From 90db9785ea2ca474497abbbf9c7e18a4edd16f3a Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Fri, 24 Mar 2023 15:18:52 +0100
Subject: [PATCH] fixes

---
 mission/acsDefs.h                    | 12 ++++++------
 mission/controller/AcsController.cpp | 13 ++++++++-----
 2 files changed, 14 insertions(+), 11 deletions(-)

diff --git a/mission/acsDefs.h b/mission/acsDefs.h
index 6af803ab..6097db32 100644
--- a/mission/acsDefs.h
+++ b/mission/acsDefs.h
@@ -21,7 +21,7 @@ enum SafeSubmode : Submode_t { DEFAULT = 0, DETUMBLE = 1 };
 
 static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
 //! [EXPORT] : [COMMENT] The limits for the rotation in safe mode were violated.
-static const Event SAFE_RATE_VIOLATION = MAKE_EVENT(0, severity::MEDIUM);
+static constexpr Event SAFE_RATE_VIOLATION = MAKE_EVENT(0, severity::MEDIUM);
 //! [EXPORT] : [COMMENT] The system has recovered from a safe rate rotation violation.
 static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
 //! [EXPORT] : [COMMENT] Multiple RWs are invalid, uncommandable and therefore higher ACS modes
@@ -30,17 +30,17 @@ static constexpr Event MULTIPLE_RW_INVALID = MAKE_EVENT(2, severity::HIGH);
 //! [EXPORT] : [COMMENT] MEKF was not able to compute a solution.
 //! P1: MEKF state on exit
 static constexpr Event MEKF_INVALID_INFO = MAKE_EVENT(3, severity::INFO);
-//!< MEKF is able to compute a solution again.
+//! [EXPORT] : [COMMENT] MEKF is able to compute a solution again.
 static constexpr Event MEKF_RECOVERY = MAKE_EVENT(4, severity::INFO);
-//! [EXPORT] : [COMMENT] MEKF performed an automatic recovery after detection of nonfinite values.
-static constexpr Event MEKF_AUTOMATIC_RECOVERY = MAKE_EVENT(4, severity::INFO);
+//! [EXPORT] : [COMMENT] MEKF performed an automatic reset after detection of nonfinite values.
+static constexpr Event MEKF_AUTOMATIC_RESET = MAKE_EVENT(5, severity::INFO);
 //! [EXPORT] : [COMMENT] MEKF was not able to compute a solution during any pointing ACS mode for a
 //! prolonged time.
-static constexpr Event MEKF_INVALID_MODE_VIOLATION = MAKE_EVENT(5, severity::HIGH);
+static constexpr Event MEKF_INVALID_MODE_VIOLATION = MAKE_EVENT(6, severity::HIGH);
 //! [EXPORT] : [COMMENT] The ACS safe mode controller was not able to compute a solution and has
 //! failed.
 //! P1: Missing information about magnetic field, P2: Missing information about rotational rate
-static constexpr Event SAFE_MODE_CONTROLLER_FAILURE = MAKE_EVENT(6, severity::HIGH);
+static constexpr Event SAFE_MODE_CONTROLLER_FAILURE = MAKE_EVENT(7, severity::HIGH);
 
 extern const char* getModeStr(AcsMode mode);
 
diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 62bf82b1..a5fd470d 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -154,13 +154,15 @@ void AcsController::performSafe() {
       mekfInvalidFlag = true;
     }
     if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
-      triggerEvent(acs::MEKF_AUTOMATIC_RECOVERY);
+      triggerEvent(acs::MEKF_AUTOMATIC_RESET);
       navigation.resetMekf(&mekfData);
       mekfLost = true;
     }
-  } else {
+  } else if (mekfInvalidFlag) {
+    triggerEvent(acs::MEKF_RECOVERY);
     mekfInvalidFlag = false;
   }
+
   // get desired satellite rate, sun direction to align to and inertia
   double satRateSafe[3] = {0, 0, 0}, sunTargetDir[3] = {0, 0, 0},
          inertiaEive[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
@@ -260,11 +262,12 @@ void AcsController::performDetumble() {
       mekfInvalidFlag = true;
     }
     if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
-      triggerEvent(acs::MEKF_AUTOMATIC_RECOVERY);
+      triggerEvent(acs::MEKF_AUTOMATIC_RESET);
       navigation.resetMekf(&mekfData);
       mekfLost = true;
     }
-  } else {
+  } else if (mekfInvalidFlag) {
+    triggerEvent(acs::MEKF_RECOVERY);
     mekfInvalidFlag = false;
   }
   double magMomMtq[3] = {0, 0, 0};
@@ -317,7 +320,7 @@ void AcsController::performPointingCtrl() {
       mekfInvalidFlag = true;
     }
     if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
-      triggerEvent(acs::MEKF_AUTOMATIC_RECOVERY);
+      triggerEvent(acs::MEKF_AUTOMATIC_RESET);
       navigation.resetMekf(&mekfData);
       mekfLost = true;
     }