Merge remote-tracking branch 'origin/develop' into ptme_bat_priority_enable

CHANGELOG.md

@@ -16,14 +16,23 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+## Fixed
+
+- Fixed transition for dual power lane assemblies: When going from dual side submode to single side
+  submode, perform logical commanding first, similarly to when going to OFF mode.
+
 ## Changed
 
+- Bugfixes for STR mode transitions: Booting to mode ON with submode FIRMWARE now works properly.
+  Furthermore, the submode in the NORMAL mode now should be 0 instead of some ON mode submode.
+- Updated GYR bias values to newest measurements. This also corrects the ADIS values to always
+  consit of just one digit.
 - The CCSDS IP core handler now exposes a parameter to enable the priority select mode
   for the PTME core. This mode prioritizes virtual channels with a lower index, so for example
   the virtual channel (VC0) will have the highest priority, while VC3 will have the lowestg
-  priority. This mode will be enabled by default for now, but can be set via the parameter IF with the unique
-  parameter ID 0. The update of this mode requires a PTME reset. Therefore, it will only be performed
-  when the transmitter is off to avoid weird bugs.
+  priority. This mode will be enabled by default for now, but can be set via the parameter IF with
+  the unique parameter ID 0. The update of this mode requires a PTME reset. Therefore, it will only
+  be performed when the transmitter is off to avoid weird bugs.
 
 # [v1.38.0] 2023-03-17
 

fsfw

@@ -1 +1 @@
-Subproject commit 43fd0b2f59c3aeb2d3f4db10cfad56ee3709d68d
+Subproject commit 227524a21da755d125bcb1a5ff67bcbc452f8cf9

linux/devices/AcsBoardPolling.cpp

@@ -451,95 +451,99 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
     cdHasTimedOut = gyro.countdown.hasTimedOut();
     mustPerformStartup = gyro.performStartup;
   }
-  if (mode == acs::SimpleSensorMode::NORMAL and cdHasTimedOut) {
-    if (mustPerformStartup) {
-      uint8_t regList[6];
-      // Read configuration
-      regList[0] = adis1650x::DIAG_STAT_REG;
-      regList[1] = adis1650x::FILTER_CTRL_REG;
-      regList[2] = adis1650x::RANG_MDL_REG;
-      regList[3] = adis1650x::MSC_CTRL_REG;
-      regList[4] = adis1650x::DEC_RATE_REG;
-      regList[5] = adis1650x::PROD_ID_REG;
-      size_t transferLen =
-          adis1650x::prepareReadCommand(regList, sizeof(regList), cmdBuf.data(), cmdBuf.size());
-      result = readAdisCfg(*gyro.cookie, transferLen);
-      if (result != returnvalue::OK) {
-        gyro.replyResult = result;
-        return;
-      }
-      result = spiComIF.readReceivedMessage(gyro.cookie, &rawReply, &dummy);
-      if (result != returnvalue::OK or rawReply == nullptr) {
-        gyro.replyResult = result;
-        return;
-      }
-      uint16_t prodId = (rawReply[12] << 8) | rawReply[13];
-      if (((gyro.type == adis1650x::Type::ADIS16505) and (prodId != adis1650x::PROD_ID_16505)) or
-          ((gyro.type == adis1650x::Type::ADIS16507) and (prodId != adis1650x::PROD_ID_16507))) {
-        sif::warning << "AcsPollingTask: Invalid  ADIS product ID " << prodId << std::endl;
-        gyro.replyResult = returnvalue::FAILED;
-        return;
-      }
-      MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
-      gyro.ownReply.cfgWasSet = true;
-      gyro.ownReply.cfg.diagStat = (rawReply[2] << 8) | rawReply[3];
-      gyro.ownReply.cfg.filterSetting = (rawReply[4] << 8) | rawReply[5];
-      gyro.ownReply.cfg.rangMdl = (rawReply[6] << 8) | rawReply[7];
-      gyro.ownReply.cfg.mscCtrlReg = (rawReply[8] << 8) | rawReply[9];
-      gyro.ownReply.cfg.decRateReg = (rawReply[10] << 8) | rawReply[11];
-      gyro.ownReply.cfg.prodId = prodId;
-      gyro.ownReply.data.sensitivity = adis1650x::rangMdlToSensitivity(gyro.ownReply.cfg.rangMdl);
-      gyro.performStartup = false;
-    }
-    // Read regular registers
-    std::memcpy(cmdBuf.data(), adis1650x::BURST_READ_ENABLE.data(),
-                adis1650x::BURST_READ_ENABLE.size());
-    std::memset(cmdBuf.data() + 2, 0, 10 * 2);
-    result = spiComIF.sendMessage(gyro.cookie, cmdBuf.data(), adis1650x::SENSOR_READOUT_SIZE);
+  if (mode == acs::SimpleSensorMode::OFF) {
+    return;
+  }
+  if (not cdHasTimedOut) {
+    return;
+  }
+  if (mustPerformStartup) {
+    uint8_t regList[6];
+    // Read configuration
+    regList[0] = adis1650x::DIAG_STAT_REG;
+    regList[1] = adis1650x::FILTER_CTRL_REG;
+    regList[2] = adis1650x::RANG_MDL_REG;
+    regList[3] = adis1650x::MSC_CTRL_REG;
+    regList[4] = adis1650x::DEC_RATE_REG;
+    regList[5] = adis1650x::PROD_ID_REG;
+    size_t transferLen =
+        adis1650x::prepareReadCommand(regList, sizeof(regList), cmdBuf.data(), cmdBuf.size());
+    result = readAdisCfg(*gyro.cookie, transferLen);
     if (result != returnvalue::OK) {
-      gyro.replyResult = returnvalue::FAILED;
+      gyro.replyResult = result;
       return;
     }
     result = spiComIF.readReceivedMessage(gyro.cookie, &rawReply, &dummy);
     if (result != returnvalue::OK or rawReply == nullptr) {
+      gyro.replyResult = result;
+      return;
+    }
+    uint16_t prodId = (rawReply[12] << 8) | rawReply[13];
+    if (((gyro.type == adis1650x::Type::ADIS16505) and (prodId != adis1650x::PROD_ID_16505)) or
+        ((gyro.type == adis1650x::Type::ADIS16507) and (prodId != adis1650x::PROD_ID_16507))) {
+      sif::warning << "AcsPollingTask: Invalid  ADIS product ID " << prodId << std::endl;
       gyro.replyResult = returnvalue::FAILED;
       return;
     }
-    uint16_t checksum = (rawReply[20] << 8) | rawReply[21];
-
-    // Now verify the read checksum with the expected checksum according to datasheet p. 20
-    uint16_t calcChecksum = 0;
-    for (size_t idx = 2; idx < 20; idx++) {
-      calcChecksum += rawReply[idx];
-    }
-    if (checksum != calcChecksum) {
-      sif::warning << "AcsPollingTask: Invalid ADIS reply checksum" << std::endl;
-      gyro.replyResult = returnvalue::FAILED;
-      return;
-    }
-
-    auto burstMode = adis1650x::burstModeFromMscCtrl(gyro.ownReply.cfg.mscCtrlReg);
-    if (burstMode != adis1650x::BurstModes::BURST_16_BURST_SEL_0) {
-      sif::error << "GyroADIS1650XHandler::interpretDeviceReply: Analysis for select burst mode"
-                    " not implemented!"
-                 << std::endl;
-      gyro.replyResult = returnvalue::FAILED;
-      return;
-    }
-
     MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
-    gyro.ownReply.dataWasSet = true;
-    gyro.ownReply.cfg.diagStat = rawReply[2] << 8 | rawReply[3];
-    gyro.ownReply.data.angVelocities[0] = (rawReply[4] << 8) | rawReply[5];
-    gyro.ownReply.data.angVelocities[1] = (rawReply[6] << 8) | rawReply[7];
-    gyro.ownReply.data.angVelocities[2] = (rawReply[8] << 8) | rawReply[9];
-
-    gyro.ownReply.data.accelerations[0] = (rawReply[10] << 8) | rawReply[11];
-    gyro.ownReply.data.accelerations[1] = (rawReply[12] << 8) | rawReply[13];
-    gyro.ownReply.data.accelerations[2] = (rawReply[14] << 8) | rawReply[15];
-
-    gyro.ownReply.data.temperatureRaw = (rawReply[16] << 8) | rawReply[17];
+    gyro.ownReply.cfgWasSet = true;
+    gyro.ownReply.cfg.diagStat = (rawReply[2] << 8) | rawReply[3];
+    gyro.ownReply.cfg.filterSetting = (rawReply[4] << 8) | rawReply[5];
+    gyro.ownReply.cfg.rangMdl = (rawReply[6] << 8) | rawReply[7];
+    gyro.ownReply.cfg.mscCtrlReg = (rawReply[8] << 8) | rawReply[9];
+    gyro.ownReply.cfg.decRateReg = (rawReply[10] << 8) | rawReply[11];
+    gyro.ownReply.cfg.prodId = prodId;
+    gyro.ownReply.data.sensitivity = adis1650x::rangMdlToSensitivity(gyro.ownReply.cfg.rangMdl);
+    gyro.performStartup = false;
   }
+  // Read regular registers
+  std::memcpy(cmdBuf.data(), adis1650x::BURST_READ_ENABLE.data(),
+              adis1650x::BURST_READ_ENABLE.size());
+  std::memset(cmdBuf.data() + 2, 0, 10 * 2);
+  result = spiComIF.sendMessage(gyro.cookie, cmdBuf.data(), adis1650x::SENSOR_READOUT_SIZE);
+  if (result != returnvalue::OK) {
+    gyro.replyResult = returnvalue::FAILED;
+    return;
+  }
+  result = spiComIF.readReceivedMessage(gyro.cookie, &rawReply, &dummy);
+  if (result != returnvalue::OK or rawReply == nullptr) {
+    gyro.replyResult = returnvalue::FAILED;
+    return;
+  }
+  uint16_t checksum = (rawReply[20] << 8) | rawReply[21];
+
+  // Now verify the read checksum with the expected checksum according to datasheet p. 20
+  uint16_t calcChecksum = 0;
+  for (size_t idx = 2; idx < 20; idx++) {
+    calcChecksum += rawReply[idx];
+  }
+  if (checksum != calcChecksum) {
+    sif::warning << "AcsPollingTask: Invalid ADIS reply checksum" << std::endl;
+    gyro.replyResult = returnvalue::FAILED;
+    return;
+  }
+
+  auto burstMode = adis1650x::burstModeFromMscCtrl(gyro.ownReply.cfg.mscCtrlReg);
+  if (burstMode != adis1650x::BurstModes::BURST_16_BURST_SEL_0) {
+    sif::error << "GyroADIS1650XHandler::interpretDeviceReply: Analysis for select burst mode"
+                  " not implemented!"
+               << std::endl;
+    gyro.replyResult = returnvalue::FAILED;
+    return;
+  }
+
+  MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
+  gyro.ownReply.dataWasSet = true;
+  gyro.ownReply.cfg.diagStat = rawReply[2] << 8 | rawReply[3];
+  gyro.ownReply.data.angVelocities[0] = (rawReply[4] << 8) | rawReply[5];
+  gyro.ownReply.data.angVelocities[1] = (rawReply[6] << 8) | rawReply[7];
+  gyro.ownReply.data.angVelocities[2] = (rawReply[8] << 8) | rawReply[9];
+
+  gyro.ownReply.data.accelerations[0] = (rawReply[10] << 8) | rawReply[11];
+  gyro.ownReply.data.accelerations[1] = (rawReply[12] << 8) | rawReply[13];
+  gyro.ownReply.data.accelerations[2] = (rawReply[14] << 8) | rawReply[15];
+
+  gyro.ownReply.data.temperatureRaw = (rawReply[16] << 8) | rawReply[17];
 }
 
 void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {

linux/devices/startracker/StarTrackerHandler.cpp

@@ -268,18 +268,18 @@ void StarTrackerHandler::doStartUp() {
     default:
       return;
   }
-  setMode(_MODE_TO_ON, SUBMODE_BOOTLOADER);
+  startupState = StartupState::DONE;
+  internalState = InternalState::IDLE;
+  setMode(_MODE_TO_ON);
 }
 
 void StarTrackerHandler::doShutDown() {
   // If the star tracker is shutdown also stop all running processes in the image loader task
   strHelper->stopProcess();
-  setMode(_MODE_POWER_DOWN);
-}
-
-void StarTrackerHandler::doOffActivity() {
-  startupState = StartupState::IDLE;
   internalState = InternalState::IDLE;
+  startupState = StartupState::IDLE;
+  bootState = FwBootState::NONE;
+  setMode(_MODE_POWER_DOWN);
 }
 
 ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
@@ -302,81 +302,103 @@ ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t* id
 
 ReturnValue_t StarTrackerHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
   switch (internalState) {
-    case InternalState::BOOT:
-      *id = startracker::BOOT;
-      bootCountdown.setTimeout(BOOT_TIMEOUT);
-      internalState = InternalState::BOOT_DELAY;
-      return buildCommandFromCommand(*id, nullptr, 0);
-    case InternalState::REQ_VERSION:
-      internalState = InternalState::VERIFY_BOOT;
-      // Again read program to check if firmware boot was successful
-      *id = startracker::REQ_VERSION;
-      return buildCommandFromCommand(*id, nullptr, 0);
-    case InternalState::LOGLEVEL:
-      internalState = InternalState::WAIT_FOR_EXECUTION;
-      *id = startracker::LOGLEVEL;
-      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
-                                     paramJsonFile.size());
-    case InternalState::LIMITS:
-      internalState = InternalState::WAIT_FOR_EXECUTION;
-      *id = startracker::LIMITS;
-      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
-                                     paramJsonFile.size());
-    case InternalState::TRACKING:
-      internalState = InternalState::WAIT_FOR_EXECUTION;
-      *id = startracker::TRACKING;
-      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
-                                     paramJsonFile.size());
-    case InternalState::MOUNTING:
-      internalState = InternalState::WAIT_FOR_EXECUTION;
-      *id = startracker::MOUNTING;
-      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
-                                     paramJsonFile.size());
-    case InternalState::IMAGE_PROCESSOR:
-      internalState = InternalState::WAIT_FOR_EXECUTION;
-      *id = startracker::IMAGE_PROCESSOR;
-      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
-                                     paramJsonFile.size());
-    case InternalState::CAMERA:
-      internalState = InternalState::WAIT_FOR_EXECUTION;
-      *id = startracker::CAMERA;
-      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
-                                     paramJsonFile.size());
-    case InternalState::CENTROIDING:
-      internalState = InternalState::WAIT_FOR_EXECUTION;
-      *id = startracker::CENTROIDING;
-      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
-                                     paramJsonFile.size());
-    case InternalState::LISA:
-      internalState = InternalState::WAIT_FOR_EXECUTION;
-      *id = startracker::LISA;
-      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
-                                     paramJsonFile.size());
-    case InternalState::MATCHING:
-      internalState = InternalState::WAIT_FOR_EXECUTION;
-      *id = startracker::MATCHING;
-      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
-                                     paramJsonFile.size());
-    case InternalState::VALIDATION:
-      internalState = InternalState::WAIT_FOR_EXECUTION;
-      *id = startracker::VALIDATION;
-      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
-                                     paramJsonFile.size());
-    case InternalState::ALGO:
-      internalState = InternalState::WAIT_FOR_EXECUTION;
-      *id = startracker::ALGO;
-      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
-                                     paramJsonFile.size());
-    case InternalState::LOG_SUBSCRIPTION:
-      internalState = InternalState::WAIT_FOR_EXECUTION;
-      *id = startracker::LOGSUBSCRIPTION;
-      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
-                                     paramJsonFile.size());
-    case InternalState::DEBUG_CAMERA:
-      internalState = InternalState::WAIT_FOR_EXECUTION;
-      *id = startracker::DEBUG_CAMERA;
-      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
-                                     paramJsonFile.size());
+    case InternalState::BOOT_FIRMWARE: {
+      if (bootState == FwBootState::WAIT_FOR_EXECUTION or bootState == FwBootState::VERIFY_BOOT) {
+        return NOTHING_TO_SEND;
+      }
+      if (bootState == FwBootState::NONE) {
+        *id = startracker::BOOT;
+        bootCountdown.setTimeout(BOOT_TIMEOUT);
+        bootState = FwBootState::BOOT_DELAY;
+        return buildCommandFromCommand(*id, nullptr, 0);
+      }
+      if (bootState == FwBootState::BOOT_DELAY) {
+        if (bootCountdown.isBusy()) {
+          return NOTHING_TO_SEND;
+        }
+        bootState = FwBootState::REQ_VERSION;
+      }
+      switch (bootState) {
+        case (FwBootState::REQ_VERSION): {
+          bootState = FwBootState::VERIFY_BOOT;
+          // Again read program to check if firmware boot was successful
+          *id = startracker::REQ_VERSION;
+          return buildCommandFromCommand(*id, nullptr, 0);
+        }
+        case (FwBootState::LOGLEVEL): {
+          bootState = FwBootState::WAIT_FOR_EXECUTION;
+          *id = startracker::LOGLEVEL;
+          return buildCommandFromCommand(
+              *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
+        }
+        case (FwBootState::LIMITS): {
+          bootState = FwBootState::WAIT_FOR_EXECUTION;
+          *id = startracker::LIMITS;
+          return buildCommandFromCommand(
+              *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
+        }
+        case (FwBootState::TRACKING): {
+          bootState = FwBootState::WAIT_FOR_EXECUTION;
+          *id = startracker::TRACKING;
+          return buildCommandFromCommand(
+              *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
+        }
+        case FwBootState::MOUNTING:
+          bootState = FwBootState::WAIT_FOR_EXECUTION;
+          *id = startracker::MOUNTING;
+          return buildCommandFromCommand(
+              *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
+        case FwBootState::IMAGE_PROCESSOR:
+          bootState = FwBootState::WAIT_FOR_EXECUTION;
+          *id = startracker::IMAGE_PROCESSOR;
+          return buildCommandFromCommand(
+              *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
+        case FwBootState::CAMERA:
+          bootState = FwBootState::WAIT_FOR_EXECUTION;
+          *id = startracker::CAMERA;
+          return buildCommandFromCommand(
+              *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
+        case FwBootState::CENTROIDING:
+          bootState = FwBootState::WAIT_FOR_EXECUTION;
+          *id = startracker::CENTROIDING;
+          return buildCommandFromCommand(
+              *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
+        case FwBootState::LISA:
+          bootState = FwBootState::WAIT_FOR_EXECUTION;
+          *id = startracker::LISA;
+          return buildCommandFromCommand(
+              *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
+        case FwBootState::MATCHING:
+          bootState = FwBootState::WAIT_FOR_EXECUTION;
+          *id = startracker::MATCHING;
+          return buildCommandFromCommand(
+              *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
+        case FwBootState::VALIDATION:
+          bootState = FwBootState::WAIT_FOR_EXECUTION;
+          *id = startracker::VALIDATION;
+          return buildCommandFromCommand(
+              *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
+        case FwBootState::ALGO:
+          bootState = FwBootState::WAIT_FOR_EXECUTION;
+          *id = startracker::ALGO;
+          return buildCommandFromCommand(
+              *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
+        case FwBootState::LOG_SUBSCRIPTION:
+          bootState = FwBootState::WAIT_FOR_EXECUTION;
+          *id = startracker::LOGSUBSCRIPTION;
+          return buildCommandFromCommand(
+              *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
+        case FwBootState::DEBUG_CAMERA:
+          bootState = FwBootState::WAIT_FOR_EXECUTION;
+          *id = startracker::DEBUG_CAMERA;
+          return buildCommandFromCommand(
+              *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
+        default: {
+          sif::error << "STR: Unexpected boot state" << (int)bootState << std::endl;
+          return NOTHING_TO_SEND;
+        }
+      }
+    }
     case InternalState::BOOT_BOOTLOADER:
       internalState = InternalState::BOOTLOADER_CHECK;
       *id = startracker::SWITCH_TO_BOOTLOADER_PROGRAM;
@@ -707,6 +729,15 @@ void StarTrackerHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
 
 void StarTrackerHandler::doOnTransition(Submode_t subModeFrom) {
   uint8_t dhbSubmode = getSubmode();
+  // We hide that the transition to submode firmware actually goes through the submode bootloader.
+  // This is because the startracker always starts in bootloader mode but we want to allow direct
+  // transitions to firmware mode.
+  if (startupState == StartupState::DONE) {
+    subModeFrom = SUBMODE_BOOTLOADER;
+  }
+  if (dhbSubmode == SUBMODE_NONE) {
+    bootFirmware(MODE_ON);
+  }
   if (dhbSubmode == SUBMODE_BOOTLOADER && subModeFrom == SUBMODE_FIRMWARE) {
     bootBootloader();
   } else if (dhbSubmode == SUBMODE_FIRMWARE && subModeFrom == SUBMODE_FIRMWARE) {
@@ -736,19 +767,23 @@ void StarTrackerHandler::doNormalTransition(Mode_t modeFrom, Submode_t subModeFr
 void StarTrackerHandler::bootFirmware(Mode_t toMode) {
   switch (internalState) {
     case InternalState::IDLE:
-      internalState = InternalState::BOOT;
+      sif::info << "STR: Booting to firmware mode" << std::endl;
+      internalState = InternalState::BOOT_FIRMWARE;
       break;
-    case InternalState::BOOT_DELAY:
-      if (bootCountdown.hasTimedOut()) {
-        internalState = InternalState::REQ_VERSION;
-      }
+    case InternalState::BOOT_FIRMWARE:
       break;
     case InternalState::FAILED_FIRMWARE_BOOT:
       internalState = InternalState::IDLE;
       break;
     case InternalState::DONE:
-      setMode(toMode);
+      if (toMode == MODE_NORMAL) {
+        setMode(toMode, 0);
+      } else {
+        setMode(toMode, SUBMODE_FIRMWARE);
+      }
+      sif::info << "STR: Firmware boot success" << std::endl;
       internalState = InternalState::IDLE;
+      startupState = StartupState::IDLE;
       break;
     default:
       return;
@@ -776,10 +811,11 @@ void StarTrackerHandler::setUpJsonCfgs(JsonConfigs& cfgs, const char* paramJsonF
 void StarTrackerHandler::bootBootloader() {
   if (internalState == InternalState::IDLE) {
     internalState = InternalState::BOOT_BOOTLOADER;
-  } else if (internalState == InternalState::BOOTING_BOOTLOADER_FAILED) {
+  } else if (internalState == InternalState::FAILED_BOOTLOADER_BOOT) {
     internalState = InternalState::IDLE;
   } else if (internalState == InternalState::DONE) {
     internalState = InternalState::IDLE;
+    startupState = StartupState::IDLE;
     setMode(MODE_ON);
   }
 }
@@ -1934,7 +1970,7 @@ ReturnValue_t StarTrackerHandler::checkProgram() {
       if (startupState == StartupState::WAIT_CHECK_PROGRAM) {
         startupState = StartupState::DONE;
       }
-      if (internalState == InternalState::VERIFY_BOOT) {
+      if (bootState == FwBootState::VERIFY_BOOT) {
         sif::warning << "StarTrackerHandler::checkProgram: Failed to boot firmware" << std::endl;
         // Device handler will run into timeout and fall back to transition source mode
         triggerEvent(BOOTING_FIRMWARE_FAILED_EVENT);
@@ -1947,11 +1983,11 @@ ReturnValue_t StarTrackerHandler::checkProgram() {
       if (startupState == StartupState::WAIT_CHECK_PROGRAM) {
         startupState = StartupState::BOOT_BOOTLOADER;
       }
-      if (internalState == InternalState::VERIFY_BOOT) {
-        internalState = InternalState::LOGLEVEL;
+      if (bootState == FwBootState::VERIFY_BOOT) {
+        bootState = FwBootState::LOGLEVEL;
       } else if (internalState == InternalState::BOOTLOADER_CHECK) {
         triggerEvent(BOOTING_BOOTLOADER_FAILED_EVENT);
-        internalState = InternalState::BOOTING_BOOTLOADER_FAILED;
+        internalState = InternalState::FAILED_BOOTLOADER_BOOT;
       }
       break;
     default:
@@ -2025,54 +2061,55 @@ ReturnValue_t StarTrackerHandler::handleActionReplySet(LocalPoolDataSetBase& dat
 void StarTrackerHandler::handleStartup(const uint8_t* parameterId) {
   switch (*parameterId) {
     case (startracker::ID::LOG_LEVEL): {
-      internalState = InternalState::LIMITS;
+      bootState = FwBootState::LIMITS;
       break;
     }
     case (startracker::ID::LIMITS): {
-      internalState = InternalState::TRACKING;
+      bootState = FwBootState::TRACKING;
       break;
     }
     case (startracker::ID::TRACKING): {
-      internalState = InternalState::MOUNTING;
+      bootState = FwBootState::MOUNTING;
       break;
     }
     case (startracker::ID::MOUNTING): {
-      internalState = InternalState::IMAGE_PROCESSOR;
+      bootState = FwBootState::IMAGE_PROCESSOR;
       break;
     }
     case (startracker::ID::IMAGE_PROCESSOR): {
-      internalState = InternalState::CAMERA;
+      bootState = FwBootState::CAMERA;
       break;
     }
     case (startracker::ID::CAMERA): {
-      internalState = InternalState::CENTROIDING;
+      bootState = FwBootState::CENTROIDING;
       break;
     }
     case (startracker::ID::CENTROIDING): {
-      internalState = InternalState::LISA;
+      bootState = FwBootState::LISA;
       break;
     }
     case (startracker::ID::LISA): {
-      internalState = InternalState::MATCHING;
+      bootState = FwBootState::MATCHING;
       break;
     }
     case (startracker::ID::MATCHING): {
-      internalState = InternalState::VALIDATION;
+      bootState = FwBootState::VALIDATION;
       break;
     }
     case (startracker::ID::VALIDATION): {
-      internalState = InternalState::ALGO;
+      bootState = FwBootState::ALGO;
       break;
     }
     case (startracker::ID::ALGO): {
-      internalState = InternalState::LOG_SUBSCRIPTION;
+      bootState = FwBootState::LOG_SUBSCRIPTION;
       break;
     }
     case (startracker::ID::LOG_SUBSCRIPTION): {
-      internalState = InternalState::DEBUG_CAMERA;
+      bootState = FwBootState::DEBUG_CAMERA;
       break;
     }
     case (startracker::ID::DEBUG_CAMERA): {
+      bootState = FwBootState::NONE;
       internalState = InternalState::DONE;
       break;
     }

linux/devices/startracker/StarTrackerHandler.h

@@ -60,7 +60,6 @@ class StarTrackerHandler : public DeviceHandlerBase {
  protected:
   void doStartUp() override;
   void doShutDown() override;
-  void doOffActivity() override;
   ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
   ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
   void fillCommandAndReplyMap() override;
@@ -247,14 +246,31 @@ class StarTrackerHandler : public DeviceHandlerBase {
 
   NormalState normalState = NormalState::TEMPERATURE_REQUEST;
 
+  enum class StartupState {
+    IDLE,
+    CHECK_PROGRAM,
+    WAIT_CHECK_PROGRAM,
+    BOOT_BOOTLOADER,
+    WAIT_JCFG,
+    DONE
+  };
+  StartupState startupState = StartupState::IDLE;
+
   enum class InternalState {
     IDLE,
-    BOOT,
+    BOOT_FIRMWARE,
+    DONE,
+    FAILED_FIRMWARE_BOOT,
+    BOOT_BOOTLOADER,
+    BOOTLOADER_CHECK,
+    FAILED_BOOTLOADER_BOOT
+  };
+
+  enum class FwBootState {
+    NONE,
+    BOOT_DELAY,
     REQ_VERSION,
     VERIFY_BOOT,
-    STARTUP_CHECK,
-    BOOT_DELAY,
-    FIRMWARE_CHECK,
     LOGLEVEL,
     LIMITS,
     TRACKING,
@@ -270,26 +286,11 @@ class StarTrackerHandler : public DeviceHandlerBase {
     LOG_SUBSCRIPTION,
     DEBUG_CAMERA,
     WAIT_FOR_EXECUTION,
-    DONE,
-    FAILED_FIRMWARE_BOOT,
-    BOOT_BOOTLOADER,
-    BOOTLOADER_CHECK,
-    BOOTING_BOOTLOADER_FAILED
   };
+  FwBootState bootState = FwBootState::NONE;
 
   InternalState internalState = InternalState::IDLE;
 
-  enum class StartupState {
-    IDLE,
-    CHECK_PROGRAM,
-    WAIT_CHECK_PROGRAM,
-    BOOT_BOOTLOADER,
-    WAIT_JCFG,
-    DONE
-  };
-
-  StartupState startupState = StartupState::IDLE;
-
   bool strHelperExecuting = false;
 
   const power::Switch_t powerSwitch = power::NO_SWITCH;

mission/controller/acs/AcsParameters.h

@@ -768,10 +768,10 @@ class AcsParameters : public HasParametersIF {
     double gyr2orientationMatrix[3][3] = {{0, 0, -1}, {0, -1, 0}, {-1, 0, 0}};
     double gyr3orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
 
-    double gyr0bias[3] = {0.06318149743589743, 0.4283235025641024, -0.16383500000000004};
-    double gyr1bias[3] = {-0.12855128205128205, 1.6737307692307695, 1.031724358974359};
-    double gyr2bias[3] = {0.15039212820512823, 0.7094475589743591, -0.22298363589743594};
-    double gyr3bias[3] = {0.0021730769230769217, -0.6655897435897435, 0.034096153846153845};
+    double gyr0bias[3] = {0.0, 0.4, -0.1};
+    double gyr1bias[3] = {0.0956745283018868, 2.0854575471698116, 1.2505990566037737};
+    double gyr2bias[3] = {0.1, 0.7, -0.2};
+    double gyr3bias[3] = {-0.10721698113207549, -0.6111650943396226, 0.1716462264150944};
 
     /* var = sigma^2, sigma = RND*sqrt(freq), following values are RND^2 and not var as freq is
      * assumed to be equal for the same class of sensors */

mission/devices/GyrAdis1650XHandler.cpp

@@ -65,10 +65,7 @@ ReturnValue_t GyrAdis1650XHandler::buildTransitionDeviceCommand(DeviceCommandId_
     }
     case (InternalState::SHUTDOWN): {
       *id = adis1650x::REQUEST;
-      acs::Adis1650XRequest *request = reinterpret_cast<acs::Adis1650XRequest *>(cmdBuf.data());
-      request->mode = acs::SimpleSensorMode::OFF;
-      request->type = adisType;
-      return returnvalue::OK;
+      return preparePeriodicRequest(acs::SimpleSensorMode::OFF);
     }
     default: {
       return NOTHING_TO_SEND;

mission/system/objects/DualLaneAssemblyBase.cpp

@@ -34,10 +34,17 @@ void DualLaneAssemblyBase::performChildOperation() {
 }
 
 void DualLaneAssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
-  // doStartTransition(mode, submode);
   using namespace duallane;
   pwrStateMachine.reset();
   if (mode != MODE_OFF) {
+    // Special exception: A transition from dual side to single mode must be handled like
+    // going OFF.
+    if ((this->mode == MODE_ON or this->mode == DeviceHandlerIF::MODE_NORMAL) and
+        this->submode == DUAL_MODE and submode != DUAL_MODE) {
+      dualToSingleSideTransition = true;
+      AssemblyBase::startTransition(mode, submode);
+      return;
+    }
     // If anything other than MODE_OFF is commanded, perform power state machine first
     // Cache the target modes, required by power state machine
     pwrStateMachine.start(mode, submode);
@@ -75,9 +82,13 @@ ReturnValue_t DualLaneAssemblyBase::pwrStateMachineWrapper() {
       // Will be called for transitions to MODE_OFF, where everything is done after power switching
       finishModeOp();
     } else if (opCode == OpCodes::TO_NOT_OFF_DONE) {
-      // Will be called for transitions from MODE_OFF to anything else, where the mode still has
-      // to be commanded after power switching
-      AssemblyBase::startTransition(targetMode, targetSubmode);
+      if (dualToSingleSideTransition) {
+        finishModeOp();
+      } else {
+        // Will be called for transitions from MODE_OFF to anything else, where the mode still has
+        // to be commanded after power switching
+        AssemblyBase::startTransition(targetMode, targetSubmode);
+      }
     } else if (opCode == OpCodes::TIMEOUT_OCCURED) {
       if (powerRetryCounter == 0) {
         powerRetryCounter++;
@@ -118,6 +129,13 @@ void DualLaneAssemblyBase::handleModeReached() {
     // Ignore failures for now.
     pwrStateMachineWrapper();
   } else {
+    // For dual to single side transition, devices should be logically off, but the switch
+    // handling still needs to be done.
+    if (dualToSingleSideTransition) {
+      pwrStateMachine.start(targetMode, targetSubmode);
+      pwrStateMachineWrapper();
+      return;
+    }
     finishModeOp();
   }
 }
@@ -229,6 +247,7 @@ void DualLaneAssemblyBase::finishModeOp() {
   pwrStateMachine.reset();
   powerRetryCounter = 0;
   tryingOtherSide = false;
+  dualToSingleSideTransition = false;
   dualModeErrorSwitch = true;
 }
 

mission/system/objects/DualLaneAssemblyBase.h

@@ -31,6 +31,7 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
   uint8_t powerRetryCounter = 0;
   bool tryingOtherSide = false;
   bool dualModeErrorSwitch = true;
+  bool dualToSingleSideTransition = false;
   duallane::Submodes defaultSubmode = duallane::Submodes::A_SIDE;
 
   enum RecoveryCustomStates {