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Robin Müller 2023-04-05 16:41:49 +02:00
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commit 36d5f8fd31
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6
CHANGELOG.md
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@ -25,6 +25,12 @@ will consitute of a breaking change warranting a new major release:
- Syrlinks assembly
- Dual Lane Assembly
## Fixed
- Dual lane assemblies: Fix handling when health states are overwritten. Also add better handling
when some devices are permanent faulty and some are only faulty. In that case, only the faulty
devices will be restored.
# [v1.43.1] 2023-04-04
## Fixed

33
mission/system/acs/AcsBoardAssembly.cpp
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@ -267,12 +267,45 @@ ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t commandedMode,
HealthState h1 = healthHelper.healthTable->getHealth(o1);
HealthState h2 = healthHelper.healthTable->getHealth(o2);
HealthState h3 = healthHelper.healthTable->getHealth(o3);
// All device are faulty or permanent faulty, but this is a safe mode assembly, so we need
// to restore the devices.
if ((h0 == FAULTY or h0 == PERMANENT_FAULTY) and (h1 == FAULTY or h1 == PERMANENT_FAULTY) and
(h2 == FAULTY or h2 == PERMANENT_FAULTY) and (h3 == FAULTY or h3 == PERMANENT_FAULTY)) {
uint8_t numPermFaulty = 0;
if (h0 == PERMANENT_FAULTY) {
numPermFaulty++;
}
if (h1 == PERMANENT_FAULTY) {
numPermFaulty++;
}
if (h2 == PERMANENT_FAULTY) {
numPermFaulty++;
}
if (h3 == PERMANENT_FAULTY) {
numPermFaulty++;
}
if (numPermFaulty < 4) {
// Some are faulty and some are permanent faulty, so only set faulty ones to
// EXTERNAL_CONTROL.
if (h0 == FAULTY) {
overwriteDeviceHealth(o0, h0);
}
if (h1 == FAULTY) {
overwriteDeviceHealth(o0, h0);
}
if (h2 == FAULTY) {
overwriteDeviceHealth(o0, h0);
}
if (h3 == FAULTY) {
overwriteDeviceHealth(o0, h0);
}
} else {
// All permanent faulty, so set all to EXTERNAL_CONTROL
overwriteDeviceHealth(o0, h0);
overwriteDeviceHealth(o1, h1);
overwriteDeviceHealth(o2, h2);
overwriteDeviceHealth(o3, h3);
}
healthNeedsToBeOverwritten = true;
}
if (h0 == EXTERNAL_CONTROL or h1 == EXTERNAL_CONTROL or h2 == EXTERNAL_CONTROL or