Merge pull request 'Parameter for MEKF invalid Event Timer' (#469) from mekf-invalid-violation-parameter into develop

Reviewed-on: #469
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -20,6 +20,7 @@ will consitute of a breaking change warranting a new major release:
 
 - Added `EXECUTE_SHELL_CMD` action command for `CoreController` to execute arbitrary Linux commands.
 - Add `PcduHandlerDummy` component.
+- Added parameter for timeout until `MEKF_INVALID_MODE_VIOLATION` event is triggered.
 
 ## Fixed
 

mission/controller/AcsController.cpp

@@ -271,7 +271,7 @@ void AcsController::performPointingCtrl() {
       triggerEvent(acs::MEKF_INVALID_INFO);
       mekfInvalidFlag = true;
     }
-    if (mekfInvalidCounter == 5) {
+    if (mekfInvalidCounter > acsParameters.onBoardParams.mekfViolationTimer) {
       // Trigger this so STR FDIR can set the device faulty.
       EventManagerIF::triggerEvent(objects::STAR_TRACKER, acs::MEKF_INVALID_MODE_VIOLATION, 0, 0);
     }

mission/controller/AcsController.h

@@ -61,7 +61,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   uint8_t detumbleCounter = 0;
   uint8_t multipleRwUnavailableCounter = 0;
   bool mekfInvalidFlag = false;
-  uint8_t mekfInvalidCounter = 0;
+  uint16_t mekfInvalidCounter = 0;
   int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
   int16_t cmdDipolMtqs[3] = {0, 0, 0};
 

mission/controller/acs/AcsParameters.cpp

@@ -23,6 +23,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0x0:
           parameterWrapper->set(onBoardParams.sampleTime);
           break;
+        case 0x1:
+          parameterWrapper->set(onBoardParams.mekfViolationTimer);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }

mission/controller/acs/AcsParameters.h

@@ -18,6 +18,7 @@ class AcsParameters : public HasParametersIF {
 
   struct OnBoardParams {
     double sampleTime = 0.4;  // [s]
+    uint16_t mekfViolationTimer = 750;
   } onBoardParams;
 
   struct InertiaEIVE {