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

2023-02-06 15:47:22 +01:00 · 2023-02-06 15:47:22 +01:00 · 974434d326
commit 974434d326
parent 519d55af4b 970e018c27
25 changed files with 457 additions and 209 deletions
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -17,6 +17,34 @@ change warranting a new major release:

 # [unreleased]

+# [v1.24.0] 2023-02-03
+
+- eive-tmtc v2.10.0
+- `AcsSubsystem`: OFF, SAFE and DETUMBLE mode were tested. Auto-transitions SAFE <-> DETUMBLE tested
+  as well. Other modes still need to be tested.
+
+## Fixed
+
+- `AcsController`: Parameter fix in `DetumbleParameter`.
+- Set GPS set entries to invalid on MODE_OFF command.
+- Bump FSFW for bugfix in `setNormalDatapoolEntriesInvalid` where the validity was not set to false
+  properly
+- Fixed usage of uint instead of int for commanding MTQ. Also fixed the range in which the ACS Ctrl
+  commands the MTQ to match the actual commanding range.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/363
+- Regression: Revert swap of SUS0 and SUS6. Those devices are on separate power lines. In a
+  future fix, the calibration matrices of SUS0 and SUS6 will be swapped.
+
+## Changed
+
+- `ACS::SensorValues` is now an ACS controller member to reduce the risk of stack overflow.
+- ACS Subsystem Sequence Mode IDs updated.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
+  TMTC PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/130
+- Update and tweak ACS subsystem to represent the actual ACS design
+- Event handling in the ACS subsystem for events triggered by the ACS controller.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
+
 # [v1.23.1] 2023-02-02

 TMTC rev: 15adb9bf2ec68304a4f87b8dd418c1a8353283a3
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -10,8 +10,8 @@
 cmake_minimum_required(VERSION 3.13)

 set(OBSW_VERSION_MAJOR_IF_GIT_FAILS 1)
-set(OBSW_VERSION_MINOR_IF_GIT_FAILS 23)
-set(OBSW_VERSION_REVISION_IF_GIT_FAILS 1)
+set(OBSW_VERSION_MINOR_IF_GIT_FAILS 24)
+set(OBSW_VERSION_REVISION_IF_GIT_FAILS 0)

 # set(CMAKE_VERBOSE TRUE)

--- a/common/config/devices/addresses.h
+++ b/common/config/devices/addresses.h
@ -9,7 +9,7 @@

 namespace addresses {
 /* Logical addresses have uint32_t datatype */
-enum logicalAddresses : address_t {
+enum LogicAddress : address_t {
  PCDU,

  MGM_0_LIS3 = objects::MGM_0_LIS3_HANDLER,
--- a/common/config/eive/objects.h
+++ b/common/config/eive/objects.h
@ -50,6 +50,7 @@ enum commonObjects : uint32_t {
  TMP1075_HANDLER_PLPCDU_0 = 0x44420006,
  TMP1075_HANDLER_PLPCDU_1 = 0x44420007,
  TMP1075_HANDLER_IF_BOARD = 0x44420008,
+
  PCDU_HANDLER = 0x442000A1,
  P60DOCK_HANDLER = 0x44250000,
  PDU1_HANDLER = 0x44250001,
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 3250bbf269b3326683222bb87ce7faecae63ad97
+Subproject commit 38789e053b65cfa14604fc625e7bcc8ca03a3f17
--- a/generators/bsp_q7s_events.csv
+++ b/generators/bsp_q7s_events.csv
@ -84,7 +84,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 10800;0x2a30;STORE_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
 10801;0x2a31;MSG_QUEUE_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
 10802;0x2a32;SERIALIZATION_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
-11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;;mission/controller/AcsController.h
+11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;;mission/acsDefs.h
+11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;;mission/acsDefs.h
 11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
 11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
--- a/generators/events/translateEvents.cpp
+++ b/generators/events/translateEvents.cpp
@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 244 translations.
+ * @brief    Auto-generated event translation file. Contains 245 translations.
 * @details
- * Generated on: 2023-02-01 19:42:11
+ * Generated on: 2023-02-03 10:52:53
 */
 #include "translateEvents.h"

@ -91,6 +91,7 @@ const char *STORE_ERROR_STRING = "STORE_ERROR";
 const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
 const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
 const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
+const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@ -419,6 +420,8 @@ const char *translateEvents(Event event) {
      return SERIALIZATION_ERROR_STRING;
    case (11200):
      return SAFE_RATE_VIOLATION_STRING;
+    case (11201):
+      return SAFE_RATE_RECOVERY_STRING;
    case (11300):
      return SWITCH_CMD_SENT_STRING;
    case (11301):
--- a/generators/objects/translateObjects.cpp
+++ b/generators/objects/translateObjects.cpp
@ -2,7 +2,7 @@
 * @brief  Auto-generated object translation file.
 * @details
 * Contains 152 translations.
- * Generated on: 2023-02-01 19:42:11
+ * Generated on: 2023-02-03 10:52:53
 */
 #include "translateObjects.h"

--- a/linux/ObjectFactory.cpp
+++ b/linux/ObjectFactory.cpp
@ -69,11 +69,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
 #if OBSW_ADD_SUN_SENSORS == 1
  SusFdir* fdir = nullptr;
  std::array<SusHandler*, 12> susHandlers = {};
-  gpioId_t gpioId = gpioIds::CS_SUS_0;
-  if (swap0And6) {
-    gpioId = gpioIds::CS_SUS_6;
-  }
-  SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioId, SUS::MAX_CMD_SIZE,
+  SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, SUS::MAX_CMD_SIZE,
                                       spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
  susHandlers[0] =
      new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_MAIN_COM_IF, spiCookie);
@ -115,11 +111,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
  fdir = new SusFdir(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
  susHandlers[5]->setCustomFdir(fdir);

-  gpioId = gpioIds::CS_SUS_6;
-  if (swap0And6) {
-    gpioId = gpioIds::CS_SUS_0;
-  }
-  spiCookie = new SpiCookie(addresses::SUS_6, gpioId, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE,
+  spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE,
                            spi::SUS_MAX1227_SPI_FREQ);
  susHandlers[6] =
      new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SPI_MAIN_COM_IF, spiCookie);
--- a/linux/devices/GPSHyperionLinuxController.cpp
+++ b/linux/devices/GPSHyperionLinuxController.cpp
@ -48,6 +48,9 @@ ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
      return HasModesIF::INVALID_MODE;
    }
  }
+  if (mode == MODE_OFF) {
+    gpsSet.setValidity(false, true);
+  }
  return returnvalue::OK;
 }

--- a/linux/fsfwconfig/events/translateEvents.cpp
+++ b/linux/fsfwconfig/events/translateEvents.cpp
@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 244 translations.
+ * @brief    Auto-generated event translation file. Contains 245 translations.
 * @details
- * Generated on: 2023-02-01 19:42:11
+ * Generated on: 2023-02-03 10:52:53
 */
 #include "translateEvents.h"

@ -91,6 +91,7 @@ const char *STORE_ERROR_STRING = "STORE_ERROR";
 const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
 const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
 const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
+const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@ -419,6 +420,8 @@ const char *translateEvents(Event event) {
      return SERIALIZATION_ERROR_STRING;
    case (11200):
      return SAFE_RATE_VIOLATION_STRING;
+    case (11201):
+      return SAFE_RATE_RECOVERY_STRING;
    case (11300):
      return SWITCH_CMD_SENT_STRING;
    case (11301):
--- a/linux/fsfwconfig/objects/translateObjects.cpp
+++ b/linux/fsfwconfig/objects/translateObjects.cpp
@ -2,7 +2,7 @@
 * @brief  Auto-generated object translation file.
 * @details
 * Contains 152 translations.
- * Generated on: 2023-02-01 19:42:11
+ * Generated on: 2023-02-03 10:52:53
 */
 #include "translateObjects.h"

--- a/mission/acsDefs.h
+++ b/mission/acsDefs.h
@ -0,0 +1,28 @@
+#ifndef MISSION_ACSDEFS_H_
+#define MISSION_ACSDEFS_H_
+
+#include <eive/eventSubsystemIds.h>
+#include <fsfw/modes/HasModesIF.h>
+
+namespace acs {
+
+enum CtrlSubmode {
+  OFF = HasModesIF::MODE_OFF,
+  SAFE = 2,
+  DETUMBLE = 3,
+  IDLE = 4,
+  PTG_TARGET_NADIR = 5,
+  PTG_TARGET = 6,
+  PTG_TARGET_GS = 7,
+  PTG_TARGET_INERTIAL = 8,
+};
+
+static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
+//!< The limits for the rotation in safe mode were violated.
+static const Event SAFE_RATE_VIOLATION = MAKE_EVENT(0, severity::MEDIUM);
+//!< The system has recovered from a safe rate rotation violation.
+static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
+
+}  // namespace acs
+
+#endif /* MISSION_ACSDEFS_H_ */
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@ -2,6 +2,7 @@

 #include <fsfw/datapool/PoolReadGuard.h>

+#include "mission/acsDefs.h"
 #include "mission/config/torquer.h"

 AcsController::AcsController(object_id_t objectId)
@ -45,15 +46,15 @@ void AcsController::performControlOperation() {
    case InternalState::READY: {
      if (mode != MODE_OFF) {
        switch (submode) {
-          case SUBMODE_SAFE:
+          case acs::SAFE:
            performSafe();
            break;
-          case SUBMODE_DETUMBLE:
+          case acs::DETUMBLE:
            performDetumble();
            break;
-          case SUBMODE_PTG_TARGET:
-          case SUBMODE_PTG_NADIR:
-          case SUBMODE_PTG_INERTIAL:
+          case acs::PTG_TARGET:
+          case acs::PTG_TARGET_NADIR:
+          case acs::PTG_TARGET_INERTIAL:
            performPointingCtrl();
            break;
        }
@ -151,9 +152,9 @@ void AcsController::performSafe() {
    detumbleCounter = 0;
  }
  if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
-    submode = SUBMODE_DETUMBLE;
    detumbleCounter = 0;
-    triggerEvent(SAFE_RATE_VIOLATION);
+    // Triggers detubmle mode transition in subsystem
+    triggerEvent(acs::SAFE_RATE_VIOLATION);
  }

  {
@ -208,8 +209,9 @@ void AcsController::performDetumble() {
    detumbleCounter = 0;
  }
  if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
-    submode = SUBMODE_SAFE;
    detumbleCounter = 0;
+    // Triggers safe mode transition in subsystem
+    triggerEvent(acs::SAFE_RATE_RECOVERY);
  }

  int16_t cmdDipolUnitsInt[3] = {0, 0, 0};
@ -484,9 +486,9 @@ void AcsController::copyMgmData() {
 }

 void AcsController::copySusData() {
-  ACS::SensorValues sensorValues;
  {
    PoolReadGuard pg(&sensorValues.susSets[0]);
+
    if (pg.getReadResult() == returnvalue::OK) {
      std::memcpy(susDataRaw.sus0.value, sensorValues.susSets[0].channels.value,
                  6 * sizeof(uint16_t));
--- a/mission/controller/AcsController.h
+++ b/mission/controller/AcsController.h
@ -24,16 +24,6 @@ class AcsController : public ExtendedControllerBase {

  AcsController(object_id_t objectId);

-  static const Submode_t SUBMODE_SAFE = 2;
-  static const Submode_t SUBMODE_DETUMBLE = 3;
-  static const Submode_t SUBMODE_PTG_TARGET = 4;
-  static const Submode_t SUBMODE_PTG_NADIR = 5;
-  static const Submode_t SUBMODE_PTG_INERTIAL = 6;
-
-  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
-  static const Event SAFE_RATE_VIOLATION =
-      MAKE_EVENT(0, severity::MEDIUM);  //!< The limits for the rotation in safe mode were violated.
-
 protected:
  void performSafe();
  void performDetumble();
@ -70,6 +60,7 @@ class AcsController : public ExtendedControllerBase {
  void announceMode(bool recursive);

  /* ACS Datasets */
+  ACS::SensorValues sensorValues;
  IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER);
  // MGMs
  acsctrl::MgmDataRaw mgmDataRaw;
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@ -899,8 +899,8 @@ class AcsParameters /*: public HasParametersIF*/ {

  struct DetumbleParameter {
    uint8_t detumblecounter = 75;  // 30 s
-    double omegaDetumbleStart = 2 * M_PI / 180;
-    double omegaDetumbleEnd = 0.4 * M_PI / 180;
+    double omegaDetumbleStart = 2;
+    double omegaDetumbleEnd = 0.4;
    double gainD = pow(10.0, -3.3);
  } detumbleParameter;
 };
--- a/mission/controller/acs/ActuatorCmd.cpp
+++ b/mission/controller/acs/ActuatorCmd.cpp
@ -54,21 +54,22 @@ void ActuatorCmd::cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1
  VectorOperations<double>::add(speedRws, deltaSpeed, rwCmdSpeed, 4);
 }

-void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentUnits) {
-  //	Convert to Unit frame
+void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentActuator) {
+  // Convert to actuator frame
  MatrixOperations<double>::multiply(*acsParameters.magnetorquesParameter.inverseAlignment,
-                                     dipolMoment, dipolMomentUnits, 3, 3, 1);
-  //  Scaling along largest element if dipol exceeds maximum
+                                     dipolMoment, dipolMomentActuator, 3, 3, 1);
+  // Scaling along largest element if dipol exceeds maximum
  double maxDipol = acsParameters.magnetorquesParameter.DipolMax;
  double maxValue = 0;
  for (int i = 0; i < 3; i++) {
-    if (abs(dipolMomentUnits[i]) > maxDipol) {
-      maxValue = abs(dipolMomentUnits[i]);
+    if (abs(dipolMomentActuator[i]) > maxDipol) {
+      maxValue = abs(dipolMomentActuator[i]);
    }
  }
-
  if (maxValue > maxDipol) {
    double scalingFactor = maxDipol / maxValue;
-    VectorOperations<double>::mulScalar(dipolMomentUnits, scalingFactor, dipolMomentUnits, 3);
+    VectorOperations<double>::mulScalar(dipolMomentActuator, scalingFactor, dipolMomentActuator, 3);
  }
+  // scale dipole from 1 Am^2 to 1e^-4 Am^2
+  VectorOperations<double>::mulScalar(dipolMomentActuator, 1e4, dipolMomentActuator, 3);
 }
--- a/mission/controller/acs/ActuatorCmd.h
+++ b/mission/controller/acs/ActuatorCmd.h
@ -35,9 +35,9 @@ class ActuatorCmd {
   * @brief:	cmdDipolMtq()		gives the commanded dipol moment for the magnetorques
   *
   * @param:	dipolMoment 		given dipol moment in spacecraft frame
-   * 			dipolMomentUnits	resulting dipol moment for every unit
+   * 			dipolMomentActuator	resulting dipol moment in actuator reference frame
   */
-  void cmdDipolMtq(const double *dipolMoment, double *dipolMomentUnits);
+  void cmdDipolMtq(const double *dipolMoment, double *dipolMomentActuator);

 protected:
 private:
--- a/mission/controller/controllerdefinitions/AcsControllerDefinitions.h
+++ b/mission/controller/controllerdefinitions/AcsControllerDefinitions.h
@ -1,14 +0,0 @@
-#ifndef MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_
-#define MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_
-
-#include <fsfw/modes/HasModesIF.h>
-
-namespace acs {
-
-enum CtrlModes { OFF = HasModesIF::MODE_OFF, SAFE = 1, DETUMBLE = 2, IDLE = 3, TARGET_PT = 4 };
-
-static constexpr Submode_t IDLE_CHARGE = 1;
-
-}  // namespace acs
-
-#endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_ */
--- a/mission/devices/devicedefinitions/imtqHandlerDefinitions.h
+++ b/mission/devices/devicedefinitions/imtqHandlerDefinitions.h
@ -489,7 +489,7 @@ class DipoleActuationSet : public StaticLocalDataSet<4> {
  // Refresh torque command without changing any of the set dipoles.
  void refreshTorqueing(uint16_t durationMs_) { currentTorqueDurationMs = durationMs_; }

-  void setDipoles(uint16_t xDipole_, uint16_t yDipole_, uint16_t zDipole_,
+  void setDipoles(int16_t xDipole_, int16_t yDipole_, int16_t zDipole_,
                  uint16_t currentTorqueDurationMs_) {
    if (xDipole.value != xDipole_) {
    }
@ -503,7 +503,7 @@ class DipoleActuationSet : public StaticLocalDataSet<4> {
    currentTorqueDurationMs = currentTorqueDurationMs_;
  }

-  void getDipoles(uint16_t& xDipole_, uint16_t& yDipole_, uint16_t& zDipole_) {
+  void getDipoles(int16_t& xDipole_, int16_t& yDipole_, int16_t& zDipole_) {
    xDipole_ = xDipole.value;
    yDipole_ = yDipole.value;
    zDipole_ = zDipole.value;
--- a/mission/system/objects/AcsSubsystem.cpp
+++ b/mission/system/objects/AcsSubsystem.cpp
@ -1,5 +1,83 @@
 #include "AcsSubsystem.h"

+#include <fsfw/events/EventManagerIF.h>
+#include <fsfw/ipc/QueueFactory.h>
+
+#include "fsfw/modes/ModeMessage.h"
+#include "mission/acsDefs.h"
+
 AcsSubsystem::AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
                           uint32_t maxNumberOfTables)
-    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}
+    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {
+  auto mqArgs = MqArgs(getObjectId(), static_cast<void*>(this));
+  eventQueue =
+      QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
+}
+
+ReturnValue_t AcsSubsystem::initialize() {
+  EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
+  if (manager == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "AcsSubsystem::initialize: Invalid event manager" << std::endl;
+#endif
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  ReturnValue_t result = manager->registerListener(eventQueue->getId());
+  if (result != returnvalue::OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "AcsSubsystem::registerListener: Failed to register as "
+                    "listener"
+                 << std::endl;
+#endif
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+    ;
+  }
+  result =
+      manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::SAFE_RATE_VIOLATION));
+  if (result != returnvalue::OK) {
+    sif::error << "AcsSubsystem: Subscribing for acs::SAFE_RATE_VIOLATION failed" << std::endl;
+  }
+  result =
+      manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::SAFE_RATE_RECOVERY));
+  if (result != returnvalue::OK) {
+    sif::error << "AcsSubsystem: Subscribing for acs::SAFE_RATE_RECOVERY failed" << std::endl;
+  }
+  return Subsystem::initialize();
+}
+
+void AcsSubsystem::performChildOperation() {
+  handleEventMessages();
+  return Subsystem::performChildOperation();
+}
+
+void AcsSubsystem::handleEventMessages() {
+  EventMessage event;
+  for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
+       result = eventQueue->receiveMessage(&event)) {
+    switch (event.getMessageId()) {
+      case EventMessage::EVENT_MESSAGE:
+        if (event.getEvent() == acs::SAFE_RATE_VIOLATION) {
+          CommandMessage msg;
+          ModeMessage::setCmdModeModeMessage(msg, acs::CtrlSubmode::DETUMBLE, 0);
+          ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
+          if (result != returnvalue::OK) {
+            sif::error << "AcsSubsystem: sending DETUMBLE mode cmd to self has failed" << std::endl;
+          }
+        }
+        if (event.getEvent() == acs::SAFE_RATE_RECOVERY) {
+          CommandMessage msg;
+          ModeMessage::setCmdModeModeMessage(msg, acs::CtrlSubmode::SAFE, 0);
+          ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
+          if (result != returnvalue::OK) {
+            sif::error << "AcsSubsystem: sending IDLE mode cmd to self has failed" << std::endl;
+          }
+        }
+        break;
+      default:
+        sif::debug << "AcsSubsystem::performChildOperation: Did not subscribe "
+                      "to this event message"
+                   << std::endl;
+        break;
+    }
+  }
+}
--- a/mission/system/objects/AcsSubsystem.h
+++ b/mission/system/objects/AcsSubsystem.h
@ -8,6 +8,12 @@ class AcsSubsystem : public Subsystem {
  AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);

 private:
+  ReturnValue_t initialize() override;
+  void performChildOperation() override;
+
+  void handleEventMessages();
+
+  MessageQueueIF* eventQueue = nullptr;
 };

 #endif /* MISSION_SYSTEM_ACSSUBSYSTEM_H_ */
--- a/mission/system/tree/acsModeTree.cpp
+++ b/mission/system/tree/acsModeTree.cpp
@ -7,10 +7,10 @@
 #include <fsfw/subsystem/modes/ModeDefinitions.h>

 #include "eive/objects.h"
-#include "mission/controller/controllerdefinitions/AcsControllerDefinitions.h"
+#include "mission/acsDefs.h"
 #include "util.h"

-Subsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
+AcsSubsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);

 namespace {
 // Alias for checker function
@ -20,74 +20,109 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh);
 void buildDetumbleSequence(Subsystem& ss, ModeListEntry& entryHelper);
 void buildSafeSequence(Subsystem& ss, ModeListEntry& entryHelper);
 void buildIdleSequence(Subsystem& ss, ModeListEntry& entryHelper);
-void buildIdleChargeSequence(Subsystem& ss, ModeListEntry& entryHelper);
+void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh);
 void buildTargetPtSequence(Subsystem& ss, ModeListEntry& entryHelper);
+void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& entryHelper);
+void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& entryHelper);
+
 }  // namespace

 static const auto OFF = HasModesIF::MODE_OFF;
 static const auto NML = DeviceHandlerIF::MODE_NORMAL;

-auto ACS_SEQUENCE_OFF =
-    std::make_pair(acs::CtrlModes::OFF << 24, FixedArrayList<ModeListEntry, 2>());
+auto ACS_SEQUENCE_OFF = std::make_pair(acs::CtrlSubmode::OFF, FixedArrayList<ModeListEntry, 3>());
 auto ACS_TABLE_OFF_TGT =
-    std::make_pair((acs::CtrlModes::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
-auto ACS_TABLE_OFF_TRANS =
-    std::make_pair((acs::CtrlModes::OFF << 24) | 2, FixedArrayList<ModeListEntry, 6>());
+    std::make_pair((acs::CtrlSubmode::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
+auto ACS_TABLE_OFF_TRANS_0 =
+    std::make_pair((acs::CtrlSubmode::OFF << 24) | 2, FixedArrayList<ModeListEntry, 1>());
+auto ACS_TABLE_OFF_TRANS_1 =
+    std::make_pair((acs::CtrlSubmode::OFF << 24) | 3, FixedArrayList<ModeListEntry, 6>());

 auto ACS_SEQUENCE_DETUMBLE =
-    std::make_pair(acs::CtrlModes::DETUMBLE << 24, FixedArrayList<ModeListEntry, 3>());
+    std::make_pair(acs::CtrlSubmode::DETUMBLE, FixedArrayList<ModeListEntry, 3>());
 auto ACS_TABLE_DETUMBLE_TGT =
-    std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
+    std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
 auto ACS_TABLE_DETUMBLE_TRANS_0 =
-    std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
 auto ACS_TABLE_DETUMBLE_TRANS_1 =
-    std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+    std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());

-auto ACS_SEQUENCE_SAFE =
-    std::make_pair(acs::CtrlModes::SAFE << 24, FixedArrayList<ModeListEntry, 3>());
+auto ACS_SEQUENCE_SAFE = std::make_pair(acs::CtrlSubmode::SAFE, FixedArrayList<ModeListEntry, 3>());
 auto ACS_TABLE_SAFE_TGT =
-    std::make_pair((acs::CtrlModes::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
+    std::make_pair((acs::CtrlSubmode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
 auto ACS_TABLE_SAFE_TRANS_0 =
-    std::make_pair((acs::CtrlModes::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((acs::CtrlSubmode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
 auto ACS_TABLE_SAFE_TRANS_1 =
-    std::make_pair((acs::CtrlModes::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+    std::make_pair((acs::CtrlSubmode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());

-auto ACS_SEQUENCE_IDLE =
-    std::make_pair(acs::CtrlModes::IDLE << 24, FixedArrayList<ModeListEntry, 3>());
+auto ACS_SEQUENCE_IDLE = std::make_pair(acs::CtrlSubmode::IDLE, FixedArrayList<ModeListEntry, 3>());
 auto ACS_TABLE_IDLE_TGT =
-    std::make_pair((acs::CtrlModes::IDLE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((acs::CtrlSubmode::IDLE << 24) | 1, FixedArrayList<ModeListEntry, 6>());
 auto ACS_TABLE_IDLE_TRANS_0 =
-    std::make_pair((acs::CtrlModes::IDLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((acs::CtrlSubmode::IDLE << 24) | 2, FixedArrayList<ModeListEntry, 6>());
 auto ACS_TABLE_IDLE_TRANS_1 =
-    std::make_pair((acs::CtrlModes::IDLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+    std::make_pair((acs::CtrlSubmode::IDLE << 24) | 3, FixedArrayList<ModeListEntry, 2>());

-auto ACS_SEQUENCE_IDLE_CHRG = std::make_pair(acs::CtrlModes::IDLE << 24 | (acs::IDLE_CHARGE << 8),
-                                             FixedArrayList<ModeListEntry, 3>());
-auto ACS_TABLE_IDLE_CHRG_TGT = std::make_pair(
-    (acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 1, FixedArrayList<ModeListEntry, 4>());
-auto ACS_TABLE_IDLE_CHRG_TRANS_0 = std::make_pair(
-    (acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 2, FixedArrayList<ModeListEntry, 5>());
-auto ACS_TABLE_IDLE_CHRG_TRANS_1 = std::make_pair(
-    (acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 3, FixedArrayList<ModeListEntry, 1>());
+auto ACS_TABLE_PTG_TRANS_0 =
+    std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>());

-auto ACS_SEQUENCE_TARGET_PT =
-    std::make_pair(acs::CtrlModes::TARGET_PT, FixedArrayList<ModeListEntry, 3>());
-auto ACS_TABLE_TARGET_PT_TGT =
-    std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 1, FixedArrayList<ModeListEntry, 6>());
-auto ACS_TABLE_TARGET_PT_TRANS_0 =
-    std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 2, FixedArrayList<ModeListEntry, 5>());
-auto ACS_TABLE_TARGET_PT_TRANS_1 =
-    std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+auto ACS_SEQUENCE_PTG_TARGET =
+    std::make_pair(acs::CtrlSubmode::PTG_TARGET, FixedArrayList<ModeListEntry, 3>());
+auto ACS_TABLE_PTG_TARGET_TGT =
+    std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 1, FixedArrayList<ModeListEntry, 6>());
+auto ACS_TABLE_PTG_TARGET_TRANS_1 =
+    std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+
+auto ACS_SEQUENCE_PTG_TARGET_GS =
+    std::make_pair(acs::CtrlSubmode::PTG_TARGET_GS, FixedArrayList<ModeListEntry, 3>());
+auto ACS_TABLE_PTG_TARGET_GS_TGT =
+    std::make_pair((acs::CtrlSubmode::PTG_TARGET_GS << 24) | 1, FixedArrayList<ModeListEntry, 6>());
+auto ACS_TABLE_PTG_TARGET_GS_TRANS_1 =
+    std::make_pair((acs::CtrlSubmode::PTG_TARGET_GS << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+
+auto ACS_SEQUENCE_PTG_TARGET_NADIR =
+    std::make_pair(acs::CtrlSubmode::PTG_TARGET_NADIR, FixedArrayList<ModeListEntry, 3>());
+auto ACS_TABLE_PTG_TARGET_NADIR_TGT = std::make_pair((acs::CtrlSubmode::PTG_TARGET_NADIR << 24) | 1,
+                                                     FixedArrayList<ModeListEntry, 6>());
+auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_1 = std::make_pair(
+    (acs::CtrlSubmode::PTG_TARGET_NADIR << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+
+auto ACS_SEQUENCE_PTG_TARGET_INERTIAL =
+    std::make_pair(acs::CtrlSubmode::PTG_TARGET_INERTIAL, FixedArrayList<ModeListEntry, 3>());
+auto ACS_TABLE_PTG_TARGET_INERTIAL_TGT = std::make_pair(
+    (acs::CtrlSubmode::PTG_TARGET_INERTIAL << 24) | 1, FixedArrayList<ModeListEntry, 6>());
+auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1 = std::make_pair(
+    (acs::CtrlSubmode::PTG_TARGET_INERTIAL << 24) | 3, FixedArrayList<ModeListEntry, 1>());

 void satsystem::acs::init() {
  ModeListEntry entry;
+  const char* ctxc = "satsystem::acs::init: generic target";
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
+    entry.setObject(obj);
+    entry.setMode(mode);
+    entry.setSubmode(submode);
+    check(table.insert(entry), "satsystem::acs::init: generic target");
+  };
+  // Build TARGET PT transition 0
+  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
+  iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
+  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
+  check(ACS_SUBSYSTEM.addTable(
+            TableEntry(ACS_TABLE_PTG_TRANS_0.first, &ACS_TABLE_PTG_TRANS_0.second)),
+        ctxc);
+
  buildOffSequence(ACS_SUBSYSTEM, entry);
  buildSafeSequence(ACS_SUBSYSTEM, entry);
  buildDetumbleSequence(ACS_SUBSYSTEM, entry);
  buildIdleSequence(ACS_SUBSYSTEM, entry);
-  buildIdleChargeSequence(ACS_SUBSYSTEM, entry);
  buildTargetPtSequence(ACS_SUBSYSTEM, entry);
-  ACS_SUBSYSTEM.setInitialMode(HasModesIF::MODE_OFF);
+  buildTargetPtGsSequence(ACS_SUBSYSTEM, entry);
+  buildTargetPtNadirSequence(ACS_SUBSYSTEM, entry);
+  buildTargetPtInertialSequence(ACS_SUBSYSTEM, entry);
+  ACS_SUBSYSTEM.setInitialMode(::acs::CtrlSubmode::SAFE);
 }

 namespace {
@ -112,20 +147,24 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
  };

  // OFF Target table is empty
-  check(ss.addTable(&ACS_TABLE_OFF_TGT.second, ACS_TABLE_OFF_TGT.first, false, true), ctxc);
+  check(ss.addTable(TableEntry(ACS_TABLE_OFF_TGT.first, &ACS_TABLE_OFF_TGT.second)), ctxc);

-  // Build OFF transition
-  iht(objects::ACS_CONTROLLER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
-  iht(objects::IMTQ_HANDLER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
-  iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
-  iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
-  iht(objects::SUS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
-  iht(objects::RW_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
-  check(ss.addTable(&ACS_TABLE_OFF_TRANS.second, ACS_TABLE_OFF_TRANS.first, false, true), ctxc);
+  // Build OFF transition 0
+  iht(objects::ACS_CONTROLLER, OFF, 0, ACS_TABLE_OFF_TRANS_0.second);
+  check(ss.addTable(TableEntry(ACS_TABLE_OFF_TRANS_0.first, &ACS_TABLE_OFF_TRANS_0.second)), ctxc);
+
+  // Build OFF transition 1
+  iht(objects::IMTQ_HANDLER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
+  iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
+  iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
+  iht(objects::SUS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
+  iht(objects::RW_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
+  check(ss.addTable(TableEntry(ACS_TABLE_OFF_TRANS_1.first, &ACS_TABLE_OFF_TRANS_1.second)), ctxc);

  // Build OFF sequence
  ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TGT.first, 0, false);
-  ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TRANS.first, 0, false);
+  ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TRANS_0.first, 0, false);
+  ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TRANS_1.first, 0, false);
  check(ss.addSequence(&ACS_SEQUENCE_OFF.second, ACS_SEQUENCE_OFF.first, ACS_SEQUENCE_OFF.first,
                       false, true),
        ctxc);
@ -151,7 +190,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
    check(sequence.insert(eh), ctxc);
  };
  // Build SAFE target
-  iht(objects::ACS_CONTROLLER, acs::CtrlModes::SAFE, 0, ACS_TABLE_SAFE_TGT.second);
+  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::SAFE, ACS_TABLE_SAFE_TGT.second);
  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TGT.second);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
@ -167,7 +206,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
        ctxc);

  // Build SAFE transition 1
-  iht(objects::ACS_CONTROLLER, acs::CtrlModes::SAFE, 0, ACS_TABLE_SAFE_TRANS_1.second);
+  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::SAFE, ACS_TABLE_SAFE_TRANS_1.second);
  check(ss.addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true),
        ctxc);

@ -200,7 +239,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
    check(sequence.insert(eh), ctxc);
  };
  // Build DETUMBLE target
-  iht(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TGT.second);
+  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::DETUMBLE, ACS_TABLE_DETUMBLE_TGT.second);
  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
@ -218,7 +257,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
        ctxc);

  // Build DETUMBLE transition 1
-  iht(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TRANS_1.second);
+  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::DETUMBLE, ACS_TABLE_DETUMBLE_TRANS_1.second);
  check(ss.addTable(&ACS_TABLE_DETUMBLE_TRANS_1.second, ACS_TABLE_DETUMBLE_TRANS_1.first, false,
                    true),
        ctxc);
@ -252,7 +291,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
    check(sequence.insert(eh), ctxc);
  };
  // Build IDLE target
-  iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, 0, ACS_TABLE_IDLE_TGT.second);
+  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::IDLE, ACS_TABLE_IDLE_TGT.second);
  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TGT.second);
  iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
@ -264,75 +303,21 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
  iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
-  iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_IDLE_TRANS_0.second);
+  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
  ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);

  // Build IDLE transition 1
-  iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, 0, ACS_TABLE_IDLE_TRANS_1.second);
+  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::IDLE, ACS_TABLE_IDLE_TRANS_1.second);
  ss.addTable(&ACS_TABLE_IDLE_TRANS_1.second, ACS_TABLE_IDLE_TRANS_1.first, false, true);

  // Build IDLE sequence
  ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TGT.first, 0, true);
  ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_0.first, 0, true);
-  ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_1.first, 0, false);
+  ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_1.first, 0, true);
  ss.addSequence(&ACS_SEQUENCE_IDLE.second, ACS_SEQUENCE_IDLE.first, ACS_SEQUENCE_SAFE.first, false,
                 true);
 }

-void buildIdleChargeSequence(Subsystem& ss, ModeListEntry& eh) {
-  std::string context = "satsystem::acs::buildIdleChargeSequence";
-  auto ctxc = context.c_str();
-  // Insert Helper Table
-  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
-                 ArrayList<ModeListEntry>& sequence) {
-    eh.setObject(obj);
-    eh.setMode(mode);
-    eh.setSubmode(submode);
-    check(sequence.insert(eh), ctxc);
-  };
-  // Insert Helper Sequence
-  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
-                 bool checkSuccess) {
-    eh.setTableId(tableId);
-    eh.setWaitSeconds(waitSeconds);
-    eh.setCheckSuccess(checkSuccess);
-    check(sequence.insert(eh), ctxc);
-  };
-  // Build IDLE target
-  iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, acs::IDLE_CHARGE,
-      ACS_TABLE_IDLE_CHRG_TGT.second);
-  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
-  check(ss.addTable(&ACS_TABLE_IDLE_CHRG_TGT.second, ACS_TABLE_IDLE_CHRG_TGT.first, false, true),
-        ctxc);
-
-  // Build IDLE transition 0
-  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
-  iht(objects::RW_ASS, OFF, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
-  iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
-  check(ss.addTable(&ACS_TABLE_IDLE_CHRG_TRANS_0.second, ACS_TABLE_IDLE_CHRG_TRANS_0.first, false,
-                    true),
-        ctxc);
-
-  // Build IDLE transition 1
-  iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, acs::IDLE_CHARGE,
-      ACS_TABLE_IDLE_CHRG_TRANS_1.second);
-  check(ss.addTable(&ACS_TABLE_IDLE_CHRG_TRANS_1.second, ACS_TABLE_IDLE_CHRG_TRANS_1.first, false,
-                    true),
-        ctxc);
-
-  // Build IDLE sequence
-  ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TGT.first, 0, true);
-  ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TRANS_0.first, 0, true);
-  ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TRANS_1.first, 0, false);
-  check(ss.addSequence(&ACS_SEQUENCE_IDLE_CHRG.second, ACS_SEQUENCE_IDLE_CHRG.first,
-                       ACS_SEQUENCE_SAFE.first, false, true),
-        ctxc);
-}
-
 void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
  std::string context = "satsystem::acs::buildTargetPtSequence";
  auto ctxc = context.c_str();
@ -354,38 +339,180 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
  };

  // Build TARGET PT table
-  iht(objects::ACS_CONTROLLER, acs::CtrlModes::TARGET_PT, 0, ACS_TABLE_TARGET_PT_TGT.second);
-  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
-  iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
-  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
-  check(ss.addTable(&ACS_TABLE_TARGET_PT_TGT.second, ACS_TABLE_TARGET_PT_TGT.first, false, true),
-        ctxc);
-
-  // Build TARGET PT transition 0
-  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
-  iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
-  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
-  check(ss.addTable(&ACS_TABLE_TARGET_PT_TRANS_0.second, ACS_TABLE_TARGET_PT_TRANS_0.first, false,
-                    true),
+  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TGT.second);
+  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
+  iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
+  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
+  check(ss.addTable(&ACS_TABLE_PTG_TARGET_TGT.second, ACS_TABLE_PTG_TARGET_TGT.first, false, true),
        ctxc);

+  // Transition 0 already built
  // Build TARGET PT transition 1
-  iht(objects::ACS_CONTROLLER, acs::CtrlModes::TARGET_PT, 0, ACS_TABLE_TARGET_PT_TRANS_1.second);
-  check(ss.addTable(&ACS_TABLE_TARGET_PT_TRANS_1.second, ACS_TABLE_TARGET_PT_TRANS_1.first, false,
+  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET,
+      ACS_TABLE_PTG_TARGET_TRANS_1.second);
+  check(ss.addTable(&ACS_TABLE_PTG_TARGET_TRANS_1.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, false,
                    true),
        ctxc);

  // Build IDLE sequence
-  ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TGT.first, 0, true);
-  ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_0.first, 0, true);
-  ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_1.first, 0, false);
-  check(ss.addSequence(&ACS_SEQUENCE_TARGET_PT.second, ACS_SEQUENCE_TARGET_PT.first,
+  ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TGT.first, 0, true);
+  ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
+  ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, 0, true);
+  check(ss.addSequence(&ACS_SEQUENCE_PTG_TARGET.second, ACS_SEQUENCE_PTG_TARGET.first,
                       ACS_SEQUENCE_IDLE.first, false, true),
        ctxc);
 }

+void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::acs::buildTargetPtNadirSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
+                 ArrayList<ModeListEntry>& sequence) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(sequence.insert(eh), ctxc);
+  };
+  // Insert Helper Sequence
+  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
+                 bool checkSuccess) {
+    eh.setTableId(tableId);
+    eh.setWaitSeconds(waitSeconds);
+    eh.setCheckSuccess(checkSuccess);
+    check(sequence.insert(eh), ctxc);
+  };
+
+  // Build TARGET PT table
+  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET,
+      ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
+  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
+  iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
+  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
+  check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TGT.first,
+                               &ACS_TABLE_PTG_TARGET_NADIR_TGT.second)),
+        ctxc);
+
+  // Transition 0 already built
+  // Build TARGET PT transition 1
+  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_NADIR,
+      ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second);
+  check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first,
+                               &ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second)),
+        ctxc);
+
+  // Build IDLE sequence
+  ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TGT.first, 0, true);
+  ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
+  ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first, 0, true);
+  check(
+      ss.addSequence(SequenceEntry(ACS_SEQUENCE_PTG_TARGET_NADIR.first,
+                                   &ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_SEQUENCE_IDLE.first)),
+      ctxc);
+}
+
+void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::acs::buildTargetPtGsSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
+                 ArrayList<ModeListEntry>& sequence) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(sequence.insert(eh), ctxc);
+  };
+  // Insert Helper Sequence
+  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
+                 bool checkSuccess) {
+    eh.setTableId(tableId);
+    eh.setWaitSeconds(waitSeconds);
+    eh.setCheckSuccess(checkSuccess);
+    check(sequence.insert(eh), ctxc);
+  };
+
+  // Build TARGET PT table
+  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_GS,
+      ACS_TABLE_PTG_TARGET_GS_TGT.second);
+  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
+  iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
+  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
+  check(ss.addTable(
+            TableEntry(ACS_TABLE_PTG_TARGET_GS_TGT.first, &ACS_TABLE_PTG_TARGET_GS_TGT.second)),
+        ctxc);
+
+  // Transition 0 already built
+  // Build TARGET PT transition 1
+  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_GS,
+      ACS_TABLE_PTG_TARGET_GS_TRANS_1.second);
+  check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_GS_TRANS_1.first,
+                               &ACS_TABLE_PTG_TARGET_GS_TRANS_1.second)),
+        ctxc);
+
+  // Build IDLE sequence
+  ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TARGET_GS_TGT.first, 0, true);
+  ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
+  ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TARGET_GS_TRANS_1.first, 0, true);
+  check(ss.addSequence(SequenceEntry(ACS_SEQUENCE_PTG_TARGET_GS.first,
+                                     &ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_SEQUENCE_IDLE.first)),
+        ctxc);
+}
+
+void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::acs::buildTargetPtInertialSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
+                 ArrayList<ModeListEntry>& sequence) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(sequence.insert(eh), ctxc);
+  };
+  // Insert Helper Sequence
+  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
+                 bool checkSuccess) {
+    eh.setTableId(tableId);
+    eh.setWaitSeconds(waitSeconds);
+    eh.setCheckSuccess(checkSuccess);
+    check(sequence.insert(eh), ctxc);
+  };
+
+  // Build TARGET PT table
+  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_INERTIAL,
+      ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
+  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
+  iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
+  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
+  check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first,
+                               &ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second)),
+        ctxc);
+
+  // Transition 0 already built
+  // Build TARGET PT transition 1
+  iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_INERTIAL,
+      ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second);
+  check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.first,
+                               &ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second)),
+        ctxc);
+
+  // Build IDLE sequence
+  ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first, 0, true);
+  ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
+  ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.first, 0,
+      true);
+  check(ss.addSequence(SequenceEntry(ACS_SEQUENCE_PTG_TARGET_INERTIAL.first,
+                                     &ACS_SEQUENCE_PTG_TARGET_INERTIAL.second,
+                                     ACS_SEQUENCE_IDLE.first)),
+        ctxc);
+}
+
 }  // namespace
--- a/mission/system/tree/acsModeTree.h
+++ b/mission/system/tree/acsModeTree.h
@ -1,11 +1,9 @@
-#include <fsfw/subsystem/modes/ModeDefinitions.h>
-
-class Subsystem;
+#include <mission/system/objects/AcsSubsystem.h>

 namespace satsystem {
 namespace acs {

-extern Subsystem ACS_SUBSYSTEM;
+extern AcsSubsystem ACS_SUBSYSTEM;
 void init();

 }  // namespace acs
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 28c367c6fb959b180fa5ead858e508178454891e
+Subproject commit 66867ad9d2fc9cb622e7d2baccba95689cc445c3