11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/power/defs.h
11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/power/defs.h 11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/power/defs.h
11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/power/defs.h 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/power/defs.h

1 Event ID (dec) Event ID (hex) Name Severity Description File Path
88 10804 0x2a34 FILENAME_TOO_LARGE_ERROR LOW P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name fsfw/src/fsfw/cfdp/handler/defs.h
89 10805 0x2a35 HANDLING_CFDP_REQUEST_FAILED LOW CFDP request handling failed. P2: Returncode. fsfw/src/fsfw/cfdp/handler/defs.h
90 11200 0x2bc0 SAFE_RATE_VIOLATION MEDIUM The limits for the rotation in safe mode were violated. mission/acs/defs.h
91 11201 0x2bc1 SAFE_RATE_RECOVERY RATE_RECOVERY MEDIUM The system has recovered from a safe rate rotation violation. The system has recovered from a rate rotation violation. mission/acs/defs.h
92 11202 0x2bc2 MULTIPLE_RW_INVALID HIGH Multiple RWs are invalid, uncommandable and therefore higher ACS modes cannot be maintained. mission/acs/defs.h
93 11203 0x2bc3 MEKF_INVALID_INFO INFO MEKF was not able to compute a solution. P1: MEKF state on exit mission/acs/defs.h
94 11204 0x2bc4 MEKF_RECOVERY INFO MEKF is able to compute a solution again. mission/acs/defs.h
97 11207 0x2bc7 SAFE_MODE_CONTROLLER_FAILURE HIGH The ACS safe mode controller was not able to compute a solution and has failed. P1: Missing information about magnetic field, P2: Missing information about rotational rate mission/acs/defs.h
98 11208 0x2bc8 TLE_TOO_OLD INFO The TLE for the SGP4 Propagator has become too old. mission/acs/defs.h
99 11209 0x2bc9 TLE_FILE_READ_FAILED LOW The TLE could not be read from the filesystem. mission/acs/defs.h
100 11210 0x2bca PTG_RATE_VIOLATION MEDIUM The limits for the rotation in pointing mode were violated. mission/acs/defs.h
101 11300 0x2c24 SWITCH_CMD_SENT INFO Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index mission/power/defs.h
102 11301 0x2c25 SWITCH_HAS_CHANGED INFO Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index mission/power/defs.h
103 11302 0x2c26 SWITCHING_Q7S_DENIED MEDIUM No description mission/power/defs.h

View File

@ -454,6 +454,12 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x5208;IMTQ_CmdErrUnknown;No description;8;IMTQ_HANDLER;mission/acs/imtqHelpers.h 0x5208;IMTQ_CmdErrUnknown;No description;8;IMTQ_HANDLER;mission/acs/imtqHelpers.h
0x5209;IMTQ_StartupCfgError;No description;9;IMTQ_HANDLER;mission/acs/imtqHelpers.h 0x5209;IMTQ_StartupCfgError;No description;9;IMTQ_HANDLER;mission/acs/imtqHelpers.h
0x520a;IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;10;IMTQ_HANDLER;mission/acs/imtqHelpers.h 0x520a;IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;10;IMTQ_HANDLER;mission/acs/imtqHelpers.h
0x53a0;RWHA_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;RW_HANDLER;mission/acs/RwHandler.h
0x53a1;RWHA_InvalidRampTime;Action Message with invalid ramp time was received.;161;RW_HANDLER;mission/acs/RwHandler.h
0x53a2;RWHA_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;RW_HANDLER;mission/acs/RwHandler.h
0x53a3;RWHA_ExecutionFailed;Command execution failed;163;RW_HANDLER;mission/acs/RwHandler.h
0x53a4;RWHA_CrcError;Reaction wheel reply has invalid crc;164;RW_HANDLER;mission/acs/RwHandler.h
0x53a5;RWHA_ValueNotRead;No description;165;RW_HANDLER;mission/acs/RwHandler.h
0x53b0;RWHA_SpiWriteFailure;No description;176;RW_HANDLER;mission/acs/rwHelpers.h 0x53b0;RWHA_SpiWriteFailure;No description;176;RW_HANDLER;mission/acs/rwHelpers.h
0x53b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;177;RW_HANDLER;mission/acs/rwHelpers.h 0x53b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;177;RW_HANDLER;mission/acs/rwHelpers.h
0x53b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;178;RW_HANDLER;mission/acs/rwHelpers.h 0x53b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;178;RW_HANDLER;mission/acs/rwHelpers.h
@ -499,12 +505,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x58a1;PLSPVhLP_ProcessTerminated;Process has been terminated by command;161;PLOC_SUPV_HELPER;linux/payload/PlocSupvUartMan.h 0x58a1;PLSPVhLP_ProcessTerminated;Process has been terminated by command;161;PLOC_SUPV_HELPER;linux/payload/PlocSupvUartMan.h
0x58a2;PLSPVhLP_PathNotExists;Received command with invalid pathname;162;PLOC_SUPV_HELPER;linux/payload/PlocSupvUartMan.h 0x58a2;PLSPVhLP_PathNotExists;Received command with invalid pathname;162;PLOC_SUPV_HELPER;linux/payload/PlocSupvUartMan.h
0x58a3;PLSPVhLP_EventBufferReplyInvalidApid;Expected event buffer TM but received space packet with other APID;163;PLOC_SUPV_HELPER;linux/payload/PlocSupvUartMan.h 0x58a3;PLSPVhLP_EventBufferReplyInvalidApid;Expected event buffer TM but received space packet with other APID;163;PLOC_SUPV_HELPER;linux/payload/PlocSupvUartMan.h
0x59a0;SUSS_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;SUS_HANDLER;mission/acs/RwHandler.h 0x59a0;SUSS_ErrorUnlockMutex;No description;160;SUS_HANDLER;mission/acs/archive/LegacySusHandler.h
0x59a1;SUSS_InvalidRampTime;Action Message with invalid ramp time was received.;161;SUS_HANDLER;mission/acs/RwHandler.h 0x59a1;SUSS_ErrorLockMutex;No description;161;SUS_HANDLER;mission/acs/archive/LegacySusHandler.h
0x59a2;SUSS_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;SUS_HANDLER;mission/acs/RwHandler.h
0x59a3;SUSS_ExecutionFailed;Command execution failed;163;SUS_HANDLER;mission/acs/RwHandler.h
0x59a4;SUSS_CrcError;Reaction wheel reply has invalid crc;164;SUS_HANDLER;mission/acs/RwHandler.h
0x59a5;SUSS_ValueNotRead;No description;165;SUS_HANDLER;mission/acs/RwHandler.h
0x5aa0;IPCI_PapbBusy;No description;160;CCSDS_IP_CORE_BRIDGE;linux/ipcore/PapbVcInterface.h 0x5aa0;IPCI_PapbBusy;No description;160;CCSDS_IP_CORE_BRIDGE;linux/ipcore/PapbVcInterface.h
0x5ba0;PTME_UnknownVcId;No description;160;PTME;linux/ipcore/Ptme.h 0x5ba0;PTME_UnknownVcId;No description;160;PTME;linux/ipcore/Ptme.h
0x5d01;STRHLP_SdNotMounted;SD card specified in path string not mounted;1;STR_HELPER;linux/acs/StrComHandler.h 0x5d01;STRHLP_SdNotMounted;SD card specified in path string not mounted;1;STR_HELPER;linux/acs/StrComHandler.h
@ -593,9 +595,11 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x69b5;SPVRTVIF_SupvHelperExecuting;Supervisor helper task ist currently executing a command (wait until helper tas has finished or interrupt by sending the terminate command);181;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h 0x69b5;SPVRTVIF_SupvHelperExecuting;Supervisor helper task ist currently executing a command (wait until helper tas has finished or interrupt by sending the terminate command);181;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
0x69c0;SPVRTVIF_BufTooSmall;No description;192;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h 0x69c0;SPVRTVIF_BufTooSmall;No description;192;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
0x69c1;SPVRTVIF_NoReplyTimeout;No description;193;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h 0x69c1;SPVRTVIF_NoReplyTimeout;No description;193;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
0x6a00;ACSCTRL_FileDeletionFailed;File deletion failed and at least one file is still existent.;0;ACS_CTRL;mission/controller/AcsController.h 0x6aa0;ACSCTRL_FileDeletionFailed;File deletion failed and at least one file is still existent.;160;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
0x6a01;ACSCTRL_WriteFileFailed;Writing the TLE to the file has failed.;1;ACS_CTRL;mission/controller/AcsController.h 0x6aa1;ACSCTRL_WriteFileFailed;Writing the TLE to the file has failed.;161;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
0x6a02;ACSCTRL_ReadFileFailed;Reading the TLE to the file has failed.;2;ACS_CTRL;mission/controller/AcsController.h 0x6aa2;ACSCTRL_ReadFileFailed;Reading the TLE to the file has failed.;162;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
0x6aa3;ACSCTRL_SingleRwUnavailable;A single RW has failed.;163;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
0x6aa4;ACSCTRL_MultipleRwUnavailable;Multiple RWs have failed.;164;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
0x6b02;ACSMEKF_MekfUninitialized;No description;2;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h 0x6b02;ACSMEKF_MekfUninitialized;No description;2;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6b03;ACSMEKF_MekfNoGyrData;No description;3;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h 0x6b03;ACSMEKF_MekfNoGyrData;No description;3;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6b04;ACSMEKF_MekfNoModelVectors;No description;4;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h 0x6b04;ACSMEKF_MekfNoModelVectors;No description;4;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h

1 Full ID (hex) Name Description Unique ID Subsytem Name File Path
454 0x5208 IMTQ_CmdErrUnknown No description 8 IMTQ_HANDLER mission/acs/imtqHelpers.h
455 0x5209 IMTQ_StartupCfgError No description 9 IMTQ_HANDLER mission/acs/imtqHelpers.h
456 0x520a IMTQ_UnexpectedSelfTestReply The status reply to a self test command was received but no self test command has been sent. This should normally never happen. 10 IMTQ_HANDLER mission/acs/imtqHelpers.h
457 0x53a0 RWHA_InvalidSpeed Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000] 160 RW_HANDLER mission/acs/RwHandler.h
458 0x53a1 RWHA_InvalidRampTime Action Message with invalid ramp time was received. 161 RW_HANDLER mission/acs/RwHandler.h
459 0x53a2 RWHA_SetSpeedCommandInvalidLength Received set speed command has invalid length. Should be 6. 162 RW_HANDLER mission/acs/RwHandler.h
460 0x53a3 RWHA_ExecutionFailed Command execution failed 163 RW_HANDLER mission/acs/RwHandler.h
461 0x53a4 RWHA_CrcError Reaction wheel reply has invalid crc 164 RW_HANDLER mission/acs/RwHandler.h
462 0x53a5 RWHA_ValueNotRead No description 165 RW_HANDLER mission/acs/RwHandler.h
463 0x53b0 RWHA_SpiWriteFailure No description 176 RW_HANDLER mission/acs/rwHelpers.h
464 0x53b1 RWHA_SpiReadFailure Used by the spi send function to tell a failing read call 177 RW_HANDLER mission/acs/rwHelpers.h
465 0x53b2 RWHA_MissingStartSign Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E 178 RW_HANDLER mission/acs/rwHelpers.h
505 0x58a1 PLSPVhLP_ProcessTerminated Process has been terminated by command 161 PLOC_SUPV_HELPER linux/payload/PlocSupvUartMan.h
506 0x58a2 PLSPVhLP_PathNotExists Received command with invalid pathname 162 PLOC_SUPV_HELPER linux/payload/PlocSupvUartMan.h
507 0x58a3 PLSPVhLP_EventBufferReplyInvalidApid Expected event buffer TM but received space packet with other APID 163 PLOC_SUPV_HELPER linux/payload/PlocSupvUartMan.h
508 0x59a0 SUSS_InvalidSpeed SUSS_ErrorUnlockMutex Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000] No description 160 SUS_HANDLER mission/acs/RwHandler.h mission/acs/archive/LegacySusHandler.h
509 0x59a1 SUSS_InvalidRampTime SUSS_ErrorLockMutex Action Message with invalid ramp time was received. No description 161 SUS_HANDLER mission/acs/RwHandler.h mission/acs/archive/LegacySusHandler.h
0x59a2 SUSS_SetSpeedCommandInvalidLength Received set speed command has invalid length. Should be 6. 162 SUS_HANDLER mission/acs/RwHandler.h
0x59a3 SUSS_ExecutionFailed Command execution failed 163 SUS_HANDLER mission/acs/RwHandler.h
0x59a4 SUSS_CrcError Reaction wheel reply has invalid crc 164 SUS_HANDLER mission/acs/RwHandler.h
0x59a5 SUSS_ValueNotRead No description 165 SUS_HANDLER mission/acs/RwHandler.h
510 0x5aa0 IPCI_PapbBusy No description 160 CCSDS_IP_CORE_BRIDGE linux/ipcore/PapbVcInterface.h
511 0x5ba0 PTME_UnknownVcId No description 160 PTME linux/ipcore/Ptme.h
512 0x5d01 STRHLP_SdNotMounted SD card specified in path string not mounted 1 STR_HELPER linux/acs/StrComHandler.h
595 0x69b5 SPVRTVIF_SupvHelperExecuting Supervisor helper task ist currently executing a command (wait until helper tas has finished or interrupt by sending the terminate command) 181 SUPV_RETURN_VALUES_IF linux/payload/plocSupvDefs.h
596 0x69c0 SPVRTVIF_BufTooSmall No description 192 SUPV_RETURN_VALUES_IF linux/payload/plocSupvDefs.h
597 0x69c1 SPVRTVIF_NoReplyTimeout No description 193 SUPV_RETURN_VALUES_IF linux/payload/plocSupvDefs.h
598 0x6a00 0x6aa0 ACSCTRL_FileDeletionFailed File deletion failed and at least one file is still existent. 0 160 ACS_CTRL mission/controller/AcsController.h mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
599 0x6a01 0x6aa1 ACSCTRL_WriteFileFailed Writing the TLE to the file has failed. 1 161 ACS_CTRL mission/controller/AcsController.h mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
600 0x6a02 0x6aa2 ACSCTRL_ReadFileFailed Reading the TLE to the file has failed. 2 162 ACS_CTRL mission/controller/AcsController.h mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
601 0x6aa3 ACSCTRL_SingleRwUnavailable A single RW has failed. 163 ACS_CTRL mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
602 0x6aa4 ACSCTRL_MultipleRwUnavailable Multiple RWs have failed. 164 ACS_CTRL mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
603 0x6b02 ACSMEKF_MekfUninitialized No description 2 ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
604 0x6b03 ACSMEKF_MekfNoGyrData No description 3 ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
605 0x6b04 ACSMEKF_MekfNoModelVectors No description 4 ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h

View File

@ -1,7 +1,7 @@
/** /**
* @brief Auto-generated event translation file. Contains 318 translations. * @brief Auto-generated event translation file. Contains 319 translations.
* @details * @details
* Generated on: 2023-12-13 11:29:45 * Generated on: 2024-01-30 09:10:05
*/ */
#include "translateEvents.h" #include "translateEvents.h"
@ -94,7 +94,7 @@ const char *FILESTORE_ERROR_STRING = "FILESTORE_ERROR";
const char *FILENAME_TOO_LARGE_ERROR_STRING = "FILENAME_TOO_LARGE_ERROR"; const char *FILENAME_TOO_LARGE_ERROR_STRING = "FILENAME_TOO_LARGE_ERROR";
const char *HANDLING_CFDP_REQUEST_FAILED_STRING = "HANDLING_CFDP_REQUEST_FAILED"; const char *HANDLING_CFDP_REQUEST_FAILED_STRING = "HANDLING_CFDP_REQUEST_FAILED";
const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION"; const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY"; const char *RATE_RECOVERY_STRING = "RATE_RECOVERY";
const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID"; const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO"; const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY"; const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY";
@ -103,6 +103,7 @@ const char *PTG_CTRL_NO_ATTITUDE_INFORMATION_STRING = "PTG_CTRL_NO_ATTITUDE_INFO
const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE"; const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
const char *TLE_TOO_OLD_STRING = "TLE_TOO_OLD"; const char *TLE_TOO_OLD_STRING = "TLE_TOO_OLD";
const char *TLE_FILE_READ_FAILED_STRING = "TLE_FILE_READ_FAILED"; const char *TLE_FILE_READ_FAILED_STRING = "TLE_FILE_READ_FAILED";
const char *PTG_RATE_VIOLATION_STRING = "PTG_RATE_VIOLATION";
const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT"; const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED"; const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED"; const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@ -505,7 +506,7 @@ const char *translateEvents(Event event) {
case (11200): case (11200):
return SAFE_RATE_VIOLATION_STRING; return SAFE_RATE_VIOLATION_STRING;
case (11201): case (11201):
return SAFE_RATE_RECOVERY_STRING; return RATE_RECOVERY_STRING;
case (11202): case (11202):
return MULTIPLE_RW_INVALID_STRING; return MULTIPLE_RW_INVALID_STRING;
case (11203): case (11203):
@ -522,6 +523,8 @@ const char *translateEvents(Event event) {
return TLE_TOO_OLD_STRING; return TLE_TOO_OLD_STRING;
case (11209): case (11209):
return TLE_FILE_READ_FAILED_STRING; return TLE_FILE_READ_FAILED_STRING;
case (11210):
return PTG_RATE_VIOLATION_STRING;
case (11300): case (11300):
return SWITCH_CMD_SENT_STRING; return SWITCH_CMD_SENT_STRING;
case (11301): case (11301):

View File

@ -2,7 +2,7 @@
* @brief Auto-generated object translation file. * @brief Auto-generated object translation file.
* @details * @details
* Contains 179 translations. * Contains 179 translations.
* Generated on: 2023-12-13 11:29:45 * Generated on: 2024-01-30 09:10:05
*/ */
#include "translateObjects.h" #include "translateObjects.h"

View File

@ -1,7 +1,7 @@
/** /**
* @brief Auto-generated event translation file. Contains 318 translations. * @brief Auto-generated event translation file. Contains 319 translations.
* @details * @details
* Generated on: 2023-12-13 11:29:45 * Generated on: 2024-01-30 09:10:05
*/ */
#include "translateEvents.h" #include "translateEvents.h"
@ -94,7 +94,7 @@ const char *FILESTORE_ERROR_STRING = "FILESTORE_ERROR";
const char *FILENAME_TOO_LARGE_ERROR_STRING = "FILENAME_TOO_LARGE_ERROR"; const char *FILENAME_TOO_LARGE_ERROR_STRING = "FILENAME_TOO_LARGE_ERROR";
const char *HANDLING_CFDP_REQUEST_FAILED_STRING = "HANDLING_CFDP_REQUEST_FAILED"; const char *HANDLING_CFDP_REQUEST_FAILED_STRING = "HANDLING_CFDP_REQUEST_FAILED";
const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION"; const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY"; const char *RATE_RECOVERY_STRING = "RATE_RECOVERY";
const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID"; const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO"; const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY"; const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY";
@ -103,6 +103,7 @@ const char *PTG_CTRL_NO_ATTITUDE_INFORMATION_STRING = "PTG_CTRL_NO_ATTITUDE_INFO
const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE"; const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
const char *TLE_TOO_OLD_STRING = "TLE_TOO_OLD"; const char *TLE_TOO_OLD_STRING = "TLE_TOO_OLD";
const char *TLE_FILE_READ_FAILED_STRING = "TLE_FILE_READ_FAILED"; const char *TLE_FILE_READ_FAILED_STRING = "TLE_FILE_READ_FAILED";
const char *PTG_RATE_VIOLATION_STRING = "PTG_RATE_VIOLATION";
const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT"; const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED"; const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED"; const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@ -505,7 +506,7 @@ const char *translateEvents(Event event) {
case (11200): case (11200):
return SAFE_RATE_VIOLATION_STRING; return SAFE_RATE_VIOLATION_STRING;
case (11201): case (11201):
return SAFE_RATE_RECOVERY_STRING; return RATE_RECOVERY_STRING;
case (11202): case (11202):
return MULTIPLE_RW_INVALID_STRING; return MULTIPLE_RW_INVALID_STRING;
case (11203): case (11203):
@ -522,6 +523,8 @@ const char *translateEvents(Event event) {
return TLE_TOO_OLD_STRING; return TLE_TOO_OLD_STRING;
case (11209): case (11209):
return TLE_FILE_READ_FAILED_STRING; return TLE_FILE_READ_FAILED_STRING;
case (11210):
return PTG_RATE_VIOLATION_STRING;
case (11300): case (11300):
return SWITCH_CMD_SENT_STRING; return SWITCH_CMD_SENT_STRING;
case (11301): case (11301):

View File

@ -2,7 +2,7 @@
* @brief Auto-generated object translation file. * @brief Auto-generated object translation file.
* @details * @details
* Contains 179 translations. * Contains 179 translations.
* Generated on: 2023-12-13 11:29:45 * Generated on: 2024-01-30 09:10:05
*/ */
#include "translateObjects.h" #include "translateObjects.h"

View File

@ -1123,7 +1123,8 @@ void FreshSupvHandler::handleEvent(EventMessage* eventMessage) {
if (not isCommandAlreadyActive(supv::SHUTDOWN_MPSOC)) { if (not isCommandAlreadyActive(supv::SHUTDOWN_MPSOC)) {
CommandMessage actionMsg; CommandMessage actionMsg;
ActionMessage::setCommand(&actionMsg, supv::SHUTDOWN_MPSOC, store_address_t::invalid()); ActionMessage::setCommand(&actionMsg, supv::SHUTDOWN_MPSOC, store_address_t::invalid());
result = messageQueue->sendMessageFrom(getCommandQueue(), &actionMsg, MessageQueueIF::NO_QUEUE); result = messageQueue->sendMessageFrom(getCommandQueue(), &actionMsg,
MessageQueueIF::NO_QUEUE);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
triggerEvent(supv::SUPV_MPSOC_SHUTDOWN_BUILD_FAILED); triggerEvent(supv::SUPV_MPSOC_SHUTDOWN_BUILD_FAILED);
sif::warning << "PlocSupervisorHandler::handleEvent: Failed to build MPSoC shutdown " sif::warning << "PlocSupervisorHandler::handleEvent: Failed to build MPSoC shutdown "

View File

@ -59,6 +59,7 @@ class RwHandler : public DeviceHandlerBase {
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override; LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
private: private:
static const uint8_t INTERFACE_ID = CLASS_ID::RW_HANDLER;
//! [EXPORT] : [COMMENT] Action Message with invalid speed was received. Valid speeds must be in //! [EXPORT] : [COMMENT] Action Message with invalid speed was received. Valid speeds must be in
//! the range of [-65000; 1000] or [1000; 65000] //! the range of [-65000; 1000] or [1000; 65000]
static const ReturnValue_t INVALID_SPEED = MAKE_RETURN_CODE(0xA0); static const ReturnValue_t INVALID_SPEED = MAKE_RETURN_CODE(0xA0);

View File

@ -66,8 +66,10 @@ enum Source : uint8_t {
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM; static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
//! [EXPORT] : [COMMENT] The limits for the rotation in safe mode were violated. //! [EXPORT] : [COMMENT] The limits for the rotation in safe mode were violated.
static constexpr Event SAFE_RATE_VIOLATION = MAKE_EVENT(0, severity::MEDIUM); static constexpr Event SAFE_RATE_VIOLATION = MAKE_EVENT(0, severity::MEDIUM);
//! [EXPORT] : [COMMENT] The system has recovered from a safe rate rotation violation. //! [EXPORT] : [COMMENT] The limits for the rotation in pointing mode were violated.
static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM); static constexpr Event PTG_RATE_VIOLATION = MAKE_EVENT(10, severity::MEDIUM);
//! [EXPORT] : [COMMENT] The system has recovered from a rate rotation violation.
static constexpr Event RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
//! [EXPORT] : [COMMENT] Multiple RWs are invalid, uncommandable and therefore higher ACS modes //! [EXPORT] : [COMMENT] Multiple RWs are invalid, uncommandable and therefore higher ACS modes
//! cannot be maintained. //! cannot be maintained.
static constexpr Event MULTIPLE_RW_INVALID = MAKE_EVENT(2, severity::HIGH); static constexpr Event MULTIPLE_RW_INVALID = MAKE_EVENT(2, severity::HIGH);

View File

@ -49,7 +49,7 @@ ReturnValue_t AcsController::executeAction(ActionId_t actionId, MessageQueueId_t
case SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL: { case SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL: {
ReturnValue_t result = guidance.solarArrayDeploymentComplete(); ReturnValue_t result = guidance.solarArrayDeploymentComplete();
if (result == returnvalue::FAILED) { if (result == returnvalue::FAILED) {
return FILE_DELETION_FAILED; return acsctrl::FILE_DELETION_FAILED;
} }
return HasActionsIF::EXECUTION_FINISHED; return HasActionsIF::EXECUTION_FINISHED;
} }
@ -195,6 +195,8 @@ void AcsController::performAttitudeControl() {
mekfInvalidFlag = false; mekfInvalidFlag = false;
} }
handleDetumbling();
switch (mode) { switch (mode) {
case acs::SAFE: case acs::SAFE:
switch (submode) { switch (submode) {
@ -284,33 +286,6 @@ void AcsController::performSafe() {
actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment, actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs); acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs);
// detumble check and switch
if (acsParameters.safeModeControllerParameters.useMekf) {
if (attitudeEstimationData.satRotRateMekf.isValid() and
VectorOperations<double>::norm(attitudeEstimationData.satRotRateMekf.value, 3) >
acsParameters.detumbleParameter.omegaDetumbleStart) {
detumbleCounter++;
}
} else if (acsParameters.safeModeControllerParameters.useGyr) {
if (gyrDataProcessed.gyrVecTot.isValid() and
VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) >
acsParameters.detumbleParameter.omegaDetumbleStart) {
detumbleCounter++;
}
} else if (fusedRotRateData.rotRateTotal.isValid() and
VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) >
acsParameters.detumbleParameter.omegaDetumbleStart) {
detumbleCounter++;
} else if (detumbleCounter > 0) {
detumbleCounter -= 1;
}
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
detumbleCounter = 0;
// Triggers detumble mode transition in subsystem
triggerEvent(acs::SAFE_RATE_VIOLATION);
startTransition(mode, acs::SafeSubmode::DETUMBLE);
}
updateCtrlValData(errAng, safeCtrlStrat); updateCtrlValData(errAng, safeCtrlStrat);
updateActuatorCmdData(cmdDipoleMtqs); updateActuatorCmdData(cmdDipoleMtqs);
commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2], commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2],
@ -346,33 +321,6 @@ void AcsController::performDetumble() {
actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment, actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs); acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs);
if (acsParameters.safeModeControllerParameters.useMekf) {
if (attitudeEstimationData.satRotRateMekf.isValid() and
VectorOperations<double>::norm(attitudeEstimationData.satRotRateMekf.value, 3) <
acsParameters.detumbleParameter.omegaDetumbleEnd) {
detumbleCounter++;
}
} else if (acsParameters.safeModeControllerParameters.useGyr) {
if (gyrDataProcessed.gyrVecTot.isValid() and
VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) <
acsParameters.detumbleParameter.omegaDetumbleEnd) {
detumbleCounter++;
}
} else if (fusedRotRateData.rotRateTotal.isValid() and
VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) <
acsParameters.detumbleParameter.omegaDetumbleEnd) {
detumbleCounter++;
} else if (detumbleCounter > 0) {
detumbleCounter -= 1;
}
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
detumbleCounter = 0;
// Triggers safe mode transition in subsystem
triggerEvent(acs::SAFE_RATE_RECOVERY);
startTransition(mode, acs::SafeSubmode::DEFAULT);
}
updateCtrlValData(safeCtrlStrat); updateCtrlValData(safeCtrlStrat);
updateActuatorCmdData(cmdDipoleMtqs); updateActuatorCmdData(cmdDipoleMtqs);
commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2], commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2],
@ -412,6 +360,7 @@ void AcsController::performPointingCtrl() {
triggerEvent(acs::PTG_CTRL_NO_ATTITUDE_INFORMATION); triggerEvent(acs::PTG_CTRL_NO_ATTITUDE_INFORMATION);
ptgCtrlLostCounter = 0; ptgCtrlLostCounter = 0;
} }
guidance.resetValues();
updateCtrlValData(ptgCtrlStrat); updateCtrlValData(ptgCtrlStrat);
updateActuatorCmdData(ZERO_VEC4, cmdSpeedRws, ZERO_VEC3_INT16); updateActuatorCmdData(ZERO_VEC4, cmdSpeedRws, ZERO_VEC3_INT16);
commandActuators(0, 0, 0, acsParameters.magnetorquerParameter.torqueDuration, cmdSpeedRws[0], commandActuators(0, 0, 0, acsParameters.magnetorquerParameter.torqueDuration, cmdSpeedRws[0],
@ -445,10 +394,10 @@ void AcsController::performPointingCtrl() {
break; break;
} }
uint8_t enableAntiStiction = true; bool allRwAvailable = true;
double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
ReturnValue_t result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv); ReturnValue_t result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
if (result == returnvalue::FAILED) { if (result == acsctrl::MULTIPLE_RW_UNAVAILABLE) {
if (multipleRwUnavailableCounter >= if (multipleRwUnavailableCounter >=
acsParameters.rwHandlingParameters.multipleRwInvalidTimeout) { acsParameters.rwHandlingParameters.multipleRwInvalidTimeout) {
triggerEvent(acs::MULTIPLE_RW_INVALID); triggerEvent(acs::MULTIPLE_RW_INVALID);
@ -456,8 +405,10 @@ void AcsController::performPointingCtrl() {
} }
multipleRwUnavailableCounter++; multipleRwUnavailableCounter++;
return; return;
} else { }
multipleRwUnavailableCounter = 0; multipleRwUnavailableCounter = 0;
if (result == acsctrl::SINGLE_RW_UNAVAILABLE) {
allRwAvailable = false;
} }
// Variables required for guidance // Variables required for guidance
@ -475,7 +426,7 @@ void AcsController::performPointingCtrl() {
errorSatRotRate, errorAngle); errorSatRotRate, errorAngle);
ptgCtrl.ptgLaw(&acsParameters.idleModeControllerParameters, errorQuat, errorSatRotRate, ptgCtrl.ptgLaw(&acsParameters.idleModeControllerParameters, errorQuat, errorSatRotRate,
*rwPseudoInv, torquePtgRws); *rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace(&acsParameters.idleModeControllerParameters, ptgCtrl.ptgNullspace(allRwAvailable, &acsParameters.idleModeControllerParameters,
sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value, sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
rwTrqNs); rwTrqNs);
@ -486,7 +437,6 @@ void AcsController::performPointingCtrl() {
mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value, mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value,
sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value,
sensorValues.rw4Set.currSpeed.value, mgtDpDes); sensorValues.rw4Set.currSpeed.value, mgtDpDes);
enableAntiStiction = acsParameters.idleModeControllerParameters.enableAntiStiction;
break; break;
case acs::PTG_TARGET: case acs::PTG_TARGET:
@ -499,7 +449,7 @@ void AcsController::performPointingCtrl() {
errorSatRotRate, errorAngle); errorSatRotRate, errorAngle);
ptgCtrl.ptgLaw(&acsParameters.targetModeControllerParameters, errorQuat, errorSatRotRate, ptgCtrl.ptgLaw(&acsParameters.targetModeControllerParameters, errorQuat, errorSatRotRate,
*rwPseudoInv, torquePtgRws); *rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace(&acsParameters.targetModeControllerParameters, ptgCtrl.ptgNullspace(allRwAvailable, &acsParameters.targetModeControllerParameters,
sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value, sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
rwTrqNs); rwTrqNs);
@ -510,7 +460,6 @@ void AcsController::performPointingCtrl() {
mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value, mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value,
sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value,
sensorValues.rw4Set.currSpeed.value, mgtDpDes); sensorValues.rw4Set.currSpeed.value, mgtDpDes);
enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
break; break;
case acs::PTG_TARGET_GS: case acs::PTG_TARGET_GS:
@ -520,7 +469,7 @@ void AcsController::performPointingCtrl() {
errorSatRotRate, errorAngle); errorSatRotRate, errorAngle);
ptgCtrl.ptgLaw(&acsParameters.gsTargetModeControllerParameters, errorQuat, errorSatRotRate, ptgCtrl.ptgLaw(&acsParameters.gsTargetModeControllerParameters, errorQuat, errorSatRotRate,
*rwPseudoInv, torquePtgRws); *rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace(&acsParameters.gsTargetModeControllerParameters, ptgCtrl.ptgNullspace(allRwAvailable, &acsParameters.gsTargetModeControllerParameters,
sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value, sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
rwTrqNs); rwTrqNs);
@ -531,7 +480,6 @@ void AcsController::performPointingCtrl() {
mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value, mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value,
sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value,
sensorValues.rw4Set.currSpeed.value, mgtDpDes); sensorValues.rw4Set.currSpeed.value, mgtDpDes);
enableAntiStiction = acsParameters.gsTargetModeControllerParameters.enableAntiStiction;
break; break;
case acs::PTG_NADIR: case acs::PTG_NADIR:
@ -544,7 +492,7 @@ void AcsController::performPointingCtrl() {
errorSatRotRate, errorAngle); errorSatRotRate, errorAngle);
ptgCtrl.ptgLaw(&acsParameters.nadirModeControllerParameters, errorQuat, errorSatRotRate, ptgCtrl.ptgLaw(&acsParameters.nadirModeControllerParameters, errorQuat, errorSatRotRate,
*rwPseudoInv, torquePtgRws); *rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace(&acsParameters.nadirModeControllerParameters, ptgCtrl.ptgNullspace(allRwAvailable, &acsParameters.nadirModeControllerParameters,
sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value, sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
rwTrqNs); rwTrqNs);
@ -555,7 +503,6 @@ void AcsController::performPointingCtrl() {
mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value, mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value,
sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value,
sensorValues.rw4Set.currSpeed.value, mgtDpDes); sensorValues.rw4Set.currSpeed.value, mgtDpDes);
enableAntiStiction = acsParameters.nadirModeControllerParameters.enableAntiStiction;
break; break;
case acs::PTG_INERTIAL: case acs::PTG_INERTIAL:
@ -567,7 +514,7 @@ void AcsController::performPointingCtrl() {
errorSatRotRate, errorAngle); errorSatRotRate, errorAngle);
ptgCtrl.ptgLaw(&acsParameters.inertialModeControllerParameters, errorQuat, errorSatRotRate, ptgCtrl.ptgLaw(&acsParameters.inertialModeControllerParameters, errorQuat, errorSatRotRate,
*rwPseudoInv, torquePtgRws); *rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace(&acsParameters.inertialModeControllerParameters, ptgCtrl.ptgNullspace(allRwAvailable, &acsParameters.inertialModeControllerParameters,
sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value, sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
rwTrqNs); rwTrqNs);
@ -578,7 +525,6 @@ void AcsController::performPointingCtrl() {
mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value, mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value,
sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value,
sensorValues.rw4Set.currSpeed.value, mgtDpDes); sensorValues.rw4Set.currSpeed.value, mgtDpDes);
enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction;
break; break;
default: default:
sif::error << "AcsController: Invalid mode for performPointingCtrl" << std::endl; sif::error << "AcsController: Invalid mode for performPointingCtrl" << std::endl;
@ -590,9 +536,7 @@ void AcsController::performPointingCtrl() {
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
acsParameters.onBoardParams.sampleTime, acsParameters.rwHandlingParameters.inertiaWheel, acsParameters.onBoardParams.sampleTime, acsParameters.rwHandlingParameters.inertiaWheel,
acsParameters.rwHandlingParameters.maxRwSpeed, torqueRws, cmdSpeedRws); acsParameters.rwHandlingParameters.maxRwSpeed, torqueRws, cmdSpeedRws);
if (enableAntiStiction) { ptgCtrl.rwAntistiction(&sensorValues, cmdSpeedRws);
ptgCtrl.rwAntistiction(&sensorValues, cmdSpeedRws);
}
actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment, actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
acsParameters.magnetorquerParameter.dipoleMax, mgtDpDes, cmdDipoleMtqs); acsParameters.magnetorquerParameter.dipoleMax, mgtDpDes, cmdDipoleMtqs);
@ -604,6 +548,62 @@ void AcsController::performPointingCtrl() {
acsParameters.rwHandlingParameters.rampTime); acsParameters.rwHandlingParameters.rampTime);
} }
void AcsController::handleDetumbling() {
switch (detumbleState) {
case DetumbleState::NO_DETUMBLE:
if (fusedRotRateData.rotRateTotal.isValid() and
VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) >
acsParameters.detumbleParameter.omegaDetumbleStart) {
detumbleCounter++;
} else if (detumbleCounter > 0) {
detumbleCounter -= 1;
}
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
if (mode == acs::AcsMode::SAFE) {
detumbleState = DetumbleState::DETUMBLE_FROM_SAFE;
break;
}
detumbleState = DetumbleState::DETUMBLE_FROM_PTG;
}
break;
case DetumbleState::DETUMBLE_FROM_PTG:
triggerEvent(acs::PTG_RATE_VIOLATION);
detumbleState = DetumbleState::PTG_TO_SAFE_TRANSITION;
break;
case DetumbleState::PTG_TO_SAFE_TRANSITION:
if (mode == acs::AcsMode::SAFE) {
detumbleState = DetumbleState::DETUMBLE_FROM_SAFE;
}
break;
case DetumbleState::DETUMBLE_FROM_SAFE:
detumbleCounter = 0;
// Triggers detumble mode transition in subsystem
triggerEvent(acs::SAFE_RATE_VIOLATION);
startTransition(mode, acs::SafeSubmode::DETUMBLE);
detumbleState = DetumbleState::IN_DETUMBLE;
break;
case DetumbleState::IN_DETUMBLE:
if (fusedRotRateData.rotRateTotal.isValid() and
VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) <
acsParameters.detumbleParameter.omegaDetumbleEnd) {
detumbleCounter++;
} else if (detumbleCounter > 0) {
detumbleCounter -= 1;
}
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
detumbleCounter = 0;
// Triggers safe mode transition in subsystem
triggerEvent(acs::RATE_RECOVERY);
startTransition(mode, acs::SafeSubmode::DEFAULT);
detumbleState = DetumbleState::NO_DETUMBLE;
}
break;
default:
sif::error << "AcsController: Invalid DetumbleState" << std::endl;
}
}
void AcsController::safeCtrlFailure(uint8_t mgmFailure, uint8_t sensorFailure) { void AcsController::safeCtrlFailure(uint8_t mgmFailure, uint8_t sensorFailure) {
if (not safeCtrlFailureFlag) { if (not safeCtrlFailureFlag) {
triggerEvent(acs::SAFE_MODE_CONTROLLER_FAILURE, mgmFailure, sensorFailure); triggerEvent(acs::SAFE_MODE_CONTROLLER_FAILURE, mgmFailure, sensorFailure);
@ -885,6 +885,25 @@ ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
} }
void AcsController::modeChanged(Mode_t mode, Submode_t submode) { void AcsController::modeChanged(Mode_t mode, Submode_t submode) {
if (mode == acs::AcsMode::SAFE) {
{
PoolReadGuard pg(&rw1SpeedSet);
rw1SpeedSet.setRwSpeed(0, 10);
}
{
PoolReadGuard pg(&rw2SpeedSet);
rw2SpeedSet.setRwSpeed(0, 10);
}
{
PoolReadGuard pg(&rw3SpeedSet);
rw3SpeedSet.setRwSpeed(0, 10);
}
{
PoolReadGuard pg(&rw4SpeedSet);
rw4SpeedSet.setRwSpeed(0, 10);
}
}
guidance.resetValues();
return ExtendedControllerBase::modeChanged(mode, submode); return ExtendedControllerBase::modeChanged(mode, submode);
} }
@ -1081,7 +1100,7 @@ ReturnValue_t AcsController::writeTleToFs(const uint8_t *tle) {
tleFile << "\n"; tleFile << "\n";
tleFile.write(reinterpret_cast<const char *>(tle + 69), 69); tleFile.write(reinterpret_cast<const char *>(tle + 69), 69);
} else { } else {
return WRITE_FILE_FAILED; return acsctrl::WRITE_FILE_FAILED;
} }
tleFile.close(); tleFile.close();
return returnvalue::OK; return returnvalue::OK;
@ -1105,12 +1124,12 @@ ReturnValue_t AcsController::readTleFromFs(uint8_t *line1, uint8_t *line2) {
std::memcpy(line2, tleLine2.c_str(), 69); std::memcpy(line2, tleLine2.c_str(), 69);
} else { } else {
triggerEvent(acs::TLE_FILE_READ_FAILED); triggerEvent(acs::TLE_FILE_READ_FAILED);
return READ_FILE_FAILED; return acsctrl::READ_FILE_FAILED;
} }
tleFile.close(); tleFile.close();
} else { } else {
triggerEvent(acs::TLE_FILE_READ_FAILED); triggerEvent(acs::TLE_FILE_READ_FAILED);
return READ_FILE_FAILED; return acsctrl::READ_FILE_FAILED;
} }
return returnvalue::OK; return returnvalue::OK;
} }

View File

@ -46,11 +46,6 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
uint16_t startAtIndex) override; uint16_t startAtIndex) override;
protected: protected:
void performAttitudeControl();
void performSafe();
void performDetumble();
void performPointingCtrl();
private: private:
static constexpr int16_t ZERO_VEC3_INT16[3] = {0, 0, 0}; static constexpr int16_t ZERO_VEC3_INT16[3] = {0, 0, 0};
static constexpr double ZERO_VEC3[3] = {0, 0, 0}; static constexpr double ZERO_VEC3[3] = {0, 0, 0};
@ -101,6 +96,15 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
enum class InternalState { STARTUP, INITIAL_DELAY, READY }; enum class InternalState { STARTUP, INITIAL_DELAY, READY };
InternalState internalState = InternalState::STARTUP; InternalState internalState = InternalState::STARTUP;
enum class DetumbleState {
NO_DETUMBLE,
DETUMBLE_FROM_PTG,
PTG_TO_SAFE_TRANSITION,
DETUMBLE_FROM_SAFE,
IN_DETUMBLE
};
DetumbleState detumbleState = DetumbleState::NO_DETUMBLE;
/** Device command IDs */ /** Device command IDs */
static const DeviceCommandId_t SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL = 0x0; static const DeviceCommandId_t SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL = 0x0;
static const DeviceCommandId_t RESET_MEKF = 0x1; static const DeviceCommandId_t RESET_MEKF = 0x1;
@ -108,14 +112,6 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
static const DeviceCommandId_t UPDATE_TLE = 0x3; static const DeviceCommandId_t UPDATE_TLE = 0x3;
static const DeviceCommandId_t READ_TLE = 0x4; static const DeviceCommandId_t READ_TLE = 0x4;
static const uint8_t INTERFACE_ID = CLASS_ID::ACS_CTRL;
//! [EXPORT] : [COMMENT] File deletion failed and at least one file is still existent.
static constexpr ReturnValue_t FILE_DELETION_FAILED = MAKE_RETURN_CODE(0);
//! [EXPORT] : [COMMENT] Writing the TLE to the file has failed.
static constexpr ReturnValue_t WRITE_FILE_FAILED = MAKE_RETURN_CODE(1);
//! [EXPORT] : [COMMENT] Reading the TLE to the file has failed.
static constexpr ReturnValue_t READ_FILE_FAILED = MAKE_RETURN_CODE(2);
ReturnValue_t initialize() override; ReturnValue_t initialize() override;
ReturnValue_t handleCommandMessage(CommandMessage* message) override; ReturnValue_t handleCommandMessage(CommandMessage* message) override;
void performControlOperation() override; void performControlOperation() override;
@ -134,6 +130,13 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
void modeChanged(Mode_t mode, Submode_t submode); void modeChanged(Mode_t mode, Submode_t submode);
void announceMode(bool recursive); void announceMode(bool recursive);
void performAttitudeControl();
void performSafe();
void performDetumble();
void performPointingCtrl();
void handleDetumbling();
void safeCtrlFailure(uint8_t mgmFailure, uint8_t sensorFailure); void safeCtrlFailure(uint8_t mgmFailure, uint8_t sensorFailure);
ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole, ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,

View File

@ -333,16 +333,16 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->setMatrix(rwMatrices.pseudoInverse); parameterWrapper->setMatrix(rwMatrices.pseudoInverse);
break; break;
case 0x2: case 0x2:
parameterWrapper->setMatrix(rwMatrices.without1); parameterWrapper->setMatrix(rwMatrices.pseudoInverseWithoutRW1);
break; break;
case 0x3: case 0x3:
parameterWrapper->setMatrix(rwMatrices.without2); parameterWrapper->setMatrix(rwMatrices.pseudoInverseWithoutRW2);
break; break;
case 0x4: case 0x4:
parameterWrapper->setMatrix(rwMatrices.without3); parameterWrapper->setMatrix(rwMatrices.pseudoInverseWithoutRW3);
break; break;
case 0x5: case 0x5:
parameterWrapper->setMatrix(rwMatrices.without4); parameterWrapper->setMatrix(rwMatrices.pseudoInverseWithoutRW4);
break; break;
case 0x6: case 0x6:
parameterWrapper->setVector(rwMatrices.nullspaceVector); parameterWrapper->setVector(rwMatrices.nullspaceVector);
@ -432,9 +432,6 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(idleModeControllerParameters.desatOn); parameterWrapper->set(idleModeControllerParameters.desatOn);
break; break;
case 0x9: case 0x9:
parameterWrapper->set(idleModeControllerParameters.enableAntiStiction);
break;
case 0xA:
parameterWrapper->set(idleModeControllerParameters.useMekf); parameterWrapper->set(idleModeControllerParameters.useMekf);
break; break;
default: default:
@ -471,42 +468,39 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(targetModeControllerParameters.desatOn); parameterWrapper->set(targetModeControllerParameters.desatOn);
break; break;
case 0x9: case 0x9:
parameterWrapper->set(targetModeControllerParameters.enableAntiStiction);
break;
case 0xA:
parameterWrapper->set(targetModeControllerParameters.useMekf); parameterWrapper->set(targetModeControllerParameters.useMekf);
break; break;
case 0xB: case 0xA:
parameterWrapper->setVector(targetModeControllerParameters.refDirection); parameterWrapper->setVector(targetModeControllerParameters.refDirection);
break; break;
case 0xC: case 0xB:
parameterWrapper->setVector(targetModeControllerParameters.refRotRate); parameterWrapper->setVector(targetModeControllerParameters.refRotRate);
break; break;
case 0xD: case 0xC:
parameterWrapper->setVector(targetModeControllerParameters.quatRef); parameterWrapper->setVector(targetModeControllerParameters.quatRef);
break; break;
case 0xE: case 0xD:
parameterWrapper->set(targetModeControllerParameters.timeElapsedMax); parameterWrapper->set(targetModeControllerParameters.timeElapsedMax);
break; break;
case 0xF: case 0xE:
parameterWrapper->set(targetModeControllerParameters.latitudeTgt); parameterWrapper->set(targetModeControllerParameters.latitudeTgt);
break; break;
case 0x10: case 0xF:
parameterWrapper->set(targetModeControllerParameters.longitudeTgt); parameterWrapper->set(targetModeControllerParameters.longitudeTgt);
break; break;
case 0x11: case 0x10:
parameterWrapper->set(targetModeControllerParameters.altitudeTgt); parameterWrapper->set(targetModeControllerParameters.altitudeTgt);
break; break;
case 0x12: case 0x11:
parameterWrapper->set(targetModeControllerParameters.avoidBlindStr); parameterWrapper->set(targetModeControllerParameters.avoidBlindStr);
break; break;
case 0x13: case 0x12:
parameterWrapper->set(targetModeControllerParameters.blindAvoidStart); parameterWrapper->set(targetModeControllerParameters.blindAvoidStart);
break; break;
case 0x14: case 0x13:
parameterWrapper->set(targetModeControllerParameters.blindAvoidStop); parameterWrapper->set(targetModeControllerParameters.blindAvoidStop);
break; break;
case 0x15: case 0x14:
parameterWrapper->set(targetModeControllerParameters.blindRotRate); parameterWrapper->set(targetModeControllerParameters.blindRotRate);
break; break;
default: default:
@ -543,24 +537,21 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(gsTargetModeControllerParameters.desatOn); parameterWrapper->set(gsTargetModeControllerParameters.desatOn);
break; break;
case 0x9: case 0x9:
parameterWrapper->set(gsTargetModeControllerParameters.enableAntiStiction);
break;
case 0xA:
parameterWrapper->set(gsTargetModeControllerParameters.useMekf); parameterWrapper->set(gsTargetModeControllerParameters.useMekf);
break; break;
case 0xB: case 0xA:
parameterWrapper->setVector(gsTargetModeControllerParameters.refDirection); parameterWrapper->setVector(gsTargetModeControllerParameters.refDirection);
break; break;
case 0xC: case 0xB:
parameterWrapper->set(gsTargetModeControllerParameters.timeElapsedMax); parameterWrapper->set(gsTargetModeControllerParameters.timeElapsedMax);
break; break;
case 0xD: case 0xC:
parameterWrapper->set(gsTargetModeControllerParameters.latitudeTgt); parameterWrapper->set(gsTargetModeControllerParameters.latitudeTgt);
break; break;
case 0xE: case 0xD:
parameterWrapper->set(gsTargetModeControllerParameters.longitudeTgt); parameterWrapper->set(gsTargetModeControllerParameters.longitudeTgt);
break; break;
case 0xF: case 0xE:
parameterWrapper->set(gsTargetModeControllerParameters.altitudeTgt); parameterWrapper->set(gsTargetModeControllerParameters.altitudeTgt);
break; break;
default: default:
@ -597,21 +588,18 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(nadirModeControllerParameters.desatOn); parameterWrapper->set(nadirModeControllerParameters.desatOn);
break; break;
case 0x9: case 0x9:
parameterWrapper->set(nadirModeControllerParameters.enableAntiStiction);
break;
case 0xA:
parameterWrapper->set(nadirModeControllerParameters.useMekf); parameterWrapper->set(nadirModeControllerParameters.useMekf);
break; break;
case 0xB: case 0xA:
parameterWrapper->setVector(nadirModeControllerParameters.refDirection); parameterWrapper->setVector(nadirModeControllerParameters.refDirection);
break; break;
case 0xC: case 0xB:
parameterWrapper->setVector(nadirModeControllerParameters.quatRef); parameterWrapper->setVector(nadirModeControllerParameters.quatRef);
break; break;
case 0xD: case 0xC:
parameterWrapper->setVector(nadirModeControllerParameters.refRotRate); parameterWrapper->setVector(nadirModeControllerParameters.refRotRate);
break; break;
case 0xE: case 0xD:
parameterWrapper->set(nadirModeControllerParameters.timeElapsedMax); parameterWrapper->set(nadirModeControllerParameters.timeElapsedMax);
break; break;
default: default:
@ -648,18 +636,15 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(inertialModeControllerParameters.desatOn); parameterWrapper->set(inertialModeControllerParameters.desatOn);
break; break;
case 0x9: case 0x9:
parameterWrapper->set(inertialModeControllerParameters.enableAntiStiction);
break;
case 0xA:
parameterWrapper->set(inertialModeControllerParameters.useMekf); parameterWrapper->set(inertialModeControllerParameters.useMekf);
break; break;
case 0xB: case 0xA:
parameterWrapper->setVector(inertialModeControllerParameters.tgtQuat); parameterWrapper->setVector(inertialModeControllerParameters.tgtQuat);
break; break;
case 0xC: case 0xB:
parameterWrapper->setVector(inertialModeControllerParameters.refRotRate); parameterWrapper->setVector(inertialModeControllerParameters.refRotRate);
break; break;
case 0xD: case 0xC:
parameterWrapper->setVector(inertialModeControllerParameters.quatRef); parameterWrapper->setVector(inertialModeControllerParameters.quatRef);
break; break;
default: default:

View File

@ -812,19 +812,19 @@ class AcsParameters : public HasParametersIF {
} rwHandlingParameters; } rwHandlingParameters;
struct RwMatrices { struct RwMatrices {
double alignmentMatrix[3][4] = {{0.9205, 0.0000, -0.9205, 0.0000}, double alignmentMatrix[3][4] = {{-0.9205, 0.0000, 0.9205, 0.0000},
{0.0000, -0.9205, 0.0000, 0.9205}, {0.0000, 0.9205, 0.0000, -0.9205},
{0.3907, 0.3907, 0.3907, 0.3907}}; {-0.3907, -0.3907, -0.3907, -0.3907}};
double pseudoInverse[4][3] = { double pseudoInverse[4][3] = {
{0.5432, 0, 0.6398}, {0, -0.5432, 0.6398}, {-0.5432, 0, 0.6398}, {0, 0.5432, 0.6398}}; {-0.5432, 0, -0.6399}, {0, 0.5432, -0.6399}, {0.5432, 0, -0.6399}, {0, -0.5432, -0.6399}};
double without1[4][3] = { double pseudoInverseWithoutRW1[4][3] = {
{0, 0, 0}, {0.5432, -0.5432, 1.2797}, {-1.0864, 0, 0}, {0.5432, 0.5432, 1.2797}}; {0, 0, 0}, {-0.5432, 0.5432, -1.2798}, {1.0864, 0, 0}, {-0.5432, -0.5432, -1.2798}};
double without2[4][3] = { double pseudoInverseWithoutRW2[4][3] = {
{0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 1.0864, 0}}; {-0.5432, 0.5432, -1.2798}, {0, 0, 0}, {0.5432, 0.5432, -1.2798}, {0, -1.0864, 0}};
double without3[4][3] = { double pseudoInverseWithoutRW3[4][3] = {
{1.0864, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, 0.5432, 1.2797}}; {-1.0864, 0, 0}, {0.5432, 0.5432, -1.2798}, {0, 0, 0}, {0.5432, -0.5432, -1.2798}};
double without4[4][3] = { double pseudoInverseWithoutRW4[4][3] = {
{0.5432, 0.5432, 1.2797}, {0, -1.0864, 0}, {-0.5432, 0.5432, 1.2797}, {0, 0, 0}}; {-0.5432, -0.5432, -1.2798}, {0, 1.0864, 0}, {0.5432, -0.5432, -1.2798}, {0, 0, 0}};
double nullspaceVector[4] = {-1, 1, -1, 1}; double nullspaceVector[4] = {-1, 1, -1, 1};
} rwMatrices; } rwMatrices;
@ -863,7 +863,6 @@ class AcsParameters : public HasParametersIF {
double desatMomentumRef[3] = {0, 0, 0}; double desatMomentumRef[3] = {0, 0, 0};
double deSatGainFactor = 1000; double deSatGainFactor = 1000;
uint8_t desatOn = true; uint8_t desatOn = true;
uint8_t enableAntiStiction = true;
uint8_t useMekf = false; uint8_t useMekf = false;
} pointingLawParameters; } pointingLawParameters;

View File

@ -1,15 +1,5 @@
#include "Guidance.h" #include "Guidance.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/globalfunctions/math/MatrixOperations.h>
#include <fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <mission/controller/acs/util/MathOperations.h>
#include <cmath>
#include <filesystem>
#include <string>
Guidance::Guidance(AcsParameters *acsParameters_) { acsParameters = acsParameters_; } Guidance::Guidance(AcsParameters *acsParameters_) { acsParameters = acsParameters_; }
Guidance::~Guidance() {} Guidance::~Guidance() {}
@ -431,7 +421,11 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
errorAngle = QuaternionOperations::getAngle(errorQuat, true); errorAngle = QuaternionOperations::getAngle(errorQuat, true);
// Calculate error satellite rotational rate // Calculate error satellite rotational rate
// First combine the target and reference satellite rotational rates // Convert target rotational rate into body RF
double errorQuatInv[4] = {0, 0, 0, 0}, targetSatRotRateB[3] = {0, 0, 0};
QuaternionOperations::inverse(errorQuat, errorQuatInv);
QuaternionOperations::multiplyVector(errorQuatInv, targetSatRotRate, targetSatRotRateB);
// Combine the target and reference satellite rotational rates
double combinedRefSatRotRate[3] = {0, 0, 0}; double combinedRefSatRotRate[3] = {0, 0, 0};
VectorOperations<double>::add(targetSatRotRate, refSatRotRate, combinedRefSatRotRate, 3); VectorOperations<double>::add(targetSatRotRate, refSatRotRate, combinedRefSatRotRate, 3);
// Then subtract the combined required satellite rotational rates from the actual rate // Then subtract the combined required satellite rotational rates from the actual rate
@ -455,44 +449,16 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
} }
void Guidance::targetRotationRate(const int8_t timeElapsedMax, const double timeDelta, void Guidance::targetRotationRate(const int8_t timeElapsedMax, const double timeDelta,
double quatInertialTarget[4], double *refSatRate) { double quatIX[4], double *refSatRate) {
//------------------------------------------------------------------------------------- if (VectorOperations<double>::norm(quatIXprev, 4) == 0) {
// Calculation of target rotation rate std::memcpy(quatIXprev, quatIX, sizeof(quatIXprev));
//-------------------------------------------------------------------------------------
if (VectorOperations<double>::norm(savedQuaternion, 4) == 0) {
std::memcpy(savedQuaternion, quatInertialTarget, sizeof(savedQuaternion));
} }
if (timeDelta < timeElapsedMax and timeDelta != 0.0) { if (timeDelta != 0.0) {
double q[4] = {0, 0, 0, 0}, qS[4] = {0, 0, 0, 0}; QuaternionOperations::rotationFromQuaternions(quatIX, quatIXprev, timeDelta, refSatRate);
QuaternionOperations::inverse(quatInertialTarget, q);
QuaternionOperations::inverse(savedQuaternion, qS);
double qDiff[4] = {0, 0, 0, 0};
VectorOperations<double>::subtract(q, qS, qDiff, 4);
VectorOperations<double>::mulScalar(qDiff, 1. / timeDelta, qDiff, 4);
double tgtQuatVec[3] = {q[0], q[1], q[2]};
double qDiffVec[3] = {qDiff[0], qDiff[1], qDiff[2]};
double sum1[3] = {0, 0, 0}, sum2[3] = {0, 0, 0}, sum3[3] = {0, 0, 0}, sum[3] = {0, 0, 0};
VectorOperations<double>::cross(tgtQuatVec, qDiffVec, sum1);
VectorOperations<double>::mulScalar(tgtQuatVec, qDiff[3], sum2, 3);
VectorOperations<double>::mulScalar(qDiffVec, q[3], sum3, 3);
VectorOperations<double>::add(sum1, sum2, sum, 3);
VectorOperations<double>::subtract(sum, sum3, sum, 3);
double omegaRefNew[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(sum, -2, omegaRefNew, 3);
VectorOperations<double>::mulScalar(omegaRefNew, 2, refSatRate, 3);
VectorOperations<double>::subtract(refSatRate, omegaRefSaved, refSatRate, 3);
omegaRefSaved[0] = omegaRefNew[0];
omegaRefSaved[1] = omegaRefNew[1];
omegaRefSaved[2] = omegaRefNew[2];
} else { } else {
refSatRate[0] = 0; std::memcpy(refSatRate, ZERO_VEC3, 3 * sizeof(double));
refSatRate[1] = 0;
refSatRate[2] = 0;
} }
std::memcpy(quatIXprev, quatIX, sizeof(quatIXprev));
std::memcpy(savedQuaternion, quatInertialTarget, sizeof(savedQuaternion));
} }
ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues, ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues,
@ -506,22 +472,27 @@ ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues,
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverse, 12 * sizeof(double)); std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverse, 12 * sizeof(double));
return returnvalue::OK; return returnvalue::OK;
} else if (not rw1valid and rw2valid and rw3valid and rw4valid) { } else if (not rw1valid and rw2valid and rw3valid and rw4valid) {
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without1, 12 * sizeof(double)); std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverseWithoutRW1,
return returnvalue::OK; 12 * sizeof(double));
return acsctrl::SINGLE_RW_UNAVAILABLE;
} else if (rw1valid and not rw2valid and rw3valid and rw4valid) { } else if (rw1valid and not rw2valid and rw3valid and rw4valid) {
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without2, 12 * sizeof(double)); std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverseWithoutRW2,
return returnvalue::OK; 12 * sizeof(double));
return acsctrl::SINGLE_RW_UNAVAILABLE;
} else if (rw1valid and rw2valid and not rw3valid and rw4valid) { } else if (rw1valid and rw2valid and not rw3valid and rw4valid) {
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without3, 12 * sizeof(double)); std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverseWithoutRW3,
return returnvalue::OK; 12 * sizeof(double));
return acsctrl::SINGLE_RW_UNAVAILABLE;
} else if (rw1valid and rw2valid and rw3valid and not rw4valid) { } else if (rw1valid and rw2valid and rw3valid and not rw4valid) {
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without4, 12 * sizeof(double)); std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverseWithoutRW4,
return returnvalue::OK; 12 * sizeof(double));
} else { return acsctrl::SINGLE_RW_UNAVAILABLE;
return returnvalue::FAILED;
} }
return acsctrl::MULTIPLE_RW_UNAVAILABLE;
} }
void Guidance::resetValues() { std::memcpy(quatIXprev, ZERO_VEC4, sizeof(quatIXprev)); }
void Guidance::getTargetParamsSafe(double sunTargetSafe[3]) { void Guidance::getTargetParamsSafe(double sunTargetSafe[3]) {
std::error_code e; std::error_code e;
if (not std::filesystem::exists(SD_0_SKEWED_PTG_FILE, e) or if (not std::filesystem::exists(SD_0_SKEWED_PTG_FILE, e) or

View File

@ -1,11 +1,19 @@
#ifndef GUIDANCE_H_ #ifndef GUIDANCE_H_
#define GUIDANCE_H_ #define GUIDANCE_H_
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/globalfunctions/math/MatrixOperations.h>
#include <fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <mission/controller/acs/AcsParameters.h>
#include <mission/controller/acs/SensorValues.h>
#include <mission/controller/acs/util/MathOperations.h>
#include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
#include <time.h> #include <time.h>
#include "../controllerdefinitions/AcsCtrlDefinitions.h" #include <cmath>
#include "AcsParameters.h" #include <filesystem>
#include "SensorValues.h" #include <string>
class Guidance { class Guidance {
public: public:
@ -14,6 +22,7 @@ class Guidance {
void getTargetParamsSafe(double sunTargetSafe[3]); void getTargetParamsSafe(double sunTargetSafe[3]);
ReturnValue_t solarArrayDeploymentComplete(); ReturnValue_t solarArrayDeploymentComplete();
void resetValues();
// Function to get the target quaternion and reference rotation rate from gps position and // Function to get the target quaternion and reference rotation rate from gps position and
// position of the ground station // position of the ground station
@ -59,9 +68,11 @@ class Guidance {
private: private:
const AcsParameters *acsParameters; const AcsParameters *acsParameters;
static constexpr double ZERO_VEC3[3] = {0, 0, 0};
static constexpr double ZERO_VEC4[4] = {0, 0, 0, 0};
bool strBlindAvoidFlag = false; bool strBlindAvoidFlag = false;
double savedQuaternion[4] = {0, 0, 0, 0}; double quatIXprev[4] = {0, 0, 0, 0};
double omegaRefSaved[3] = {0, 0, 0};
static constexpr char SD_0_SKEWED_PTG_FILE[] = "/mnt/sd0/conf/acsDeploymentConfirm"; static constexpr char SD_0_SKEWED_PTG_FILE[] = "/mnt/sd0/conf/acsDeploymentConfirm";
static constexpr char SD_1_SKEWED_PTG_FILE[] = "/mnt/sd1/conf/acsDeploymentConfirm"; static constexpr char SD_1_SKEWED_PTG_FILE[] = "/mnt/sd1/conf/acsDeploymentConfirm";

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@ -39,7 +39,7 @@ void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters
double qError[3] = {errorQuat[0], errorQuat[1], errorQuat[2]}; double qError[3] = {errorQuat[0], errorQuat[1], errorQuat[2]};
double cInt = 2 * om * zeta; double cInt = 2 * om * zeta;
double kInt = 2 * pow(om, 2); double kInt = 2 * om * om;
double qErrorLaw[3] = {0, 0, 0}; double qErrorLaw[3] = {0, 0, 0};
@ -111,9 +111,13 @@ void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters
VectorOperations<double>::mulScalar(torqueRws, -1, torqueRws, 4); VectorOperations<double>::mulScalar(torqueRws, -1, torqueRws, 4);
} }
void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters, void PtgCtrl::ptgNullspace(const bool allRwAvabilable,
AcsParameters::PointingLawParameters *pointingLawParameters,
const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2, const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
const int32_t speedRw3, double *rwTrqNs) { const int32_t speedRw3, double *rwTrqNs) {
if (not allRwAvabilable) {
return;
}
// concentrate RW speeds as vector and convert to double // concentrate RW speeds as vector and convert to double
double speedRws[4] = {static_cast<double>(speedRw0), static_cast<double>(speedRw1), double speedRws[4] = {static_cast<double>(speedRw0), static_cast<double>(speedRw1),
static_cast<double>(speedRw2), static_cast<double>(speedRw3)}; static_cast<double>(speedRw2), static_cast<double>(speedRw3)};
@ -220,6 +224,8 @@ void PtgCtrl::rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpee
} }
} }
} }
} else {
rwCmdSpeeds[i] = 0;
} }
} }
} }

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@ -33,7 +33,8 @@ class PtgCtrl {
void ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters, const double *qError, void ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters, const double *qError,
const double *deltaRate, const double *rwPseudoInv, double *torqueRws); const double *deltaRate, const double *rwPseudoInv, double *torqueRws);
void ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters, void ptgNullspace(const bool allRwAvabilable,
AcsParameters::PointingLawParameters *pointingLawParameters,
const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2, const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
const int32_t speedRw3, double *rwTrqNs); const int32_t speedRw3, double *rwTrqNs);

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@ -4,15 +4,12 @@
#include <fsfw/src/fsfw/globalfunctions/constants.h> #include <fsfw/src/fsfw/globalfunctions/constants.h>
#include <fsfw/src/fsfw/globalfunctions/math/MatrixOperations.h> #include <fsfw/src/fsfw/globalfunctions/math/MatrixOperations.h>
#include <fsfw/src/fsfw/globalfunctions/sign.h> #include <fsfw/src/fsfw/globalfunctions/sign.h>
#include <stdint.h> #include <fsfw/src/fsfw/serviceinterface.h>
#include <string.h>
#include <sys/time.h>
#include <cmath> #include <cmath>
#include <cstring>
#include <iostream> #include <iostream>
#include "fsfw/serviceinterface.h"
template <typename T1, typename T2 = T1> template <typename T1, typename T2 = T1>
class MathOperations { class MathOperations {
public: public:
@ -46,7 +43,7 @@ class MathOperations {
static void selectionSort(const T1 *matrix, T1 *result, uint8_t rowSize, uint8_t colSize) { static void selectionSort(const T1 *matrix, T1 *result, uint8_t rowSize, uint8_t colSize) {
int min_idx; int min_idx;
T1 temp; T1 temp;
memcpy(result, matrix, rowSize * colSize * sizeof(*result)); std::memcpy(result, matrix, rowSize * colSize * sizeof(*result));
// One by one move boundary of unsorted subarray // One by one move boundary of unsorted subarray
for (int k = 0; k < rowSize; k++) { for (int k = 0; k < rowSize; k++) {
for (int i = 0; i < colSize - 1; i++) { for (int i = 0; i < colSize - 1; i++) {

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@ -1,6 +1,7 @@
#ifndef MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCTRLDEFINITIONS_H_ #ifndef MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCTRLDEFINITIONS_H_
#define MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCTRLDEFINITIONS_H_ #define MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCTRLDEFINITIONS_H_
#include <common/config/eive/resultClassIds.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h> #include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/datapoollocal/localPoolDefinitions.h> #include <fsfw/datapoollocal/localPoolDefinitions.h>
@ -8,6 +9,18 @@
namespace acsctrl { namespace acsctrl {
static const uint8_t INTERFACE_ID = CLASS_ID::ACS_CTRL;
//! [EXPORT] : [COMMENT] File deletion failed and at least one file is still existent.
static constexpr ReturnValue_t FILE_DELETION_FAILED = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Writing the TLE to the file has failed.
static constexpr ReturnValue_t WRITE_FILE_FAILED = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Reading the TLE to the file has failed.
static constexpr ReturnValue_t READ_FILE_FAILED = MAKE_RETURN_CODE(0xA2);
//! [EXPORT] : [COMMENT] A single RW has failed.
static constexpr ReturnValue_t SINGLE_RW_UNAVAILABLE = MAKE_RETURN_CODE(0xA3);
//! [EXPORT] : [COMMENT] Multiple RWs have failed.
static constexpr ReturnValue_t MULTIPLE_RW_UNAVAILABLE = MAKE_RETURN_CODE(0xA4);
enum SetIds : uint32_t { enum SetIds : uint32_t {
MGM_SENSOR_DATA, MGM_SENSOR_DATA,
MGM_PROCESSED_DATA, MGM_PROCESSED_DATA,

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@ -65,8 +65,8 @@ ReturnValue_t PcduHandler::performOperation(uint8_t counter) {
ReturnValue_t PcduHandler::initialize() { ReturnValue_t PcduHandler::initialize() {
ReturnValue_t result; ReturnValue_t result;
IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE); ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
if (IPCStore == nullptr) { if (ipcStore == nullptr) {
return ObjectManagerIF::CHILD_INIT_FAILED; return ObjectManagerIF::CHILD_INIT_FAILED;
} }
@ -162,10 +162,13 @@ void PcduHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSet
sizeof(CCSDSTime::CDS_short), dataset); sizeof(CCSDSTime::CDS_short), dataset);
const uint8_t* packet_ptr = nullptr; const uint8_t* packet_ptr = nullptr;
size_t size = 0; size_t size = 0;
result = IPCStore->getData(storeId, &packet_ptr, &size); result = ipcStore->getData(storeId, &packet_ptr, &size);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
sif::error << "PCDUHandler::updateHkTableDataset: Failed to get data from IPCStore." sif::error << "PCDUHandler::updateHkTableDataset: Failed to get data from IPC store, result 0x"
<< std::endl; << std::hex << std::setw(4) << std::setfill('0') << result << std::dec
<< std::setfill(' ') << std::endl;
result = ipcStore->deleteData(storeId);
return;
} }
result = packetUpdate.deSerialize(&packet_ptr, &size, SerializeIF::Endianness::MACHINE); result = packetUpdate.deSerialize(&packet_ptr, &size, SerializeIF::Endianness::MACHINE);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
@ -173,7 +176,7 @@ void PcduHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSet
"in hk table dataset" "in hk table dataset"
<< std::endl; << std::endl;
} }
result = IPCStore->deleteData(storeId); result = ipcStore->deleteData(storeId);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
sif::error << "PCDUHandler::updateHkTableDataset: Failed to delete data in IPCStore" sif::error << "PCDUHandler::updateHkTableDataset: Failed to delete data in IPCStore"
<< std::endl; << std::endl;
@ -396,7 +399,7 @@ ReturnValue_t PcduHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onO
setParamMessage.serialize(&commandPtr, &serializedLength, maxSize, SerializeIF::Endianness::BIG); setParamMessage.serialize(&commandPtr, &serializedLength, maxSize, SerializeIF::Endianness::BIG);
store_address_t storeAddress; store_address_t storeAddress;
result = IPCStore->addData(&storeAddress, command, sizeof(command)); result = ipcStore->addData(&storeAddress, command, sizeof(command));
CommandMessage message; CommandMessage message;
ActionMessage::setCommand(&message, GOMSPACE::PARAM_SET, storeAddress); ActionMessage::setCommand(&message, GOMSPACE::PARAM_SET, storeAddress);

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@ -94,7 +94,7 @@ class PcduHandler : public PowerSwitchIF,
* Pointer to the IPCStore. * Pointer to the IPCStore.
* This caches the pointer received from the objectManager in the constructor. * This caches the pointer received from the objectManager in the constructor.
*/ */
StorageManagerIF* IPCStore = nullptr; StorageManagerIF* ipcStore = nullptr;
/** /**
* Message queue to communicate with other objetcs. Used for example to receive * Message queue to communicate with other objetcs. Used for example to receive

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@ -174,6 +174,7 @@ ReturnValue_t EiveSystem::initialize() {
manager->subscribeToEvent(eventQueue->getId(), event::getEventId(pdec::INVALID_TC_FRAME)); manager->subscribeToEvent(eventQueue->getId(), event::getEventId(pdec::INVALID_TC_FRAME));
manager->subscribeToEvent(eventQueue->getId(), event::getEventId(power::POWER_LEVEL_LOW)); manager->subscribeToEvent(eventQueue->getId(), event::getEventId(power::POWER_LEVEL_LOW));
manager->subscribeToEvent(eventQueue->getId(), event::getEventId(power::POWER_LEVEL_CRITICAL)); manager->subscribeToEvent(eventQueue->getId(), event::getEventId(power::POWER_LEVEL_CRITICAL));
manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::PTG_RATE_VIOLATION));
return Subsystem::initialize(); return Subsystem::initialize();
} }
@ -224,6 +225,16 @@ void EiveSystem::handleEventMessages() {
} }
break; break;
} }
case acs::PTG_RATE_VIOLATION: {
CommandMessage msg;
HealthMessage::setHealthMessage(&msg, HealthMessage::HEALTH_SET, HasHealthIF::FAULTY);
ReturnValue_t result = MessageQueueSenderIF::sendMessage(
strQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
if (result != returnvalue::OK) {
sif::error << "EIVE System: Sending FAULTY command to STR Assembly failed"
<< std::endl;
}
}
} }
break; break;
default: default:

2
tmtc

@ -1 +1 @@
Subproject commit bcdd12caf05b6a874b0d3ac2b9436c4061545312 Subproject commit e5fe0ab95ac2f695eb9a533ad825314f359f513a