ACS updates

- Adapt ACS subsystem to handle events from ACS CTRL - Some fixes and updates for ACS subsystem
2023-02-02 16:27:50 +01:00 · 2023-02-02 16:27:50 +01:00 · 2b00d3a565
commit 2b00d3a565
parent 07effb628e
12 changed files with 187 additions and 151 deletions
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -21,6 +21,7 @@ change warranting a new major release:

 - Bugfix in FSFW where the sequence flags of the PUS packets were set to continuation segment (0b00)
  instead of unsegmented (0b11).
+- Set GPS set entries to invalid on MODE_OFF command.

 # [v1.23.0] 2023-02-01

--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 01cc619e67b84cef514b045377771ff1e11caf80
+Subproject commit f2461cd7e9df449e9ea4a842ca820d5002ef6494
--- a/linux/devices/GPSHyperionLinuxController.cpp
+++ b/linux/devices/GPSHyperionLinuxController.cpp
@ -48,6 +48,9 @@ ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
      return HasModesIF::INVALID_MODE;
    }
  }
+  if (mode == MODE_OFF) {
+    gpsSet.setValidity(false, true);
+  }
  return returnvalue::OK;
 }

--- a/mission/acsDefs.h
+++ b/mission/acsDefs.h
@ -0,0 +1,26 @@
+#ifndef MISSION_ACSDEFS_H_
+#define MISSION_ACSDEFS_H_
+
+#include <fsfw/modes/HasModesIF.h>
+
+namespace acs {
+
+enum CtrlSubmode {
+  OFF = HasModesIF::MODE_OFF,
+  SAFE = 2,
+  DETUMBLE = 3,
+  IDLE = 4,
+  PTG_NADIR = 5,
+  PTG_TARGET = 6,
+  PTG_TARGET_GS = 7,
+  PTG_INERTIAL = 8,
+};
+
+static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
+static const Event SAFE_RATE_VIOLATION =
+    MAKE_EVENT(0, severity::MEDIUM);  //!< The limits for the rotation in safe mode were violated.
+static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
+
+}  // namespace acs
+
+#endif /* MISSION_ACSDEFS_H_ */
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@ -2,6 +2,7 @@

 #include <fsfw/datapool/PoolReadGuard.h>

+#include "mission/acsDefs.h"
 #include "mission/config/torquer.h"

 AcsController::AcsController(object_id_t objectId)
@ -45,15 +46,15 @@ void AcsController::performControlOperation() {
    case InternalState::READY: {
      if (mode != MODE_OFF) {
        switch (submode) {
-          case SUBMODE_SAFE:
+          case acs::SAFE:
            performSafe();
            break;
-          case SUBMODE_DETUMBLE:
+          case acs::DETUMBLE:
            performDetumble();
            break;
-          case SUBMODE_PTG_TARGET:
-          case SUBMODE_PTG_NADIR:
-          case SUBMODE_PTG_INERTIAL:
+          case acs::PTG_TARGET:
+          case acs::PTG_NADIR:
+          case acs::PTG_INERTIAL:
            performPointingCtrl();
            break;
        }
@ -151,9 +152,10 @@ void AcsController::performSafe() {
    detumbleCounter = 0;
  }
  if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
-    submode = SUBMODE_DETUMBLE;
+    // TODO: Trigger mode transition in ACS subsystem?
+    submode = acs::CtrlSubmode::DETUMBLE;
    detumbleCounter = 0;
-    triggerEvent(SAFE_RATE_VIOLATION);
+    triggerEvent(acs::SAFE_RATE_VIOLATION);
  }

  {
@ -208,7 +210,8 @@ void AcsController::performDetumble() {
    detumbleCounter = 0;
  }
  if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
-    submode = SUBMODE_SAFE;
+    // TODO: Trigger mode transition in subsystem instead
+    submode = acs::CtrlSubmode::DETUMBLE;
    detumbleCounter = 0;
  }

--- a/mission/controller/AcsController.h
+++ b/mission/controller/AcsController.h
@ -24,16 +24,6 @@ class AcsController : public ExtendedControllerBase {

  AcsController(object_id_t objectId);

-  static const Submode_t SUBMODE_SAFE = 2;
-  static const Submode_t SUBMODE_DETUMBLE = 3;
-  static const Submode_t SUBMODE_PTG_TARGET = 4;
-  static const Submode_t SUBMODE_PTG_NADIR = 5;
-  static const Submode_t SUBMODE_PTG_INERTIAL = 6;
-
-  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
-  static const Event SAFE_RATE_VIOLATION =
-      MAKE_EVENT(0, severity::MEDIUM);  //!< The limits for the rotation in safe mode were violated.
-
 protected:
  void performSafe();
  void performDetumble();
--- a/mission/controller/controllerdefinitions/AcsControllerDefinitions.h
+++ b/mission/controller/controllerdefinitions/AcsControllerDefinitions.h
@ -1,14 +0,0 @@
-#ifndef MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_
-#define MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_
-
-#include <fsfw/modes/HasModesIF.h>
-
-namespace acs {
-
-enum CtrlModes { OFF = HasModesIF::MODE_OFF, SAFE = 1, DETUMBLE = 2, IDLE = 3, TARGET_PT = 4 };
-
-static constexpr Submode_t IDLE_CHARGE = 1;
-
-}  // namespace acs
-
-#endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_ */
--- a/mission/core/GenericFactory.cpp
+++ b/mission/core/GenericFactory.cpp
@ -162,7 +162,8 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
                                   pus::PUS_SERVICE_20);
  new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT, config::EIVE_PUS_APID,
                                pus::PUS_SERVICE_200, 8);
-  HealthServiceCfg healthCfg(objects::PUS_SERVICE_201_HEALTH, config::EIVE_PUS_APID, *healthTable, 20);
+  HealthServiceCfg healthCfg(objects::PUS_SERVICE_201_HEALTH, config::EIVE_PUS_APID, *healthTable,
+                             20);
  new CServiceHealthCommanding(healthCfg);

 #if OBSW_ADD_CFDP_COMPONENTS == 1
--- a/mission/system/objects/AcsSubsystem.cpp
+++ b/mission/system/objects/AcsSubsystem.cpp
@ -1,5 +1,81 @@
 #include "AcsSubsystem.h"

+#include <fsfw/events/EventManagerIF.h>
+#include <fsfw/ipc/QueueFactory.h>
+
+#include "fsfw/modes/ModeMessage.h"
+#include "mission/acsDefs.h"
+
 AcsSubsystem::AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
                           uint32_t maxNumberOfTables)
-    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}
+    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {
+  auto mqArgs = MqArgs(getObjectId(), static_cast<void*>(this));
+  eventQueue =
+      QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
+}
+
+ReturnValue_t AcsSubsystem::initialize() {
+  EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
+  if (manager == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "AcsSubsystem::initialize: Invalid event manager" << std::endl;
+#endif
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  ReturnValue_t result = manager->registerListener(eventQueue->getId());
+  if (result != returnvalue::OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "AcsSubsystem::registerListener: Failed to register as "
+                    "listener"
+                 << std::endl;
+#endif
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+    ;
+  }
+  result = manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::SAFE_RATE_VIOLATION));
+  if(result != returnvalue::OK) {
+	  sif::error << "AcsSubsystem: Subscribing for acs::SAFE_RATE_VIOLATION failed" << std::endl;
+  }
+  result = manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::SAFE_RATE_RECOVERY));
+  if(result != returnvalue::OK) {
+	  sif::error << "AcsSubsystem: Subscribing for acs::SAFE_RATE_RECOVERY failed" << std::endl;
+  }
+  return Subsystem::initialize();
+}
+
+void AcsSubsystem::performChildOperation() {
+	handleEventMessages();
+	return Subsystem::performChildOperation();
+}
+
+void AcsSubsystem::handleEventMessages() {
+  EventMessage event;
+  for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
+       result = eventQueue->receiveMessage(&event)) {
+    switch (event.getMessageId()) {
+      case EventMessage::EVENT_MESSAGE:
+        if (event.getEvent() == acs::SAFE_RATE_VIOLATION) {
+          CommandMessage msg;
+          ModeMessage::setCmdModeModeMessage(msg, acs::CtrlSubmode::DETUMBLE, 0);
+          ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
+          if (result != returnvalue::OK) {
+            sif::error << "AcsSubsystem: sending DETUMBLE mode cmd to self has failed" << std::endl;
+          }
+        }
+        if (event.getEvent() == acs::SAFE_RATE_RECOVERY) {
+          CommandMessage msg;
+          ModeMessage::setCmdModeModeMessage(msg, acs::CtrlSubmode::SAFE, 0);
+          ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
+          if (result != returnvalue::OK) {
+            sif::error << "AcsSubsystem: sending IDLE mode cmd to self has failed" << std::endl;
+          }
+        }
+        break;
+      default:
+        sif::debug << "AcsSubsystem::performChildOperation: Did not subscribe "
+                      "to this event message"
+                   << std::endl;
+        break;
+    }
+  }
+}
--- a/mission/system/objects/AcsSubsystem.h
+++ b/mission/system/objects/AcsSubsystem.h
@ -8,6 +8,12 @@ class AcsSubsystem : public Subsystem {
  AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);

 private:
+  ReturnValue_t initialize() override;
+  void performChildOperation() override;
+
+  void handleEventMessages();
+
+  MessageQueueIF* eventQueue = nullptr;
 };

 #endif /* MISSION_SYSTEM_ACSSUBSYSTEM_H_ */
--- a/mission/system/tree/acsModeTree.cpp
+++ b/mission/system/tree/acsModeTree.cpp
@ -7,7 +7,7 @@
 #include <fsfw/subsystem/modes/ModeDefinitions.h>

 #include "eive/objects.h"
-#include "mission/controller/controllerdefinitions/AcsControllerDefinitions.h"
+#include "mission/acsDefs.h"
 #include "util.h"

 Subsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
@ -20,64 +20,62 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh);
 void buildDetumbleSequence(Subsystem& ss, ModeListEntry& entryHelper);
 void buildSafeSequence(Subsystem& ss, ModeListEntry& entryHelper);
 void buildIdleSequence(Subsystem& ss, ModeListEntry& entryHelper);
-void buildIdleChargeSequence(Subsystem& ss, ModeListEntry& entryHelper);
 void buildTargetPtSequence(Subsystem& ss, ModeListEntry& entryHelper);
 }  // namespace

 static const auto OFF = HasModesIF::MODE_OFF;
 static const auto NML = DeviceHandlerIF::MODE_NORMAL;

-auto ACS_SEQUENCE_OFF =
-    std::make_pair(acs::CtrlModes::OFF << 24, FixedArrayList<ModeListEntry, 2>());
+auto ACS_SEQUENCE_OFF = std::make_pair(acs::CtrlSubmode::OFF, FixedArrayList<ModeListEntry, 2>());
 auto ACS_TABLE_OFF_TGT =
-    std::make_pair((acs::CtrlModes::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
+    std::make_pair((acs::CtrlSubmode::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
 auto ACS_TABLE_OFF_TRANS =
-    std::make_pair((acs::CtrlModes::OFF << 24) | 2, FixedArrayList<ModeListEntry, 6>());
+    std::make_pair((acs::CtrlSubmode::OFF << 24) | 2, FixedArrayList<ModeListEntry, 6>());

 auto ACS_SEQUENCE_DETUMBLE =
-    std::make_pair(acs::CtrlModes::DETUMBLE << 24, FixedArrayList<ModeListEntry, 3>());
+    std::make_pair(acs::CtrlSubmode::DETUMBLE, FixedArrayList<ModeListEntry, 3>());
 auto ACS_TABLE_DETUMBLE_TGT =
-    std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
+    std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
 auto ACS_TABLE_DETUMBLE_TRANS_0 =
-    std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
 auto ACS_TABLE_DETUMBLE_TRANS_1 =
-    std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+    std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());

-auto ACS_SEQUENCE_SAFE =
-    std::make_pair(acs::CtrlModes::SAFE << 24, FixedArrayList<ModeListEntry, 3>());
+auto ACS_SEQUENCE_SAFE = std::make_pair(acs::CtrlSubmode::SAFE, FixedArrayList<ModeListEntry, 3>());
 auto ACS_TABLE_SAFE_TGT =
-    std::make_pair((acs::CtrlModes::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
+    std::make_pair((acs::CtrlSubmode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
 auto ACS_TABLE_SAFE_TRANS_0 =
-    std::make_pair((acs::CtrlModes::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((acs::CtrlSubmode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
 auto ACS_TABLE_SAFE_TRANS_1 =
-    std::make_pair((acs::CtrlModes::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+    std::make_pair((acs::CtrlSubmode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());

-auto ACS_SEQUENCE_IDLE =
-    std::make_pair(acs::CtrlModes::IDLE << 24, FixedArrayList<ModeListEntry, 3>());
+auto ACS_SEQUENCE_IDLE = std::make_pair(acs::CtrlSubmode::IDLE, FixedArrayList<ModeListEntry, 3>());
 auto ACS_TABLE_IDLE_TGT =
-    std::make_pair((acs::CtrlModes::IDLE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((acs::CtrlSubmode::IDLE << 24) | 1, FixedArrayList<ModeListEntry, 6>());
 auto ACS_TABLE_IDLE_TRANS_0 =
-    std::make_pair((acs::CtrlModes::IDLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((acs::CtrlSubmode::IDLE << 24) | 2, FixedArrayList<ModeListEntry, 6>());
 auto ACS_TABLE_IDLE_TRANS_1 =
-    std::make_pair((acs::CtrlModes::IDLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+    std::make_pair((acs::CtrlSubmode::IDLE << 24) | 3, FixedArrayList<ModeListEntry, 2>());

-auto ACS_SEQUENCE_IDLE_CHRG = std::make_pair(acs::CtrlModes::IDLE << 24 | (acs::IDLE_CHARGE << 8),
-                                             FixedArrayList<ModeListEntry, 3>());
-auto ACS_TABLE_IDLE_CHRG_TGT = std::make_pair(
-    (acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 1, FixedArrayList<ModeListEntry, 4>());
-auto ACS_TABLE_IDLE_CHRG_TRANS_0 = std::make_pair(
-    (acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 2, FixedArrayList<ModeListEntry, 5>());
-auto ACS_TABLE_IDLE_CHRG_TRANS_1 = std::make_pair(
-    (acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 3, FixedArrayList<ModeListEntry, 1>());
+auto ACS_SEQUENCE_PTG_TARGET =
+    std::make_pair(acs::CtrlSubmode::PTG_TARGET, FixedArrayList<ModeListEntry, 3>());
+auto ACS_TABLE_PTG_TARGET_TGT =
+    std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 1, FixedArrayList<ModeListEntry, 6>());
+auto ACS_TABLE_PTG_TARGET_TRANS_0 =
+    std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+auto ACS_TABLE_PTG_TARGET_TRANS_1 =
+    std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 3, FixedArrayList<ModeListEntry, 1>());

-auto ACS_SEQUENCE_TARGET_PT =
-    std::make_pair(acs::CtrlModes::TARGET_PT, FixedArrayList<ModeListEntry, 3>());
+/*
+auto ACS_SEQUENCE_PTG_TARGET =
+    std::make_pair(acs::CtrlSubmode::TARGET_PT, FixedArrayList<ModeListEntry, 3>());
 auto ACS_TABLE_TARGET_PT_TGT =
-    std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 1, FixedArrayList<ModeListEntry, 6>());
+    std::make_pair((acs::CtrlSubmode::TARGET_PT << 24) | 1, FixedArrayList<ModeListEntry, 6>());
 auto ACS_TABLE_TARGET_PT_TRANS_0 =
-    std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((acs::CtrlSubmode::TARGET_PT << 24) | 2, FixedArrayList<ModeListEntry, 5>());
 auto ACS_TABLE_TARGET_PT_TRANS_1 =
-    std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+    std::make_pair((acs::CtrlSubmode::TARGET_PT << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+*/

 void satsystem::acs::init() {
  ModeListEntry entry;
@ -85,9 +83,8 @@ void satsystem::acs::init() {
  buildSafeSequence(ACS_SUBSYSTEM, entry);
  buildDetumbleSequence(ACS_SUBSYSTEM, entry);
  buildIdleSequence(ACS_SUBSYSTEM, entry);
-  buildIdleChargeSequence(ACS_SUBSYSTEM, entry);
  buildTargetPtSequence(ACS_SUBSYSTEM, entry);
-  ACS_SUBSYSTEM.setInitialMode(HasModesIF::MODE_OFF);
+  ACS_SUBSYSTEM.setInitialMode(::acs::CtrlSubmode::SAFE);
 }

 namespace {
@ -151,7 +148,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
    check(sequence.insert(eh), ctxc);
  };
  // Build SAFE target
-  iht(objects::ACS_CONTROLLER, acs::CtrlModes::SAFE, 0, ACS_TABLE_SAFE_TGT.second);
+  iht(objects::ACS_CONTROLLER, acs::CtrlSubmode::SAFE, 0, ACS_TABLE_SAFE_TGT.second);
  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TGT.second);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
@ -167,7 +164,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
        ctxc);

  // Build SAFE transition 1
-  iht(objects::ACS_CONTROLLER, acs::CtrlModes::SAFE, 0, ACS_TABLE_SAFE_TRANS_1.second);
+  iht(objects::ACS_CONTROLLER, acs::CtrlSubmode::SAFE, 0, ACS_TABLE_SAFE_TRANS_1.second);
  check(ss.addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true),
        ctxc);

@ -200,7 +197,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
    check(sequence.insert(eh), ctxc);
  };
  // Build DETUMBLE target
-  iht(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TGT.second);
+  iht(objects::ACS_CONTROLLER, acs::CtrlSubmode::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TGT.second);
  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
@ -218,7 +215,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
        ctxc);

  // Build DETUMBLE transition 1
-  iht(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TRANS_1.second);
+  iht(objects::ACS_CONTROLLER, acs::CtrlSubmode::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TRANS_1.second);
  check(ss.addTable(&ACS_TABLE_DETUMBLE_TRANS_1.second, ACS_TABLE_DETUMBLE_TRANS_1.first, false,
                    true),
        ctxc);
@ -252,7 +249,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
    check(sequence.insert(eh), ctxc);
  };
  // Build IDLE target
-  iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, 0, ACS_TABLE_IDLE_TGT.second);
+  iht(objects::ACS_CONTROLLER, acs::CtrlSubmode::IDLE, 0, ACS_TABLE_IDLE_TGT.second);
  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TGT.second);
  iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
@ -264,11 +261,11 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
  iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
-  iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_IDLE_TRANS_0.second);
+  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
  ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);

  // Build IDLE transition 1
-  iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, 0, ACS_TABLE_IDLE_TRANS_1.second);
+  iht(objects::ACS_CONTROLLER, acs::CtrlSubmode::IDLE, 0, ACS_TABLE_IDLE_TRANS_1.second);
  ss.addTable(&ACS_TABLE_IDLE_TRANS_1.second, ACS_TABLE_IDLE_TRANS_1.first, false, true);

  // Build IDLE sequence
@ -279,60 +276,6 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
                 true);
 }

-void buildIdleChargeSequence(Subsystem& ss, ModeListEntry& eh) {
-  std::string context = "satsystem::acs::buildIdleChargeSequence";
-  auto ctxc = context.c_str();
-  // Insert Helper Table
-  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
-                 ArrayList<ModeListEntry>& sequence) {
-    eh.setObject(obj);
-    eh.setMode(mode);
-    eh.setSubmode(submode);
-    check(sequence.insert(eh), ctxc);
-  };
-  // Insert Helper Sequence
-  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
-                 bool checkSuccess) {
-    eh.setTableId(tableId);
-    eh.setWaitSeconds(waitSeconds);
-    eh.setCheckSuccess(checkSuccess);
-    check(sequence.insert(eh), ctxc);
-  };
-  // Build IDLE target
-  iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, acs::IDLE_CHARGE,
-      ACS_TABLE_IDLE_CHRG_TGT.second);
-  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
-  check(ss.addTable(&ACS_TABLE_IDLE_CHRG_TGT.second, ACS_TABLE_IDLE_CHRG_TGT.first, false, true),
-        ctxc);
-
-  // Build IDLE transition 0
-  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
-  iht(objects::RW_ASS, OFF, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
-  iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
-  check(ss.addTable(&ACS_TABLE_IDLE_CHRG_TRANS_0.second, ACS_TABLE_IDLE_CHRG_TRANS_0.first, false,
-                    true),
-        ctxc);
-
-  // Build IDLE transition 1
-  iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, acs::IDLE_CHARGE,
-      ACS_TABLE_IDLE_CHRG_TRANS_1.second);
-  check(ss.addTable(&ACS_TABLE_IDLE_CHRG_TRANS_1.second, ACS_TABLE_IDLE_CHRG_TRANS_1.first, false,
-                    true),
-        ctxc);
-
-  // Build IDLE sequence
-  ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TGT.first, 0, true);
-  ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TRANS_0.first, 0, true);
-  ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TRANS_1.first, 0, false);
-  check(ss.addSequence(&ACS_SEQUENCE_IDLE_CHRG.second, ACS_SEQUENCE_IDLE_CHRG.first,
-                       ACS_SEQUENCE_SAFE.first, false, true),
-        ctxc);
-}
-
 void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
  std::string context = "satsystem::acs::buildTargetPtSequence";
  auto ctxc = context.c_str();
@ -354,36 +297,37 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
  };

  // Build TARGET PT table
-  iht(objects::ACS_CONTROLLER, acs::CtrlModes::TARGET_PT, 0, ACS_TABLE_TARGET_PT_TGT.second);
-  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
-  iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
-  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
-  check(ss.addTable(&ACS_TABLE_TARGET_PT_TGT.second, ACS_TABLE_TARGET_PT_TGT.first, false, true),
+  iht(objects::ACS_CONTROLLER, acs::CtrlSubmode::PTG_TARGET, 0, ACS_TABLE_PTG_TARGET_TGT.second);
+  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
+  iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
+  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
+  check(ss.addTable(&ACS_TABLE_PTG_TARGET_TGT.second, ACS_TABLE_PTG_TARGET_TGT.first, false, true),
        ctxc);

  // Build TARGET PT transition 0
-  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
-  iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
-  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
-  check(ss.addTable(&ACS_TABLE_TARGET_PT_TRANS_0.second, ACS_TABLE_TARGET_PT_TRANS_0.first, false,
+  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_TRANS_0.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TRANS_0.second);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TRANS_0.second);
+  iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TRANS_0.second);
+  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_TRANS_0.second);
+  check(ss.addTable(&ACS_TABLE_PTG_TARGET_TRANS_0.second, ACS_TABLE_PTG_TARGET_TRANS_0.first, false,
                    true),
        ctxc);

  // Build TARGET PT transition 1
-  iht(objects::ACS_CONTROLLER, acs::CtrlModes::TARGET_PT, 0, ACS_TABLE_TARGET_PT_TRANS_1.second);
-  check(ss.addTable(&ACS_TABLE_TARGET_PT_TRANS_1.second, ACS_TABLE_TARGET_PT_TRANS_1.first, false,
+  iht(objects::ACS_CONTROLLER, acs::CtrlSubmode::PTG_TARGET, 0,
+      ACS_TABLE_PTG_TARGET_TRANS_1.second);
+  check(ss.addTable(&ACS_TABLE_PTG_TARGET_TRANS_1.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, false,
                    true),
        ctxc);

  // Build IDLE sequence
-  ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TGT.first, 0, true);
-  ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_0.first, 0, true);
-  ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_1.first, 0, false);
-  check(ss.addSequence(&ACS_SEQUENCE_TARGET_PT.second, ACS_SEQUENCE_TARGET_PT.first,
+  ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TGT.first, 0, true);
+  ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TRANS_0.first, 0, true);
+  ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, 0, false);
+  check(ss.addSequence(&ACS_SEQUENCE_PTG_TARGET.second, ACS_SEQUENCE_PTG_TARGET.first,
                       ACS_SEQUENCE_IDLE.first, false, true),
        ctxc);
 }
--- a/mission/tmtc/CcsdsIpCoreHandler.cpp
+++ b/mission/tmtc/CcsdsIpCoreHandler.cpp
@ -361,7 +361,7 @@ void CcsdsIpCoreHandler::checkTxTimer() {
  }
  if (transmitterCountdown.hasTimedOut()) {
    disableTransmit();
-    //TODO: set mode to off (move timer to subsystem)
+    // TODO: set mode to off (move timer to subsystem)
  }
 }