Merge pull request 'TCS CTRL bugfix' (#730) from tcs-ctrl-bugfix into main

Reviewed-on: #730
Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -29,6 +29,10 @@ will consitute of a breaking change warranting a new major release:
 
 - TMP1075: Set dataset invalid on shutdown explicitely
 - Small fixes for TMP1075 FDIR: Use strange and missed reply counters.
+- TCS controller: A helper member to track the elapsed heater control cycles was not reset
+  properly, which could lead to switch transitions being completed immediately. This can
+  lead to weird bugs like heaters being commanded ON twice and can potentially lead to
+  other bugs.
 - TMP1075: Devices did not go to OFF mode when being set faulty.
 - Update PL PCDU 1 in TCS mode tree on the EM.
 - TMP1075: Possibly ignored health commands.

mission/controller/ThermalController.cpp

@@ -1687,7 +1687,8 @@ void ThermalController::checkLimitsAndCtrlHeater(HeaterContext& htrCtx) {
   // Heater off
   if (htrCtx.switchState == HeaterHandler::SwitchState::OFF) {
     if (sensorTemp < htrCtx.tempLimit.opLowerLimit and heaterCtrlAllowed()) {
-      sif::info << "TCS: Heater " << static_cast<int>(currThermalComponent) << " ON" << std::endl;
+      sif::info << "TCS: Heater " << static_cast<int>(htrCtx.switchNr) << " for component "
+                << static_cast<int>(currThermalComponent) << " ON" << std::endl;
       heaterSwitchHelper(htrCtx.switchNr, HeaterHandler::SwitchState::ON, currThermalComponent);
       heaterStates[htrCtx.switchNr].switchTransition = true;
       heaterStates[htrCtx.switchNr].target = HeaterHandler::SwitchState::ON;
@@ -1704,8 +1705,8 @@ void ThermalController::checkLimitsAndCtrlHeater(HeaterContext& htrCtx) {
     if (thermalStates[currThermalComponent].heating) {
       // We are already in a heating cycle, so need to check whether heating task is complete.
       if (sensorTemp >= htrCtx.tempLimit.opLowerLimit + TEMP_OFFSET and heaterCtrlAllowed()) {
-        sif::info << "TCS: Heater " << static_cast<int>(currThermalComponent) << " OFF"
+        sif::info << "TCS: Heater " << static_cast<int>(htrCtx.switchNr) << " for component "
-                  << std::endl;
+                  << static_cast<int>(currThermalComponent) << " OFF" << std::endl;
         heaterSwitchHelper(htrCtx.switchNr, HeaterHandler::SwitchState::OFF, currThermalComponent);
         heaterStates[htrCtx.switchNr].switchTransition = true;
         heaterStates[htrCtx.switchNr].target = HeaterHandler::SwitchState::OFF;
@@ -1756,9 +1757,10 @@ void ThermalController::heaterTransitionControl(const HeaterSwitchStates& curren
     if (heaterStates[i].switchTransition) {
       if (currentHeaterStates[i] == heaterStates[i].target) {
         heaterStates[i].switchTransition = false;
+        heaterStates[i].heaterSwitchControlCycles = 0;
         continue;
       }
-      if (heaterStates[i].heaterSwitchControlCycles > 3) {
+      if (heaterStates[i].heaterSwitchControlCycles > 5) {
         heaterStates[i].switchTransition = false;
         heaterStates[i].heaterSwitchControlCycles = 0;
       }