ACS updates

- Adapt ACS subsystem to handle events from ACS CTRL
- Some fixes and updates for ACS subsystem

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;
   }
 

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();

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_ */