Merge remote-tracking branch 'origin/develop' into mueller/pus-15-tm-storage

CHANGELOG.md

@@ -29,6 +29,30 @@ will consitute of a breaking change warranting a new major release:
 ## Fixed
 
 - ADIS1650X: Added missing MDL_RANG pool entry for configuration set
+- Bumped FSFW for bugfix in health service: No execution complete for targeted health announce
+  command.
+- Removed matrix determinant calculation as part of the `MEKF`, which would take about
+  300ms of runtime
+- Resetting the `MEKF` now also actually resets its stored state
+- Bumped FSFW for bugfix in destination handler: Better error handling and able to process
+  destination folder path.
+
+## Changed
+
+- Commented out commanding of actuators as part of the `AcsController`
+- Collection sets of the `AcsController` now get updated before running the actual ACS
+  algorithm
+- `GpsController` now always gets scheduled
+
+## Added
+
+- `ExecutableComIfDummy` class to have a dummy for classes like the RTD polling class.
+- Added `AcsController` action command to confirm solar array deployment, which then deletes
+  two files
+- Added `AcsController` action command to reset `MEKF`
+- `GpsCtrlDummy` now initializes the `gpsSet`
+- `RwDummy` now initializes with a non faulty state
+
 
 # [v1.31.1]
 

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 261 translations.
+ * @brief    Auto-generated event translation file. Contains 263 translations.
  * @details
- * Generated on: 2023-02-23 15:59:16
+ * Generated on: 2023-02-24 16:57:00
  */
 #include "translateEvents.h"
 
@@ -90,6 +90,8 @@ const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
 const char *STORE_ERROR_STRING = "STORE_ERROR";
 const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
 const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
+const char *FILESTORE_ERROR_STRING = "FILESTORE_ERROR";
+const char *FILENAME_TOO_LARGE_ERROR_STRING = "FILENAME_TOO_LARGE_ERROR";
 const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
 const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
 const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
@@ -434,6 +436,10 @@ const char *translateEvents(Event event) {
       return MSG_QUEUE_ERROR_STRING;
     case (10802):
       return SERIALIZATION_ERROR_STRING;
+    case (10803):
+      return FILESTORE_ERROR_STRING;
+    case (10804):
+      return FILENAME_TOO_LARGE_ERROR_STRING;
     case (11200):
       return SAFE_RATE_VIOLATION_STRING;
     case (11201):

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 154 translations.
- * Generated on: 2023-02-23 15:59:16
+ * Generated on: 2023-02-24 16:57:00
  */
 #include "translateObjects.h"
 

bsp_q7s/core/scheduling.cpp

@@ -187,14 +187,12 @@ void scheduling::initTasks() {
   }
 #endif
 
-#if OBSW_ADD_GPS_CTRL == 1
   PeriodicTaskIF* gpsTask = factory->createPeriodicTask(
       "GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
   result = gpsTask->addComponent(objects::GPS_CONTROLLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
   }
-#endif /* OBSW_ADD_GPS_CTRL */
 
 #if OBSW_ADD_RW == 1
   PeriodicTaskIF* rwPolling = factory->createPeriodicTask(
@@ -378,9 +376,7 @@ void scheduling::initTasks() {
 #if OBSW_ADD_RW == 1
   rwPolling->startTask();
 #endif
-#if OBSW_ADD_GPS_CTRL == 1
   gpsTask->startTask();
-#endif
   acsSysTask->startTask();
   if (not tcsSystemTask->isEmpty()) {
     tcsSystemTask->startTask();

common/config/eive/definitions.h

@@ -61,8 +61,8 @@ static constexpr uint32_t SCHED_BLOCK_1_SUS_READ_MS = 15;
 static constexpr uint32_t SCHED_BLOCK_2_SENSOR_READ_MS = 30;
 static constexpr uint32_t SCHED_BLOCK_3_READ_IMTQ_MGM_MS = 42;
 static constexpr uint32_t SCHED_BLOCK_4_ACS_CTRL_MS = 45;
-static constexpr uint32_t SCHED_BLOCK_5_ACTUATOR_MS = 50;
-static constexpr uint32_t SCHED_BLOCK_6_IMTQ_BLOCK_2_MS = 90;
+static constexpr uint32_t SCHED_BLOCK_5_ACTUATOR_MS = 55;
+static constexpr uint32_t SCHED_BLOCK_6_IMTQ_BLOCK_2_MS = 95;
 static constexpr uint32_t SCHED_BLOCK_RTD = 150;
 static constexpr uint32_t SCHED_BLOCK_7_RW_READ_MS = 300;
 

common/config/eive/resultClassIds.h

@@ -35,14 +35,13 @@ enum commonClassIds : uint8_t {
   SA_DEPL_HANDLER,          // SADPL
   MPSOC_RETURN_VALUES_IF,   // MPSOCRTVIF
   SUPV_RETURN_VALUES_IF,    // SPVRTVIF
-  ACS_KALMAN,               // ACSKAL
+  ACS_CTRL,                 // ACSCTRL
+  ACS_MEKF,                 // ACSMEKF
   ACS_SAFE,                 // ACSSAF
   ACS_PTG,                  // ACSPTG
   ACS_DETUMBLE,             // ACSDTB
-  ACS_MEKF,                 // ACSMEK
   COMMON_CLASS_ID_END       // [EXPORT] : [END]
 };
-
 }
 
 #endif /* COMMON_CONFIG_COMMONCLASSIDS_H_ */

dummies/CMakeLists.txt

@@ -20,11 +20,11 @@ target_sources(
          GyroL3GD20Dummy.cpp
          MgmLIS3MDLDummy.cpp
          PlPcduDummy.cpp
+         ExecutableComIfDummy.cpp
          ScexDummy.cpp
          CoreControllerDummy.cpp
          PlocMpsocDummy.cpp
          PlocSupervisorDummy.cpp
          helpers.cpp
-         RtdPollingDummy.cpp
          MgmRm3100Dummy.cpp
          Tmp1075Dummy.cpp)

dummies/ExecutableComIfDummy.cpp

@@ -0,0 +1,27 @@
+#include <dummies/ExecutableComIfDummy.h>
+
+ExecutableComIfDummy::ExecutableComIfDummy(object_id_t objectId) : SystemObject(objectId) {}
+
+ReturnValue_t ExecutableComIfDummy::initializeInterface(CookieIF *cookie) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t ExecutableComIfDummy::sendMessage(CookieIF *cookie, const uint8_t *sendData,
+                                                size_t sendLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t ExecutableComIfDummy::getSendSuccess(CookieIF *cookie) { return returnvalue::OK; }
+
+ReturnValue_t ExecutableComIfDummy::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t ExecutableComIfDummy::performOperation(uint8_t operationCode) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t ExecutableComIfDummy::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+                                                        size_t *size) {
+  return returnvalue::OK;
+}

dummies/ExecutableComIfDummy.h

@@ -0,0 +1,21 @@
+#ifndef DUMMIES_EXECUTABLECOMIFDUMMY_H_
+#define DUMMIES_EXECUTABLECOMIFDUMMY_H_
+
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+
+class ExecutableComIfDummy : public ExecutableObjectIF,
+                             public DeviceCommunicationIF,
+                             public SystemObject {
+ public:
+  ExecutableComIfDummy(object_id_t objectId);
+  ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+  ReturnValue_t initializeInterface(CookieIF *cookie) override;
+  ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
+  ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+  ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
+  ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override;
+};
+
+#endif /* DUMMIES_EXECUTABLECOMIFDUMMY_H_ */

dummies/GpsCtrlDummy.cpp

@@ -1,6 +1,7 @@
 #include "GpsCtrlDummy.h"
 
-GpsCtrlDummy::GpsCtrlDummy(object_id_t objectId) : ExtendedControllerBase(objectId, 20) {}
+GpsCtrlDummy::GpsCtrlDummy(object_id_t objectId)
+    : ExtendedControllerBase(objectId, 20), gpsSet(this) {}
 
 ReturnValue_t GpsCtrlDummy::handleCommandMessage(CommandMessage* message) {
   return returnvalue::OK;
@@ -13,9 +14,23 @@ ReturnValue_t GpsCtrlDummy::checkModeCommand(Mode_t mode, Submode_t submode,
   return returnvalue::OK;
 }
 
+LocalPoolDataSetBase* GpsCtrlDummy::getDataSetHandle(sid_t sid) { return &gpsSet; }
+
 ReturnValue_t GpsCtrlDummy::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                     LocalDataPoolManager& poolManager) {
+  localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({537222.3469}, true));
+  localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({-8.8579}, true));
+  localDataPoolMap.emplace(GpsHyperion::LATITUDE, new PoolEntry<double>({49.5952}, true));
+  localDataPoolMap.emplace(GpsHyperion::SPEED, new PoolEntry<double>({0}));
+  localDataPoolMap.emplace(GpsHyperion::YEAR, new PoolEntry<uint16_t>({2023}, true));
+  localDataPoolMap.emplace(GpsHyperion::MONTH, new PoolEntry<uint8_t>({5}, true));
+  localDataPoolMap.emplace(GpsHyperion::DAY, new PoolEntry<uint8_t>({16}, true));
+  localDataPoolMap.emplace(GpsHyperion::HOURS, new PoolEntry<uint8_t>({1}, true));
+  localDataPoolMap.emplace(GpsHyperion::MINUTES, new PoolEntry<uint8_t>({0}, true));
+  localDataPoolMap.emplace(GpsHyperion::SECONDS, new PoolEntry<uint8_t>({0}, true));
+  localDataPoolMap.emplace(GpsHyperion::UNIX_SECONDS, new PoolEntry<uint32_t>({1684191600}, true));
+  localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
+  localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>());
+  localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
   return returnvalue::OK;
 }
-
-LocalPoolDataSetBase* GpsCtrlDummy::getDataSetHandle(sid_t sid) { return nullptr; }

dummies/GpsCtrlDummy.h

@@ -2,12 +2,15 @@
 #define DUMMIES_GPSCTRLDUMMY_H_
 
 #include <fsfw/controller/ExtendedControllerBase.h>
+#include <mission/devices/devicedefinitions/GPSDefinitions.h>
 
 class GpsCtrlDummy : public ExtendedControllerBase {
  public:
   GpsCtrlDummy(object_id_t objectId);
 
  private:
+  GpsPrimaryDataset gpsSet;
+
   ReturnValue_t handleCommandMessage(CommandMessage* message) override;
   void performControlOperation() override;
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,

dummies/RtdPollingDummy.cpp

@@ -1,5 +0,0 @@
-#include "RtdPollingDummy.h"
-
-RtdPollingDummy::RtdPollingDummy(object_id_t objectId) : SystemObject(objectId) {}
-
-ReturnValue_t RtdPollingDummy::performOperation(uint8_t operationCode) { return returnvalue::OK; }

dummies/RtdPollingDummy.h

@@ -1,13 +0,0 @@
-#ifndef DUMMIES_RTDPOLLINGDUMMY_H_
-#define DUMMIES_RTDPOLLINGDUMMY_H_
-
-#include <fsfw/objectmanager/SystemObject.h>
-#include <fsfw/tasks/ExecutableObjectIF.h>
-
-class RtdPollingDummy : public ExecutableObjectIF, public SystemObject {
- public:
-  RtdPollingDummy(object_id_t objectId);
-  ReturnValue_t performOperation(uint8_t operationCode = 0) override;
-};
-
-#endif /* DUMMIES_RTDPOLLINGDUMMY_H_ */

dummies/RwDummy.cpp

@@ -41,7 +41,7 @@ ReturnValue_t RwDummy::initializeLocalDataPool(localpool::DataPool &localDataPoo
 
   localDataPoolMap.emplace(rws::CURR_SPEED, new PoolEntry<int32_t>({0}));
   localDataPoolMap.emplace(rws::REFERENCE_SPEED, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(rws::STATE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::STATE, new PoolEntry<uint8_t>({1}, true));
   localDataPoolMap.emplace(rws::CLC_MODE, new PoolEntry<uint8_t>({0}));
 
   localDataPoolMap.emplace(rws::LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));

dummies/SusDummy.cpp

@@ -37,7 +37,7 @@ ReturnValue_t SusDummy::initializeLocalDataPool(localpool::DataPool &localDataPo
                                                 LocalDataPoolManager &poolManager) {
   localDataPoolMap.emplace(SUS::SusPoolIds::TEMPERATURE_C, new PoolEntry<float>({0}, 1, true));
   localDataPoolMap.emplace(SUS::SusPoolIds::CHANNEL_VEC,
-                           new PoolEntry<uint16_t>({0, 0, 0, 0, 0, 0}, true));
+                           new PoolEntry<uint16_t>({2603, 781, 2760, 2048, 4056, 0}, true));
 
   return returnvalue::OK;
 }

dummies/helpers.cpp

@@ -5,6 +5,7 @@
 #include <dummies/ComCookieDummy.h>
 #include <dummies/ComIFDummy.h>
 #include <dummies/CoreControllerDummy.h>
+#include <dummies/ExecutableComIfDummy.h>
 #include <dummies/GpsCtrlDummy.h>
 #include <dummies/GpsDhbDummy.h>
 #include <dummies/GyroAdisDummy.h>
@@ -46,7 +47,7 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
     new CoreControllerDummy(objects::CORE_CONTROLLER);
   }
   if (cfg.addRtdComIFDummy) {
-    new RtdPollingDummy(objects::SPI_RTD_COM_IF);
+    new ExecutableComIfDummy(objects::SPI_RTD_COM_IF);
   }
   std::array<object_id_t, 4> rwIds = {objects::RW1, objects::RW2, objects::RW3, objects::RW4};
   std::array<DeviceHandlerBase*, 4> rws;

fsfw

@@ -1 +1 @@
-Subproject commit d373c45d36ef1c817e1a849afd91dbd81bdb5e32
+Subproject commit 216f603d62892356cb16e4ee4a35a59399c92ceb

generators/bsp_hosted_events.csv

@@ -84,6 +84,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 10800;0x2a30;STORE_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
 10801;0x2a31;MSG_QUEUE_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
 10802;0x2a32;SERIALIZATION_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
+10803;0x2a33;FILESTORE_ERROR;LOW;No description;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
 11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;No description;mission/acsDefs.h
 11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;No description;mission/acsDefs.h
 11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;No description;mission/acsDefs.h

generators/bsp_hosted_returnvalues.csv

@@ -49,16 +49,17 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x4fa4;HEATER_MainSwitchSetTimeout;No description;164;HEATER_HANDLER;mission/devices/HeaterHandler.h
 0x4fa5;HEATER_CommandAlreadyWaiting;No description;165;HEATER_HANDLER;mission/devices/HeaterHandler.h
 0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/tmtc/CcsdsIpCoreHandler.h
-0x6a01;ACSSAF_SafectrlMekfInputInvalid;No description;1;ACS_SAFE;mission/controller/acs/control/SafeCtrl.h
-0x6b01;ACSPTG_PtgctrlMekfInputInvalid;No description;1;ACS_PTG;mission/controller/acs/control/PtgCtrl.h
-0x6c01;ACSDTB_DetumbleNoSensordata;No description;1;ACS_DETUMBLE;mission/controller/acs/control/Detumble.h
-0x6902;ACSKAL_KalmanUninitialized;No description;2;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6903;ACSKAL_KalmanNoGyrData;No description;3;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6904;ACSKAL_KalmanNoModelVectors;No description;4;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6905;ACSKAL_KalmanNoSusMgmStrData;No description;5;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6906;ACSKAL_KalmanCovarianceInversionFailed;No description;6;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6907;ACSKAL_KalmanInitialized;No description;7;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6908;ACSKAL_KalmanRunning;No description;8;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6b01;ACSSAF_SafectrlMekfInputInvalid;No description;1;ACS_SAFE;mission/controller/acs/control/SafeCtrl.h
+0x6c01;ACSPTG_PtgctrlMekfInputInvalid;No description;1;ACS_PTG;mission/controller/acs/control/PtgCtrl.h
+0x6d01;ACSDTB_DetumbleNoSensordata;No description;1;ACS_DETUMBLE;mission/controller/acs/control/Detumble.h
+0x6a02;ACSMEKF_MekfUninitialized;No description;2;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6a03;ACSMEKF_MekfNoGyrData;No description;3;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6a04;ACSMEKF_MekfNoModelVectors;No description;4;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6a05;ACSMEKF_MekfNoSusMgmStrData;No description;5;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6a06;ACSMEKF_MekfCovarianceInversionFailed;No description;6;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6a07;ACSMEKF_MekfInitialized;No description;7;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6a08;ACSMEKF_MekfRunning;No description;8;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6900;ACSCTRL_FileDeletionFailed;No description;0;ACS_CTRL;mission/controller/AcsController.h
 0x4500;HSPI_OpeningFileFailed;No description;0;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
 0x4501;HSPI_FullDuplexTransferFailed;No description;1;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
 0x4502;HSPI_HalfDuplexTransferFailed;No description;2;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h

generators/bsp_q7s_events.csv

@@ -84,6 +84,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 10800;0x2a30;STORE_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
 10801;0x2a31;MSG_QUEUE_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
 10802;0x2a32;SERIALIZATION_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
+10803;0x2a33;FILESTORE_ERROR;LOW;No description;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
 11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;No description;mission/acsDefs.h
 11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;No description;mission/acsDefs.h
 11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;No description;mission/acsDefs.h

generators/bsp_q7s_returnvalues.csv

@@ -49,16 +49,17 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x4fa4;HEATER_MainSwitchSetTimeout;No description;164;HEATER_HANDLER;mission/devices/HeaterHandler.h
 0x4fa5;HEATER_CommandAlreadyWaiting;No description;165;HEATER_HANDLER;mission/devices/HeaterHandler.h
 0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/tmtc/CcsdsIpCoreHandler.h
-0x6a01;ACSSAF_SafectrlMekfInputInvalid;No description;1;ACS_SAFE;mission/controller/acs/control/SafeCtrl.h
-0x6b01;ACSPTG_PtgctrlMekfInputInvalid;No description;1;ACS_PTG;mission/controller/acs/control/PtgCtrl.h
-0x6c01;ACSDTB_DetumbleNoSensordata;No description;1;ACS_DETUMBLE;mission/controller/acs/control/Detumble.h
-0x6902;ACSKAL_KalmanUninitialized;No description;2;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6903;ACSKAL_KalmanNoGyrData;No description;3;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6904;ACSKAL_KalmanNoModelVectors;No description;4;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6905;ACSKAL_KalmanNoSusMgmStrData;No description;5;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6906;ACSKAL_KalmanCovarianceInversionFailed;No description;6;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6907;ACSKAL_KalmanInitialized;No description;7;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6908;ACSKAL_KalmanRunning;No description;8;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6b01;ACSSAF_SafectrlMekfInputInvalid;No description;1;ACS_SAFE;mission/controller/acs/control/SafeCtrl.h
+0x6c01;ACSPTG_PtgctrlMekfInputInvalid;No description;1;ACS_PTG;mission/controller/acs/control/PtgCtrl.h
+0x6d01;ACSDTB_DetumbleNoSensordata;No description;1;ACS_DETUMBLE;mission/controller/acs/control/Detumble.h
+0x6a02;ACSMEKF_MekfUninitialized;No description;2;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6a03;ACSMEKF_MekfNoGyrData;No description;3;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6a04;ACSMEKF_MekfNoModelVectors;No description;4;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6a05;ACSMEKF_MekfNoSusMgmStrData;No description;5;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6a06;ACSMEKF_MekfCovarianceInversionFailed;No description;6;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6a07;ACSMEKF_MekfInitialized;No description;7;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6a08;ACSMEKF_MekfRunning;No description;8;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6900;ACSCTRL_FileDeletionFailed;No description;0;ACS_CTRL;mission/controller/AcsController.h
 0x4500;HSPI_OpeningFileFailed;No description;0;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
 0x4501;HSPI_FullDuplexTransferFailed;No description;1;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
 0x4502;HSPI_HalfDuplexTransferFailed;No description;2;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 261 translations.
+ * @brief    Auto-generated event translation file. Contains 263 translations.
  * @details
- * Generated on: 2023-02-23 15:59:16
+ * Generated on: 2023-02-24 16:57:00
  */
 #include "translateEvents.h"
 
@@ -90,6 +90,8 @@ const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
 const char *STORE_ERROR_STRING = "STORE_ERROR";
 const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
 const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
+const char *FILESTORE_ERROR_STRING = "FILESTORE_ERROR";
+const char *FILENAME_TOO_LARGE_ERROR_STRING = "FILENAME_TOO_LARGE_ERROR";
 const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
 const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
 const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
@@ -434,6 +436,10 @@ const char *translateEvents(Event event) {
       return MSG_QUEUE_ERROR_STRING;
     case (10802):
       return SERIALIZATION_ERROR_STRING;
+    case (10803):
+      return FILESTORE_ERROR_STRING;
+    case (10804):
+      return FILENAME_TOO_LARGE_ERROR_STRING;
     case (11200):
       return SAFE_RATE_VIOLATION_STRING;
     case (11201):

generators/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 159 translations.
- * Generated on: 2023-02-23 15:59:16
+ * Generated on: 2023-02-24 16:57:00
  */
 #include "translateObjects.h"
 

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 261 translations.
+ * @brief    Auto-generated event translation file. Contains 263 translations.
  * @details
- * Generated on: 2023-02-23 15:59:16
+ * Generated on: 2023-02-24 16:57:00
  */
 #include "translateEvents.h"
 
@@ -90,6 +90,8 @@ const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
 const char *STORE_ERROR_STRING = "STORE_ERROR";
 const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
 const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
+const char *FILESTORE_ERROR_STRING = "FILESTORE_ERROR";
+const char *FILENAME_TOO_LARGE_ERROR_STRING = "FILENAME_TOO_LARGE_ERROR";
 const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
 const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
 const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
@@ -434,6 +436,10 @@ const char *translateEvents(Event event) {
       return MSG_QUEUE_ERROR_STRING;
     case (10802):
       return SERIALIZATION_ERROR_STRING;
+    case (10803):
+      return FILESTORE_ERROR_STRING;
+    case (10804):
+      return FILENAME_TOO_LARGE_ERROR_STRING;
     case (11200):
       return SAFE_RATE_VIOLATION_STRING;
     case (11201):

linux/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 159 translations.
- * Generated on: 2023-02-23 15:59:16
+ * Generated on: 2023-02-24 16:57:00
  */
 #include "translateObjects.h"
 

mission/controller/AcsController.cpp

@@ -1,9 +1,8 @@
 #include "AcsController.h"
 
 #include <fsfw/datapool/PoolReadGuard.h>
-
-#include "mission/acsDefs.h"
-#include "mission/config/torquer.h"
+#include <mission/acsDefs.h>
+#include <mission/config/torquer.h>
 
 AcsController::AcsController(object_id_t objectId)
     : ExtendedControllerBase(objectId),
@@ -46,6 +45,26 @@ ReturnValue_t AcsController::handleCommandMessage(CommandMessage *message) {
   return result;
 }
 
+ReturnValue_t AcsController::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                                           const uint8_t *data, size_t size) {
+  switch (actionId) {
+    case SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL: {
+      ReturnValue_t result = guidance.solarArrayDeploymentComplete();
+      if (result == returnvalue::FAILED) {
+        return FILE_DELETION_FAILED;
+      }
+      return HasActionsIF::EXECUTION_FINISHED;
+    }
+    case RESET_MEKF: {
+      navigation.resetMekf(&mekfData);
+      return HasActionsIF::EXECUTION_FINISHED;
+    }
+    default: {
+      return HasActionsIF::INVALID_ACTION_ID;
+    }
+  }
+}
+
 MessageQueueId_t AcsController::getCommandQueue() const { return commandQueue->getId(); }
 
 ReturnValue_t AcsController::getParameter(uint8_t domainId, uint8_t parameterId,
@@ -60,6 +79,25 @@ void AcsController::performControlOperation() {
 #if OBSW_THREAD_TRACING == 1
   trace::threadTrace(opCounter, "ACS & TCS PST");
 #endif
+  {
+    PoolReadGuard pg(&mgmDataRaw);
+    if (pg.getReadResult() == returnvalue::OK) {
+      copyMgmData();
+    }
+  }
+  {
+    PoolReadGuard pg(&susDataRaw);
+    if (pg.getReadResult() == returnvalue::OK) {
+      copySusData();
+    }
+  }
+  {
+    PoolReadGuard pg(&gyrDataRaw);
+    if (pg.getReadResult() == returnvalue::OK) {
+      copyGyrData();
+    }
+  }
+
   switch (internalState) {
     case InternalState::STARTUP: {
       initialCountdown.resetTimer();
@@ -95,25 +133,6 @@ void AcsController::performControlOperation() {
     default:
       break;
   }
-
-  {
-    PoolReadGuard pg(&mgmDataRaw);
-    if (pg.getReadResult() == returnvalue::OK) {
-      copyMgmData();
-    }
-  }
-  {
-    PoolReadGuard pg(&susDataRaw);
-    if (pg.getReadResult() == returnvalue::OK) {
-      copySusData();
-    }
-  }
-  {
-    PoolReadGuard pg(&gyrDataRaw);
-    if (pg.getReadResult() == returnvalue::OK) {
-      copyGyrData();
-    }
-  }
 }
 
 void AcsController::performSafe() {
@@ -124,8 +143,8 @@ void AcsController::performSafe() {
                            &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
   ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
                                             &susDataProcessed, &mekfData);
-  if (result != MultiplicativeKalmanFilter::KALMAN_RUNNING &&
-      result != MultiplicativeKalmanFilter::KALMAN_INITIALIZED) {
+  if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
+      result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
     if (not mekfInvalidFlag) {
       triggerEvent(acs::MEKF_INVALID_INFO);
       mekfInvalidFlag = true;
@@ -139,7 +158,7 @@ void AcsController::performSafe() {
   // if MEKF is working
   double magMomMtq[3] = {0, 0, 0}, errAng = 0.0;
   bool magMomMtqValid = false;
-  if (result == MultiplicativeKalmanFilter::KALMAN_RUNNING) {
+  if (result == MultiplicativeKalmanFilter::MEKF_RUNNING) {
     safeCtrl.safeMekf(now, mekfData.quatMekf.value, mekfData.quatMekf.isValid(),
                       mgmDataProcessed.magIgrfModel.value, mgmDataProcessed.magIgrfModel.isValid(),
                       susDataProcessed.sunIjkModel.value, susDataProcessed.isValid(),
@@ -189,8 +208,8 @@ void AcsController::performDetumble() {
                            &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
   ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
                                             &susDataProcessed, &mekfData);
-  if (result != MultiplicativeKalmanFilter::KALMAN_RUNNING &&
-      result != MultiplicativeKalmanFilter::KALMAN_INITIALIZED) {
+  if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
+      result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
     if (not mekfInvalidFlag) {
       triggerEvent(acs::MEKF_INVALID_INFO);
       mekfInvalidFlag = true;
@@ -236,8 +255,8 @@ void AcsController::performPointingCtrl() {
                            &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
   ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
                                             &susDataProcessed, &mekfData);
-  if (result != MultiplicativeKalmanFilter::KALMAN_RUNNING &&
-      result != MultiplicativeKalmanFilter::KALMAN_INITIALIZED) {
+  if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
+      result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
     if (not mekfInvalidFlag) {
       triggerEvent(acs::MEKF_INVALID_INFO);
       mekfInvalidFlag = true;
@@ -246,9 +265,10 @@ void AcsController::performPointingCtrl() {
       triggerEvent(acs::MEKF_INVALID_MODE_VIOLATION);
     }
     mekfInvalidCounter++;
-    commandActuators(0, 0, 0, acsParameters.magnetorquesParameter.torqueDuration, cmdSpeedRws[0],
-                     cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
-                     acsParameters.rwHandlingParameters.rampTime);
+    //    commandActuators(0, 0, 0, acsParameters.magnetorquesParameter.torqueDuration,
+    //    cmdSpeedRws[0],
+    //                     cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
+    //                     acsParameters.rwHandlingParameters.rampTime);
     return;
   } else {
     mekfInvalidFlag = false;
@@ -395,7 +415,7 @@ void AcsController::performPointingCtrl() {
                             sensorValues.rw4Set.currSpeed.value, torqueRwsScaled, cmdSpeedRws);
   actuatorCmd.cmdDipolMtq(mgtDpDes, cmdDipolMtqs);
 
-  updateCtrlValData(targetQuat, errorQuat, errorAngle);
+  updateCtrlValData(targetQuat, errorQuat, errorAngle, targetSatRotRate);
   updateActuatorCmdData(rwTrqNs, cmdSpeedRws, cmdDipolMtqs);
   //  commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
   //                   acsParameters.magnetorquesParameter.torqueDuration, cmdSpeedRws[0],
@@ -457,16 +477,20 @@ void AcsController::updateCtrlValData(double errAng) {
     ctrlValData.errQuat.setValid(false);
     ctrlValData.errAng.value = errAng;
     ctrlValData.errAng.setValid(true);
+    std::memcpy(ctrlValData.tgtRotRate.value, ZERO_VEC, 3 * sizeof(double));
+    ctrlValData.tgtRotRate.setValid(false);
     ctrlValData.setValidity(true, false);
   }
 }
 
-void AcsController::updateCtrlValData(const double *tgtQuat, const double *errQuat, double errAng) {
+void AcsController::updateCtrlValData(const double *tgtQuat, const double *errQuat, double errAng,
+                                      const double *tgtRotRate) {
   PoolReadGuard pg(&ctrlValData);
   if (pg.getReadResult() == returnvalue::OK) {
     std::memcpy(ctrlValData.tgtQuat.value, tgtQuat, 4 * sizeof(double));
     std::memcpy(ctrlValData.errQuat.value, errQuat, 4 * sizeof(double));
     ctrlValData.errAng.value = errAng;
+    std::memcpy(ctrlValData.tgtRotRate.value, tgtRotRate, 3 * sizeof(double));
     ctrlValData.setValidity(true, true);
   }
 }
@@ -477,6 +501,7 @@ void AcsController::disableCtrlValData() {
     std::memcpy(ctrlValData.tgtQuat.value, UNIT_QUAT, 4 * sizeof(double));
     std::memcpy(ctrlValData.errQuat.value, UNIT_QUAT, 4 * sizeof(double));
     ctrlValData.errAng.value = 0;
+    std::memcpy(ctrlValData.tgtRotRate.value, ZERO_VEC, 3 * sizeof(double));
     ctrlValData.setValidity(false, true);
   }
 }

mission/controller/AcsController.h

@@ -1,12 +1,17 @@
 #ifndef MISSION_CONTROLLER_ACSCONTROLLER_H_
 #define MISSION_CONTROLLER_ACSCONTROLLER_H_
 
+#include <eive/objects.h>
 #include <fsfw/controller/ExtendedControllerBase.h>
 #include <fsfw/globalfunctions/math/VectorOperations.h>
 #include <fsfw/parameters/ParameterHelper.h>
 #include <fsfw/parameters/ReceivesParameterMessagesIF.h>
+#include <fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h>
+#include <fsfw_hal/devicehandlers/MgmRM3100Handler.h>
+#include <mission/devices/devicedefinitions/SusDefinitions.h>
 #include <mission/devices/devicedefinitions/imtqHelpers.h>
 #include <mission/devices/devicedefinitions/rwHelpers.h>
+#include <mission/trace.h>
 
 #include "acs/ActuatorCmd.h"
 #include "acs/Guidance.h"
@@ -17,11 +22,6 @@
 #include "acs/control/PtgCtrl.h"
 #include "acs/control/SafeCtrl.h"
 #include "controllerdefinitions/AcsCtrlDefinitions.h"
-#include "eive/objects.h"
-#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
-#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
-#include "mission/devices/devicedefinitions/SusDefinitions.h"
-#include "mission/trace.h"
 
 class AcsController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
  public:
@@ -41,6 +41,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
 
  private:
   static constexpr double UNIT_QUAT[4] = {0, 0, 0, 1};
+  static constexpr double ZERO_VEC[3] = {0, 0, 0};
   static constexpr double RW_OFF_TORQUE[4] = {0.0, 0.0, 0.0, 0.0};
   static constexpr int32_t RW_OFF_SPEED[4] = {0, 0, 0, 0};
 
@@ -58,7 +59,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
 
   uint8_t detumbleCounter = 0;
   uint8_t multipleRwUnavailableCounter = 0;
-  bool mekfInvalidFlag = true;
+  bool mekfInvalidFlag = false;
   uint8_t mekfInvalidCounter = 0;
   int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
   int16_t cmdDipolMtqs[3] = {0, 0, 0};
@@ -68,13 +69,23 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
 #endif
 
   enum class InternalState { STARTUP, INITIAL_DELAY, READY };
-
   InternalState internalState = InternalState::STARTUP;
 
+  /** Device command IDs */
+  static const DeviceCommandId_t SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL = 0x0;
+  static const DeviceCommandId_t RESET_MEKF = 0x1;
+
+  static const uint8_t INTERFACE_ID = CLASS_ID::ACS_CTRL;
+  static constexpr ReturnValue_t FILE_DELETION_FAILED = MAKE_RETURN_CODE(0);
+
   ReturnValue_t initialize() override;
   ReturnValue_t handleCommandMessage(CommandMessage* message) override;
   void performControlOperation() override;
 
+  /* HasActionsIF overrides */
+  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                              const uint8_t* data, size_t size) override;
+
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
   LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
@@ -92,7 +103,8 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   void updateActuatorCmdData(const double* rwTargetTorque, const int32_t* rwTargetSpeed,
                              const int16_t* mtqTargetDipole);
   void updateCtrlValData(double errAng);
-  void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng);
+  void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng,
+                         const double* tgtRotRate);
   void disableCtrlValData();
 
   /* ACS Sensor Values */

mission/controller/acs/AcsParameters.h

@@ -1,8 +1,3 @@
-/*******************************
- *	EIVE Flight Software Framework (FSFW)
- * (c) 2022 IRS, Uni Stuttgart
- *******************************/
-
 #ifndef ACSPARAMETERS_H_
 #define ACSPARAMETERS_H_
 

mission/controller/acs/Guidance.cpp

@@ -551,3 +551,19 @@ void Guidance::getTargetParamsSafe(double sunTargetSafe[3], double satRateSafe[3
   std::memcpy(satRateSafe, acsParameters.safeModeControllerParameters.satRateRef,
               3 * sizeof(double));
 }
+
+ReturnValue_t Guidance::solarArrayDeploymentComplete() {
+  if (std::filesystem::exists(SD_0_SKEWED_PTG_FILE)) {
+    std::remove(SD_0_SKEWED_PTG_FILE);
+    if (std::filesystem::exists(SD_0_SKEWED_PTG_FILE)) {
+      return returnvalue::FAILED;
+    }
+  }
+  if (std::filesystem::exists(SD_1_SKEWED_PTG_FILE)) {
+    std::remove(SD_1_SKEWED_PTG_FILE);
+    if (std::filesystem::exists(SD_1_SKEWED_PTG_FILE)) {
+      return returnvalue::FAILED;
+    }
+  }
+  return returnvalue::OK;
+}

mission/controller/acs/Guidance.h

@@ -13,6 +13,7 @@ class Guidance {
   virtual ~Guidance();
 
   void getTargetParamsSafe(double sunTargetSafe[3], double satRateRef[3]);
+  ReturnValue_t solarArrayDeploymentComplete();
 
   // Function to get the target quaternion and refence rotation rate from gps position and
   // position of the ground station

mission/controller/acs/MultiplicativeKalmanFilter.cpp

@@ -189,12 +189,12 @@ ReturnValue_t MultiplicativeKalmanFilter::init(
     initialCovarianceMatrix[5][4] = initGyroCov[2][1];
     initialCovarianceMatrix[5][5] = initGyroCov[2][2];
     updateDataSetWithoutData(mekfData, MekfStatus::INITIALIZED);
-    return KALMAN_INITIALIZED;
+    return MEKF_INITIALIZED;
   } else {
     // no initialisation possible, no valid measurements
     validInit = false;
     updateDataSetWithoutData(mekfData, MekfStatus::UNINITIALIZED);
-    return KALMAN_UNINITIALIZED;
+    return MEKF_UNINITIALIZED;
   }
 }
 
@@ -211,12 +211,12 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(const double *quaternionSTR, c
   int MDF = 0;  // Matrix Dimension Factor
   if (!validGYRs_) {
     updateDataSetWithoutData(mekfData, MekfStatus::NO_GYR_DATA);
-    return KALMAN_NO_GYR_DATA;
+    return MEKF_NO_GYR_DATA;
   }
   // Check for Model Calculations
   else if (!validSSModel || !validMagModel) {
     updateDataSetWithoutData(mekfData, MekfStatus::NO_MODEL_VECTORS);
-    return KALMAN_NO_MODEL_VECTORS;
+    return MEKF_NO_MODEL_VECTORS;
   }
   // Check Measurements available from SS, MAG, STR
   if (validSS && validMagField_ && validSTR_) {
@@ -854,7 +854,7 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(const double *quaternionSTR, c
   int inversionFailed = MathOperations<double>::inverseMatrix(*residualCov, *invResidualCov, MDF);
   if (inversionFailed) {
     updateDataSetWithoutData(mekfData, MekfStatus::COVARIANCE_INVERSION_FAILED);
-    return KALMAN_COVARIANCE_INVERSION_FAILED;  // RETURN VALUE ? -- Like: Kalman Inversion Failed
+    return MEKF_COVARIANCE_INVERSION_FAILED;  // RETURN VALUE ? -- Like: Kalman Inversion Failed
   }
 
   // [K = P * H' / (H * P * H' + R)]
@@ -1085,16 +1085,17 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(const double *quaternionSTR, c
   MatrixOperations<double>::add(*cov0, *cov1, *initialCovarianceMatrix, 6, 6);
 
   updateDataSet(mekfData, MekfStatus::RUNNING, quatBJ, rotRateEst);
-  return KALMAN_RUNNING;
+  return MEKF_RUNNING;
 }
 
-void MultiplicativeKalmanFilter::reset(acsctrl::MekfData *mekfData) {
+ReturnValue_t MultiplicativeKalmanFilter::reset(acsctrl::MekfData *mekfData) {
   double resetQuaternion[4] = {0, 0, 0, 1};
   double resetCovarianceMatrix[6][6] = {{0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0},
                                         {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}};
   std::memcpy(initialQuaternion, resetQuaternion, 4 * sizeof(double));
   std::memcpy(initialCovarianceMatrix, resetCovarianceMatrix, 6 * 6 * sizeof(double));
   updateDataSetWithoutData(mekfData, MekfStatus::UNINITIALIZED);
+  return MEKF_UNINITIALIZED;
 }
 
 void MultiplicativeKalmanFilter::updateDataSetWithoutData(acsctrl::MekfData *mekfData,

mission/controller/acs/MultiplicativeKalmanFilter.h

@@ -1,17 +1,3 @@
-/*
- * MultiplicativeKalmanFilter.h
- *
- *  Created on: 4 Feb 2022
- *      Author: Robin Marquardt
- *
- *      @brief: This class handles the calculation of an estimated quaternion and the gyro bias by
- *      means of the spacecraft attitude sensors
- *
- *      @note: A description of the used algorithms can be found in the bachelor thesis of Robin
- * Marquardt
- *      https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_Studenten/Marquardt_Robin&openfile=500811
- */
-
 #ifndef MULTIPLICATIVEKALMANFILTER_H_
 #define MULTIPLICATIVEKALMANFILTER_H_
 
@@ -22,6 +8,13 @@
 #include "eive/resultClassIds.h"
 
 class MultiplicativeKalmanFilter {
+  /* @brief: This class handles the calculation of an estimated quaternion and the gyro bias by
+   *           means of the spacecraft attitude sensors
+   *
+   * @note: A description of the used algorithms can be found in the bachelor thesis of Robin
+   *        Marquardt
+   *        https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_Studenten/Marquardt_Robin&openfile=500811
+   */
  public:
   /* @brief: Constructor
    * @param: acsParameters_   Pointer to object which defines the ACS configuration parameters
@@ -29,7 +22,7 @@ class MultiplicativeKalmanFilter {
   MultiplicativeKalmanFilter(AcsParameters *acsParameters_);
   virtual ~MultiplicativeKalmanFilter();
 
-  void reset(acsctrl::MekfData *mekfData);
+  ReturnValue_t reset(acsctrl::MekfData *mekfData);
 
   /* @brief: init() - This function initializes the Kalman Filter and will provide the first
    * quaternion through the QUEST algorithm
@@ -74,15 +67,15 @@ class MultiplicativeKalmanFilter {
   };
 
   // resetting Mekf
-  static constexpr uint8_t IF_KAL_ID = CLASS_ID::ACS_KALMAN;
-  static constexpr ReturnValue_t KALMAN_UNINITIALIZED = returnvalue::makeCode(IF_KAL_ID, 2);
-  static constexpr ReturnValue_t KALMAN_NO_GYR_DATA = returnvalue::makeCode(IF_KAL_ID, 3);
-  static constexpr ReturnValue_t KALMAN_NO_MODEL_VECTORS = returnvalue::makeCode(IF_KAL_ID, 4);
-  static constexpr ReturnValue_t KALMAN_NO_SUS_MGM_STR_DATA = returnvalue::makeCode(IF_KAL_ID, 5);
-  static constexpr ReturnValue_t KALMAN_COVARIANCE_INVERSION_FAILED =
-      returnvalue::makeCode(IF_KAL_ID, 6);
-  static constexpr ReturnValue_t KALMAN_INITIALIZED = returnvalue::makeCode(IF_KAL_ID, 7);
-  static constexpr ReturnValue_t KALMAN_RUNNING = returnvalue::makeCode(IF_KAL_ID, 8);
+  static constexpr uint8_t IF_MEKF_ID = CLASS_ID::ACS_MEKF;
+  static constexpr ReturnValue_t MEKF_UNINITIALIZED = returnvalue::makeCode(IF_MEKF_ID, 2);
+  static constexpr ReturnValue_t MEKF_NO_GYR_DATA = returnvalue::makeCode(IF_MEKF_ID, 3);
+  static constexpr ReturnValue_t MEKF_NO_MODEL_VECTORS = returnvalue::makeCode(IF_MEKF_ID, 4);
+  static constexpr ReturnValue_t MEKF_NO_SUS_MGM_STR_DATA = returnvalue::makeCode(IF_MEKF_ID, 5);
+  static constexpr ReturnValue_t MEKF_COVARIANCE_INVERSION_FAILED =
+      returnvalue::makeCode(IF_MEKF_ID, 6);
+  static constexpr ReturnValue_t MEKF_INITIALIZED = returnvalue::makeCode(IF_MEKF_ID, 7);
+  static constexpr ReturnValue_t MEKF_RUNNING = returnvalue::makeCode(IF_MEKF_ID, 8);
 
  private:
   /*Parameters*/

mission/controller/acs/Navigation.cpp

@@ -25,26 +25,25 @@ ReturnValue_t Navigation::useMekf(ACS::SensorValues *sensorValues,
                      sensorValues->strSet.caliQy.isValid() &&
                      sensorValues->strSet.caliQz.isValid() && sensorValues->strSet.caliQw.isValid();
 
-  if (kalmanInit) {
-    return multiplicativeKalmanFilter.mekfEst(
+  if (mekfStatus == MultiplicativeKalmanFilter::MEKF_UNINITIALIZED) {
+    mekfStatus = multiplicativeKalmanFilter.init(
+        mgmDataProcessed->mgmVecTot.value, mgmDataProcessed->mgmVecTot.isValid(),
+        susDataProcessed->susVecTot.value, susDataProcessed->susVecTot.isValid(),
+        susDataProcessed->sunIjkModel.value, susDataProcessed->sunIjkModel.isValid(),
+        mgmDataProcessed->magIgrfModel.value, mgmDataProcessed->magIgrfModel.isValid(), mekfData);
+    return mekfStatus;
+  } else {
+    mekfStatus = multiplicativeKalmanFilter.mekfEst(
         quatIB, quatIBValid, gyrDataProcessed->gyrVecTot.value,
         gyrDataProcessed->gyrVecTot.isValid(), mgmDataProcessed->mgmVecTot.value,
         mgmDataProcessed->mgmVecTot.isValid(), susDataProcessed->susVecTot.value,
         susDataProcessed->susVecTot.isValid(), susDataProcessed->sunIjkModel.value,
         susDataProcessed->sunIjkModel.isValid(), mgmDataProcessed->magIgrfModel.value,
         mgmDataProcessed->magIgrfModel.isValid(), acsParameters.onBoardParams.sampleTime, mekfData);
-  } else {
-    ReturnValue_t result;
-    result = multiplicativeKalmanFilter.init(
-        mgmDataProcessed->mgmVecTot.value, mgmDataProcessed->mgmVecTot.isValid(),
-        susDataProcessed->susVecTot.value, susDataProcessed->susVecTot.isValid(),
-        susDataProcessed->sunIjkModel.value, susDataProcessed->sunIjkModel.isValid(),
-        mgmDataProcessed->magIgrfModel.value, mgmDataProcessed->magIgrfModel.isValid(), mekfData);
-    kalmanInit = true;
-    return result;
+    return mekfStatus;
   }
 }
 
 void Navigation::resetMekf(acsctrl::MekfData *mekfData) {
-  multiplicativeKalmanFilter.reset(mekfData);
+  mekfStatus = multiplicativeKalmanFilter.reset(mekfData);
 }

mission/controller/acs/Navigation.h

@@ -22,7 +22,7 @@ class Navigation {
  private:
   MultiplicativeKalmanFilter multiplicativeKalmanFilter;
   AcsParameters acsParameters;
-  bool kalmanInit = false;
+  ReturnValue_t mekfStatus = MultiplicativeKalmanFilter::MEKF_UNINITIALIZED;
 };
 
 #endif /* ACS_NAVIGATION_H_ */

mission/controller/acs/SensorProcessing.h

@@ -1,7 +1,3 @@
-/*******************************
- *	EIVE Flight Software
- * (c) 2022 IRS, Uni Stuttgart
- *******************************/
 #ifndef SENSORPROCESSING_H_
 #define SENSORPROCESSING_H_
 

mission/controller/acs/SensorValues.cpp

@@ -1,9 +1,3 @@
-/*
- * SensorValues.cpp
- *
- *  Created on: 30 Mar 2022
- *      Author: rooob
- */
 #include "SensorValues.h"
 
 #include <fsfw/datapool/PoolReadGuard.h>

mission/controller/acs/SusConverter.cpp

@@ -1,17 +1,9 @@
-/*
- * SusConverter.cpp
- *
- *  Created on: 17.01.2022
- *      Author: Timon Schwarz
- */
-
 #include "SusConverter.h"
 
 #include <fsfw/datapoollocal/LocalPoolVariable.h>
 #include <fsfw/datapoollocal/LocalPoolVector.h>
 #include <fsfw/globalfunctions/math/VectorOperations.h>
-#include <math.h>  //for atan2
-
+#include <math.h>
 #include <iostream>
 
 bool SusConverter::checkSunSensorData(const uint16_t susChannel[6]) {

mission/controller/acs/SusConverter.h

@@ -1,10 +1,3 @@
-/*
- * SusConverter.h
- *
- *  Created on: Sep 22, 2022
- *      Author: marius
- */
-
 #ifndef MISSION_CONTROLLER_ACS_SUSCONVERTER_H_
 #define MISSION_CONTROLLER_ACS_SUSCONVERTER_H_
 
@@ -28,8 +21,6 @@ class SusConverter {
 
  private:
   float alphaBetaRaw[2];          //[°]
-                                  //  float coeffAlpha[9][10];
-                                  //  float coeffBeta[9][10];
   float alphaBetaCalibrated[2];   //[°]
   float sunVectorSensorFrame[3];  //[-]
 

mission/controller/acs/util/MathOperations.h

@@ -300,6 +300,7 @@ class MathOperations {
   }
 
   static float matrixDeterminant(const T1 *inputMatrix, uint8_t size) {
+    /* do not use this. takes 300ms */
     float det = 0;
     T1 matrix[size][size], submatrix[size - 1][size - 1];
     for (uint8_t row = 0; row < size; row++) {
@@ -329,9 +330,7 @@ class MathOperations {
   }
 
   static int inverseMatrix(const T1 *inputMatrix, T1 *inverse, uint8_t size) {
-    if (MathOperations<T1>::matrixDeterminant(inputMatrix, size) == 0) {
-      return 1;  // Matrix is singular and not invertible
-    }
+    // Stopwatch stopwatch;
     T1 matrix[size][size], identity[size][size];
     // reformat array to matrix
     for (uint8_t row = 0; row < size; row++) {
@@ -346,7 +345,6 @@ class MathOperations {
     }
     // gauss-jordan algo
     // sort matrix such as no diag entry shall be 0
-    // should not be needed as such a matrix has a det=0
     for (uint8_t row = 0; row < size; row++) {
       if (matrix[row][row] == 0.0) {
         bool swaped = false;

mission/devices/devicedefinitions/GPSDefinitions.h

@@ -67,6 +67,7 @@ class GpsPrimaryDataset : public StaticLocalDataSet<18> {
 
  private:
   friend class GpsHyperionLinuxController;
+  friend class GpsCtrlDummy;
   GpsPrimaryDataset(HasLocalDataPoolIF* hkOwner)
       : StaticLocalDataSet(hkOwner, GpsHyperion::DATASET_ID) {}
 };

tmtc

@@ -1 +1 @@
-Subproject commit da960b534475128c09b5d5e68813c243170c333b
+Subproject commit d47e9039a5286cd7bbe67679f09f095863911b7e