From 350b892bb7c0891578e4315d519718d7c6d6b8f7 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 6 Mar 2023 11:46:37 +0100
Subject: [PATCH] initialize mode table

---
 linux/devices/ImtqPollingTask.cpp       | 4 ++--
 mission/system/objects/ImtqAssembly.cpp | 9 ++++++++-
 mission/system/tree/acsModeTree.cpp     | 2 +-
 3 files changed, 11 insertions(+), 4 deletions(-)

diff --git a/linux/devices/ImtqPollingTask.cpp b/linux/devices/ImtqPollingTask.cpp
index 8a2f6b76..ad4b80ac 100644
--- a/linux/devices/ImtqPollingTask.cpp
+++ b/linux/devices/ImtqPollingTask.cpp
@@ -149,7 +149,7 @@ void ImtqPollingTask::handleMeasureStep() {
   if (i2cCmdExecMeasure(imtq::CC::GET_CAL_MTM_MEASUREMENT) != returnvalue::OK) {
     return;
   }
-  if(mgmMeasurementTooOld) {
+  if (mgmMeasurementTooOld) {
     sif::error << "IMTQ: MGM measurement too old" << std::endl;
   }
   return;
@@ -201,7 +201,7 @@ void ImtqPollingTask::handleActuateStep() {
     return;
   }
 
-  if(measurementWasTooOld) {
+  if (measurementWasTooOld) {
     sif::error << "IMTQ: MGM measurement too old" << std::endl;
   }
   return;
diff --git a/mission/system/objects/ImtqAssembly.cpp b/mission/system/objects/ImtqAssembly.cpp
index c0e097b4..a853d45c 100644
--- a/mission/system/objects/ImtqAssembly.cpp
+++ b/mission/system/objects/ImtqAssembly.cpp
@@ -4,7 +4,14 @@
 
 using namespace returnvalue;
 
-ImtqAssembly::ImtqAssembly(object_id_t objectId) : AssemblyBase(objectId) {}
+ImtqAssembly::ImtqAssembly(object_id_t objectId) : AssemblyBase(objectId) {
+  ModeListEntry entry;
+  entry.setObject(objects::IMTQ_HANDLER);
+  entry.setMode(MODE_OFF);
+  entry.setSubmode(SUBMODE_NONE);
+  entry.setInheritSubmode(false);
+  commandTable.insert(entry);
+}
 
 ReturnValue_t ImtqAssembly::commandChildren(Mode_t mode, Submode_t submode) {
   commandTable[0].setMode(mode);
diff --git a/mission/system/tree/acsModeTree.cpp b/mission/system/tree/acsModeTree.cpp
index f586e6e4..a743bb87 100644
--- a/mission/system/tree/acsModeTree.cpp
+++ b/mission/system/tree/acsModeTree.cpp
@@ -107,7 +107,7 @@ Subsystem& satsystem::acs::init() {
     check(table.insert(entry), "satsystem::acs::init: generic target");
   };
   // Build TARGET PT transition 0
-  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
+  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
   iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);