Merge remote-tracking branch 'origin/main' into cfdp-source-handler

CHANGELOG.md

@@ -24,6 +24,22 @@ will consitute of a breaking change warranting a new major release:
 
 - Host build fixes
 
+## Changed
+
+- The primary and the secondary temperature sensors for the PLOC mission boards are exchanged.
+- ACS parameters for the SUSMGM (FLP) safe mode have been adjusted. This safe mode is now the
+  default one.
+
+# [v6.4.1] 2023-08-21
+
+## Fixed
+
+- `PDEC_CONFIG_CORRUPTED` event now actually contains the readback instead of the expected
+  config
+- Magnetic field vector was not calculated if only MGM4 was available, but still written to
+  the dataset. This would result in a NaN vector. Allowance for usage of MGM4 is now checked
+  before entering calculation.
+
 # [v6.4.0] 2023-08-16
 
 - `eive-tmtc`: v5.4.3
@@ -32,6 +48,8 @@ will consitute of a breaking change warranting a new major release:
 
 - The handling function of the GPS data is only called once per GPS read. This should remove
   the fake fix-has-changed events.
+- Fix for PLOC SUPV HK set parsing.
+- The timestamp for the `POSSIBLE_FILE_CORRUPTION` event will be generated properly now.
 
 ## Changed
 

CMakeLists.txt

@@ -11,7 +11,7 @@ cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 6)
 set(OBSW_VERSION_MINOR 4)
-set(OBSW_VERSION_REVISION 0)
+set(OBSW_VERSION_REVISION 1)
 
 # set(CMAKE_VERBOSE TRUE)
 

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 305 translations.
  * @details
- * Generated on: 2023-09-04 11:19:49
+ * Generated on: 2023-09-07 16:12:51
  */
 #include "translateEvents.h"
 

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 171 translations.
- * Generated on: 2023-09-04 11:19:49
+ * Generated on: 2023-09-07 16:12:51
  */
 #include "translateObjects.h"
 

bsp_hosted/scheduling.cpp

@@ -258,9 +258,9 @@ void scheduling::initTasks() {
   dummyTask->startTask();
 
   // If those are added at a later stage..
-  //logTmTask->startTask();
+  // logTmTask->startTask();
-  //cfdpTmTask->startTask();
+  // cfdpTmTask->startTask();
-  //hkTmTask->startTask();
+  // hkTmTask->startTask();
 
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   supvHelperTask->startTask();

generators/bsp_hosted_returnvalues.csv

@@ -339,6 +339,7 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x3704;CFDP_DestNameEmpty;No description;4;CFDP_HANDLER;fsfw/src/fsfw/cfdp/handler/defs.h
 0x3705;CFDP_WrongRemoteCfgEntityId;No description;5;CFDP_HANDLER;fsfw/src/fsfw/cfdp/handler/defs.h
 0x3706;CFDP_TargetMsgQueueFull;No description;6;CFDP_HANDLER;fsfw/src/fsfw/cfdp/handler/defs.h
+0x3707;CFDP_TmStoreFull;No description;7;CFDP_HANDLER;fsfw/src/fsfw/cfdp/handler/defs.h
 0x3801;TSI_BadTimestamp;No description;1;TIME_STAMPER_IF;fsfw/src/fsfw/timemanager/TimeStampIF.h
 0x39a1;SGP4_InvalidEccentricity;No description;161;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
 0x39a2;SGP4_InvalidMeanMotion;No description;162;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h

generators/bsp_q7s_returnvalues.csv

@@ -339,6 +339,7 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x3704;CFDP_DestNameEmpty;No description;4;CFDP_HANDLER;fsfw/src/fsfw/cfdp/handler/defs.h
 0x3705;CFDP_WrongRemoteCfgEntityId;No description;5;CFDP_HANDLER;fsfw/src/fsfw/cfdp/handler/defs.h
 0x3706;CFDP_TargetMsgQueueFull;No description;6;CFDP_HANDLER;fsfw/src/fsfw/cfdp/handler/defs.h
+0x3707;CFDP_TmStoreFull;No description;7;CFDP_HANDLER;fsfw/src/fsfw/cfdp/handler/defs.h
 0x3801;TSI_BadTimestamp;No description;1;TIME_STAMPER_IF;fsfw/src/fsfw/timemanager/TimeStampIF.h
 0x39a1;SGP4_InvalidEccentricity;No description;161;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
 0x39a2;SGP4_InvalidMeanMotion;No description;162;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 305 translations.
  * @details
- * Generated on: 2023-09-04 11:19:49
+ * Generated on: 2023-09-07 16:12:51
  */
 #include "translateEvents.h"
 

generators/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 175 translations.
- * Generated on: 2023-09-04 11:19:49
+ * Generated on: 2023-09-07 16:12:51
  */
 #include "translateObjects.h"
 

linux/boardtest/UartTestClass.h

@@ -11,7 +11,7 @@
 
 #include <array>
 
-//#include "lwgps/lwgps.h"
+// #include "lwgps/lwgps.h"
 #include "test/TestTask.h"
 
 class ScexUartReader;

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 305 translations.
  * @details
- * Generated on: 2023-09-04 11:19:49
+ * Generated on: 2023-09-07 16:12:51
  */
 #include "translateEvents.h"
 

linux/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 175 translations.
- * Generated on: 2023-09-04 11:19:49
+ * Generated on: 2023-09-07 16:12:51
  */
 #include "translateObjects.h"
 

linux/ipcore/PdecHandler.cpp

@@ -595,9 +595,10 @@ void PdecHandler::checkConfig() {
     sif::warning << "PdecHandler::checkConfig: Failed to create second word" << std::endl;
     return;
   }
-  if (firstWord != pdecConfig.readbackFirstWord() or
+  uint32_t readbackFirstWord = pdecConfig.readbackFirstWord();
-      secondWord != pdecConfig.readbackSecondWord()) {
+  uint32_t readbackSecondWord = pdecConfig.readbackSecondWord();
-    triggerEvent(PDEC_CONFIG_CORRUPTED, firstWord, secondWord);
+  if (firstWord != readbackFirstWord or secondWord != readbackSecondWord) {
+    triggerEvent(PDEC_CONFIG_CORRUPTED, readbackFirstWord, readbackSecondWord);
   }
 }
 

linux/payload/PlocSupervisorHandler.cpp

@@ -2105,9 +2105,9 @@ uint32_t PlocSupervisorHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t mod
 //   if (result != returnvalue::OK) {
 //     return result;
 //   }
-//#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PLOC_SUPERVISOR == 1
+// #if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PLOC_SUPERVISOR == 1
 //   loggingReport.printSet();
-//#endif
+// #endif
 //   nextReplyId = supv::EXE_REPORT;
 //   return result;
 // }

linux/payload/PlocSupvUartMan.cpp

@@ -274,12 +274,12 @@ ReturnValue_t PlocSupvUartManager::initiateUpdateContinuation() {
 }
 
 // ReturnValue_t PlocSupvHelper::startEventBufferRequest(std::string path) {
-//#ifdef XIPHOS_Q7S
+// #ifdef XIPHOS_Q7S
 //   ReturnValue_t result = FilesystemHelper::checkPath(path);
 //   if (result != returnvalue::OK) {
 //     return result;
 //   }
-//#endif
+// #endif
 //   if (not std::filesystem::exists(path)) {
 //     return PATH_NOT_EXISTS;
 //   }
@@ -836,11 +836,11 @@ uint32_t PlocSupvUartManager::getFileSize(std::string filename) {
 ReturnValue_t PlocSupvUartManager::handleEventBufferReception(ploc::SpTmReader& reader) {
   ReturnValue_t result = returnvalue::OK;
   // TODO: Fix
-  //#ifdef XIPHOS_Q7S
+  // #ifdef XIPHOS_Q7S
   //  if (not sdcMan->getActiveSdCard()) {
   //    return HasFileSystemIF::FILESYSTEM_INACTIVE;
   //  }
-  //#endif
+  // #endif
   //  std::string filename = Filenaming::generateAbsoluteFilename(
   //      eventBufferReq.path, eventBufferReq.filename, timestamping);
   //  std::ofstream file(filename, std::ios_base::app | std::ios_base::out);

mission/cfdp/CfdpHandler.cpp

@@ -76,9 +76,9 @@ ReturnValue_t CfdpHandler::initialize() {
         break;
       }
       srcHandler.stateMachine();
-      if(srcResult.result == cfdp::TM_STORE_FULL) {
+      if (srcResult.result == cfdp::TM_STORE_FULL) {
         sif::warning << "CFDP Source Handler: TM store is full" << std::endl;
-      } else if(srcResult.result == cfdp::TARGET_MSG_QUEUE_FULL) {
+      } else if (srcResult.result == cfdp::TARGET_MSG_QUEUE_FULL) {
         sif::warning << "CFDP Source Handler: TM queue is full" << std::endl;
       }
       fsmCount++;

mission/controller/ThermalController.cpp

@@ -1372,12 +1372,13 @@ void ThermalController::ctrlPlPcduBoard() {
   tooHotHandler(objects::PLPCDU_HANDLER, tooHotFlags.eBandTooHotFlag);
 }
 
+// ToDo: remove one of the following 2
 void ThermalController::ctrlPlocMissionBoard() {
   ctrlCtx.thermalComponent = tcsCtrl::PLOCMISSION_BOARD;
-  sensors[0].first = sensorTemperatures.plocHeatspreader.isValid();
+  sensors[0].first = sensorTemperatures.plocMissionboard.isValid();
-  sensors[0].second = sensorTemperatures.plocHeatspreader.value;
+  sensors[0].second = sensorTemperatures.plocMissionboard.value;
-  sensors[1].first = sensorTemperatures.plocMissionboard.isValid();
+  sensors[1].first = sensorTemperatures.plocHeatspreader.isValid();
-  sensors[1].second = sensorTemperatures.plocMissionboard.value;
+  sensors[1].second = sensorTemperatures.plocHeatspreader.value;
   sensors[2].first = sensorTemperatures.dacHeatspreader.isValid();
   sensors[2].second = sensorTemperatures.dacHeatspreader.value;
   numSensors = 3;

mission/controller/acs/AcsParameters.h

@@ -79,7 +79,7 @@ class AcsParameters : public HasParametersIF {
     float mgm13variance[3] = {pow(1.5e-8, 2), pow(1.5e-8, 2), pow(1.5e-8, 2)};
     float mgm4variance[3] = {pow(1.7e-6, 2), pow(1.7e-6, 2), pow(1.7e-6, 2)};
     float mgmVectorFilterWeight = 0.85;
-    float mgmDerivativeFilterWeight = 0.85;
+    float mgmDerivativeFilterWeight = 0.99;
     uint8_t useMgm4 = false;
   } mgmHandlingParameters;
 
@@ -771,7 +771,7 @@ class AcsParameters : public HasParametersIF {
          -0.000889232196185857, -0.00168429567131815}};
     float susBrightnessThreshold = 0.7;
     float susVectorFilterWeight = .85;
-    float susRateFilterWeight = .85;
+    float susRateFilterWeight = .99;
   } susHandlingParameters;
 
   struct GyrHandlingParameters {
@@ -834,15 +834,15 @@ class AcsParameters : public HasParametersIF {
     double k_alignGyr = 4.0e-5;
     double k_parallelGyr = 3.75e-4;
 
-    double k_orthoSusMgm = 1.1e-2;
+    double k_orthoSusMgm = 4.4e-3;
-    double k_alignSusMgm = 2.0e-5;
+    double k_alignSusMgm = 4.0e-5;
-    double k_parallelSusMgm = 4.4e-4;
+    double k_parallelSusMgm = 3.75e-4;
 
     double sunTargetDirLeop[3] = {0, sqrt(.5), sqrt(.5)};
     double sunTargetDir[3] = {0, 0, 1};
 
     uint8_t useMekf = false;
-    uint8_t useGyr = true;
+    uint8_t useGyr = false;
     uint8_t dampingDuringEclipse = true;
 
     float sineLimitSunRotRate = 0.24;

mission/controller/acs/SensorProcessing.cpp

@@ -25,7 +25,8 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
                         gpsDataProcessed->altitude.value, timeOfMgmMeasurement, magIgrfModel);
     gpsValid = true;
   }
-  if (!mgm0valid && !mgm1valid && !mgm2valid && !mgm3valid && !mgm4valid) {
+  if (not mgm0valid and not mgm1valid and not mgm2valid and not mgm3valid and
+      (not mgm4valid or not mgmParameters->useMgm4)) {
     {
       PoolReadGuard pg(mgmDataProcessed);
       if (pg.getReadResult() == returnvalue::OK) {

mission/genericFactory.cpp

@@ -134,16 +134,16 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
 
 #if OBSW_ADD_TCPIP_SERVERS == 1
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
-  auto udpBridge =
+  auto udpBridge = new UdpTmTcBridge(objects::UDP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR,
-      new UdpTmTcBridge(objects::UDP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR, config::UDP_MSG_QUEUE_DEPTH);
+                                     config::UDP_MSG_QUEUE_DEPTH);
   new UdpTcPollingTask(objects::UDP_TMTC_POLLING_TASK, objects::UDP_TMTC_SERVER);
   sif::info << "Created UDP server for TMTC commanding with listener port "
             << udpBridge->getUdpPort() << std::endl;
   udpBridge->setMaxNumberOfPacketsStored(config::UDP_MAX_STORED_CMDS);
 #endif
 #if OBSW_ADD_TMTC_TCP_SERVER == 1
-  auto tcpBridge =
+  auto tcpBridge = new TcpTmTcBridge(objects::TCP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR,
-      new TcpTmTcBridge(objects::TCP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR, config::TCP_MSG_QUEUE_DEPTH);
+                                     config::TCP_MSG_QUEUE_DEPTH);
   TcpTmTcServer::TcpConfig cfg(true, true);
   auto tcpServer = new TcpTmTcServer(objects::TCP_TMTC_POLLING_TASK, objects::TCP_TMTC_SERVER, cfg);
   // TCP is stream based. Use packet ID as start marker when parsing for space packets
@@ -226,12 +226,12 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
                                        **ipcStore, config::MAX_CFDP_FUNNEL_QUEUE_DEPTH, sdcMan,
                                        config::CFDP_SEQUENCE_COUNT_FILE,
                                        core::SAVE_CFDP_SEQUENCE_COUNT);
-  std::optional<MessageQueueId_t> fileStoreDest {};
+  std::optional<MessageQueueId_t> fileStoreDest{};
-  if(routeToPersistentStores) {
+  if (routeToPersistentStores) {
     fileStoreDest = stores.cfdpStore->getReportReceptionQueue(0);
   }
-  *cfdpFunnel = new CfdpTmFunnel(cfdpFunnelCfg, fileStoreDest,
+  *cfdpFunnel =
-                                 *ramToFileStore, config::EIVE_CFDP_APID);
+      new CfdpTmFunnel(cfdpFunnelCfg, fileStoreDest, *ramToFileStore, config::EIVE_CFDP_APID);
 
 #if OBSW_ADD_TCPIP_SERVERS == 1
 #if OBSW_ADD_TMTC_UDP_SERVER == 1

mission/power/gsLibDefs.h

@@ -8,12 +8,12 @@
 // I really don't want to pull in all of those GomSpace headers just for 6 constants..
 // Those are the headers which contain the defines which were just hardcoded below.
 
-//#include "p60acu_hk.h"
+// #include "p60acu_hk.h"
-//#include "p60acu_param.h"
+// #include "p60acu_param.h"
-//#include "p60dock_hk.h"
+// #include "p60dock_hk.h"
-//#include "p60dock_param.h"
+// #include "p60dock_param.h"
-//#include "p60pdu_hk.h"
+// #include "p60pdu_hk.h"
-//#include "p60pdu_param.h"
+// #include "p60pdu_param.h"
 
 #endif
 

mission/tmtc/CfdpTmFunnel.cpp

@@ -4,7 +4,8 @@
 #include "fsfw/tmtcpacket/ccsds/SpacePacketCreator.h"
 #include "fsfw/tmtcservices/TmTcMessage.h"
 
-CfdpTmFunnel::CfdpTmFunnel(TmFunnelBase::FunnelCfg cfg, std::optional<MessageQueueId_t> fileStoreDest,
+CfdpTmFunnel::CfdpTmFunnel(TmFunnelBase::FunnelCfg cfg,
+                           std::optional<MessageQueueId_t> fileStoreDest,
                            StorageManagerIF& ramToFileStore, uint16_t cfdpInCcsdsApid)
     : TmFunnelBase(cfg),
       fileStoreDest(fileStoreDest),
@@ -42,7 +43,8 @@ ReturnValue_t CfdpTmFunnel::performOperation(uint8_t) {
   }
   if (handledPackets > 0) {
     // Very useful for profiling and debugging
-    //sif::debug << "CfdpFunnel: Handled " << handledPackets << " packets in one cycle" << std::endl;
+    // sif::debug << "CfdpFunnel: Handled " << handledPackets << " packets in one cycle" <<
+    // std::endl;
   }
 
   if (status == MessageQueueIF::EMPTY) {
@@ -94,16 +96,16 @@ ReturnValue_t CfdpTmFunnel::handlePacket(TmTcMessage& msg) {
   msg.setStorageId(newStoreId);
   store_address_t origStoreId = newStoreId;
 
-  if(fileStoreDest.has_value()) {
+  if (fileStoreDest.has_value()) {
     store_address_t storageId;
     result = ramToFileStore.addData(&storageId, newPacketData, packetLen);
     TmTcMessage fileMsg(storageId);
     if (result == returnvalue::OK) {
       tmQueue->sendMessage(fileStoreDest.value(), &fileMsg);
-    } else if(result == StorageManagerIF::DATA_STORAGE_FULL) {
+    } else if (result == StorageManagerIF::DATA_STORAGE_FULL) {
-      sif::error << "CfdpTmFunnel::handlePacket: RAM to File Store too full to create data copy" << std::endl;
+      sif::error << "CfdpTmFunnel::handlePacket: RAM to File Store too full to create data copy"
+                 << std::endl;
     }
-
   }
   return demultiplexLivePackets(origStoreId, newPacketData, packetLen);
 }

mission/tmtc/PersistentTmStore.cpp

@@ -320,6 +320,7 @@ ReturnValue_t PersistentTmStore::loadNextDumpFile() {
     }
     // File will change, reset this field for correct state-keeping.
     dumpParams.currentSameFileIdx = std::nullopt;
+    dumpParams.currentFileUnixStamp = dumpParams.dumpIter->epoch;
     // Increment iterator for next cycle.
     dumpParams.dumpIter++;
   };

mission/tmtc/PusLiveDemux.cpp

@@ -9,7 +9,8 @@ ReturnValue_t PusLiveDemux::demultiplexPackets(StorageManagerIF& tmStore,
                                                store_address_t origStoreId, const uint8_t* tmData,
                                                size_t tmSize) {
   ReturnValue_t result = returnvalue::OK;
-  // sif::debug << "tm size: " << tmSize  << " for " << destinations.size() << " destinations"  << std::endl;
+  // sif::debug << "tm size: " << tmSize  << " for " << destinations.size() << " destinations"  <<
+  // std::endl;
   for (unsigned int idx = 0; idx < destinations.size(); idx++) {
     const auto& dest = destinations[idx];
     if ((destinations.size() > 1) and (idx < (destinations.size() - 1))) {
@@ -26,9 +27,9 @@ ReturnValue_t PusLiveDemux::demultiplexPackets(StorageManagerIF& tmStore,
         uint8_t written = 0;
         tmStore.getFillCount(fillCounts, &written);
         sif::error << "Fill counts: ";
-        for(uint8_t fillIdx = 0; fillIdx < written; fillIdx++) {
+        for (uint8_t fillIdx = 0; fillIdx < written; fillIdx++) {
           sif::error << fillCounts[fillIdx];
-          if(fillIdx < written - 1) {
+          if (fillIdx < written - 1) {
             sif::error << ", ";
           }
         }

tmtc

@@ -1 +1 @@
-Subproject commit 649deac81bbc59d70f0cd1f2e442f434d089bbef
+Subproject commit 5fc3d8de996e5640adb7205cd3897d499eb3da60