Merge pull request 'This bugfix might be super important' (#621) from possible_bugfix_dual_lane_assy into main

Reviewed-on: #621
Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>
Reviewed-by: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -16,6 +16,10 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+# [v2.2.0] to be released
+
+# [v2.1.0] to be released
+
 ## Changed
 
 - Adapt EM configuration to include all GomSpace PCDU devices except the ACU. For the ACU
@@ -34,6 +38,16 @@ will consitute of a breaking change warranting a new major release:
 - Host build is working again. Added reduced live TM helper which schedules the PUS and CFDP
   funnel.
 
+# [v2.0.5] to be released
+
+- The dual lane assembly transition failed handler started new transitions towards the current mode
+  instead of the target mode. This means that if the dual lane assembly never reached the initial
+  submode (e.g. mode normal and submode dual side), it will transition back to the current mode,
+  which miht be `MODE_OFF`. Furthermore, this can lead to invalid internal states, so the subsequent
+  recovery handling becomes stuck in the custom recovery sequence when swichting power back on.
+- The dual lane custom recovery handling was adapted to always perform proper power switch handling
+  irrespective of current or target modes.
+
 # [v2.0.4] 2023-04-19
 
 ## Fixed

mission/system/acs/DualLaneAssemblyBase.cpp

@@ -205,7 +205,8 @@ bool DualLaneAssemblyBase::checkAndHandleRecovery() {
     opCode = pwrStateMachine.fsm();
     if (opCode == OpCodes::TO_OFF_DONE or opCode == OpCodes::TIMEOUT_OCCURED) {
       customRecoveryStates = RecoveryCustomStates::POWER_SWITCHING_ON;
-      pwrStateMachine.start(targetMode, targetSubmode);
+      // Command power back on in any case.
+      pwrStateMachine.start(HasModesIF::MODE_ON, targetSubmode);
     }
   }
   if (customRecoveryStates == POWER_SWITCHING_ON) {