Merge remote-tracking branch 'origin/develop' into thermal_controller
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Robin Müller 2023-03-16 17:48:17 +01:00
commit a16671762d
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13 changed files with 42 additions and 11 deletions

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@ -16,6 +16,12 @@ will consitute of a breaking change warranting a new major release:
# [unreleased] # [unreleased]
## Added
- Failure of Safe Mode Ctrl will now trigger an event. As this can only be caused by sensors not
being in the correct mode, the assemblies should take care that this will never happen and no
additional FDIR is needed.
## Changed ## Changed
- Telemetry relevant datasets for the RWs are now set invalid and partially reset on shotdown. - Telemetry relevant datasets for the RWs are now set invalid and partially reset on shotdown.

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@ -1,7 +1,7 @@
/** /**
* @brief Auto-generated event translation file. Contains 276 translations. * @brief Auto-generated event translation file. Contains 277 translations.
* @details * @details
* Generated on: 2023-03-14 18:50:08 * Generated on: 2023-03-16 17:47:14
*/ */
#include "translateEvents.h" #include "translateEvents.h"
@ -97,6 +97,7 @@ const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID"; const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO"; const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION"; const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT"; const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED"; const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED"; const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@ -463,6 +464,8 @@ const char *translateEvents(Event event) {
return MEKF_INVALID_INFO_STRING; return MEKF_INVALID_INFO_STRING;
case (11204): case (11204):
return MEKF_INVALID_MODE_VIOLATION_STRING; return MEKF_INVALID_MODE_VIOLATION_STRING;
case (11205):
return SAFE_MODE_CONTROLLER_FAILURE_STRING;
case (11300): case (11300):
return SWITCH_CMD_SENT_STRING; return SWITCH_CMD_SENT_STRING;
case (11301): case (11301):

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@ -2,7 +2,7 @@
* @brief Auto-generated object translation file. * @brief Auto-generated object translation file.
* @details * @details
* Contains 169 translations. * Contains 169 translations.
* Generated on: 2023-03-14 18:50:08 * Generated on: 2023-03-16 17:47:14
*/ */
#include "translateObjects.h" #include "translateObjects.h"

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@ -91,6 +91,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;No description;mission/acsDefs.h 11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;No description;mission/acsDefs.h
11203;0x2bc3;MEKF_INVALID_INFO;INFO;No description;mission/acsDefs.h 11203;0x2bc3;MEKF_INVALID_INFO;INFO;No description;mission/acsDefs.h
11204;0x2bc4;MEKF_INVALID_MODE_VIOLATION;HIGH;No description;mission/acsDefs.h 11204;0x2bc4;MEKF_INVALID_MODE_VIOLATION;HIGH;No description;mission/acsDefs.h
11205;0x2bc5;SAFE_MODE_CONTROLLER_FAILURE;HIGH;No description;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 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 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;No description;mission/devices/devicedefinitions/powerDefinitions.h 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/devices/devicedefinitions/powerDefinitions.h

1 Event ID (dec) Event ID (hex) Name Severity Description File Path
91 11202 0x2bc2 MULTIPLE_RW_INVALID HIGH No description mission/acsDefs.h
92 11203 0x2bc3 MEKF_INVALID_INFO INFO No description mission/acsDefs.h
93 11204 0x2bc4 MEKF_INVALID_MODE_VIOLATION HIGH No description mission/acsDefs.h
94 11205 0x2bc5 SAFE_MODE_CONTROLLER_FAILURE HIGH No description mission/acsDefs.h
95 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
96 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
97 11302 0x2c26 SWITCHING_Q7S_DENIED MEDIUM No description mission/devices/devicedefinitions/powerDefinitions.h

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@ -91,6 +91,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;No description;mission/acsDefs.h 11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;No description;mission/acsDefs.h
11203;0x2bc3;MEKF_INVALID_INFO;INFO;No description;mission/acsDefs.h 11203;0x2bc3;MEKF_INVALID_INFO;INFO;No description;mission/acsDefs.h
11204;0x2bc4;MEKF_INVALID_MODE_VIOLATION;HIGH;No description;mission/acsDefs.h 11204;0x2bc4;MEKF_INVALID_MODE_VIOLATION;HIGH;No description;mission/acsDefs.h
11205;0x2bc5;SAFE_MODE_CONTROLLER_FAILURE;HIGH;No description;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 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 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;No description;mission/devices/devicedefinitions/powerDefinitions.h 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/devices/devicedefinitions/powerDefinitions.h

1 Event ID (dec) Event ID (hex) Name Severity Description File Path
91 11202 0x2bc2 MULTIPLE_RW_INVALID HIGH No description mission/acsDefs.h
92 11203 0x2bc3 MEKF_INVALID_INFO INFO No description mission/acsDefs.h
93 11204 0x2bc4 MEKF_INVALID_MODE_VIOLATION HIGH No description mission/acsDefs.h
94 11205 0x2bc5 SAFE_MODE_CONTROLLER_FAILURE HIGH No description mission/acsDefs.h
95 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
96 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
97 11302 0x2c26 SWITCHING_Q7S_DENIED MEDIUM No description mission/devices/devicedefinitions/powerDefinitions.h

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@ -1,7 +1,7 @@
/** /**
* @brief Auto-generated event translation file. Contains 276 translations. * @brief Auto-generated event translation file. Contains 277 translations.
* @details * @details
* Generated on: 2023-03-14 18:50:08 * Generated on: 2023-03-16 17:47:14
*/ */
#include "translateEvents.h" #include "translateEvents.h"
@ -97,6 +97,7 @@ const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID"; const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO"; const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION"; const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT"; const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED"; const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED"; const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@ -463,6 +464,8 @@ const char *translateEvents(Event event) {
return MEKF_INVALID_INFO_STRING; return MEKF_INVALID_INFO_STRING;
case (11204): case (11204):
return MEKF_INVALID_MODE_VIOLATION_STRING; return MEKF_INVALID_MODE_VIOLATION_STRING;
case (11205):
return SAFE_MODE_CONTROLLER_FAILURE_STRING;
case (11300): case (11300):
return SWITCH_CMD_SENT_STRING; return SWITCH_CMD_SENT_STRING;
case (11301): case (11301):

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@ -2,7 +2,7 @@
* @brief Auto-generated object translation file. * @brief Auto-generated object translation file.
* @details * @details
* Contains 173 translations. * Contains 173 translations.
* Generated on: 2023-03-14 18:50:08 * Generated on: 2023-03-16 17:47:14
*/ */
#include "translateObjects.h" #include "translateObjects.h"

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@ -1,7 +1,7 @@
/** /**
* @brief Auto-generated event translation file. Contains 276 translations. * @brief Auto-generated event translation file. Contains 277 translations.
* @details * @details
* Generated on: 2023-03-14 18:50:08 * Generated on: 2023-03-16 17:47:14
*/ */
#include "translateEvents.h" #include "translateEvents.h"
@ -97,6 +97,7 @@ const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID"; const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO"; const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION"; const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT"; const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED"; const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED"; const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@ -463,6 +464,8 @@ const char *translateEvents(Event event) {
return MEKF_INVALID_INFO_STRING; return MEKF_INVALID_INFO_STRING;
case (11204): case (11204):
return MEKF_INVALID_MODE_VIOLATION_STRING; return MEKF_INVALID_MODE_VIOLATION_STRING;
case (11205):
return SAFE_MODE_CONTROLLER_FAILURE_STRING;
case (11300): case (11300):
return SWITCH_CMD_SENT_STRING; return SWITCH_CMD_SENT_STRING;
case (11301): case (11301):

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@ -2,7 +2,7 @@
* @brief Auto-generated object translation file. * @brief Auto-generated object translation file.
* @details * @details
* Contains 173 translations. * Contains 173 translations.
* Generated on: 2023-03-14 18:50:08 * Generated on: 2023-03-16 17:47:14
*/ */
#include "translateObjects.h" #include "translateObjects.h"

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@ -32,6 +32,8 @@ static constexpr Event MULTIPLE_RW_INVALID = MAKE_EVENT(2, severity::HIGH);
static constexpr Event MEKF_INVALID_INFO = MAKE_EVENT(3, severity::INFO); static constexpr Event MEKF_INVALID_INFO = MAKE_EVENT(3, severity::INFO);
//!< MEKF was not able to compute a solution during any pointing ACS mode for a prolonged time. //!< 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(4, severity::HIGH); static constexpr Event MEKF_INVALID_MODE_VIOLATION = MAKE_EVENT(4, severity::HIGH);
//!< The ACS safe mode controller was not able to compute a solution and has failed.
static constexpr Event SAFE_MODE_CONTROLLER_FAILURE = MAKE_EVENT(5, severity::HIGH);
extern const char* getModeStr(AcsMode mode); extern const char* getModeStr(AcsMode mode);

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@ -173,7 +173,16 @@ void AcsController::performSafe() {
sunTargetDir, satRateSafe, &errAng, magMomMtq); sunTargetDir, satRateSafe, &errAng, magMomMtq);
} }
if (result == returnvalue::FAILED) { if (result == returnvalue::FAILED) {
// ToDo: this should never ever happen or we are dead. prob add an event at least if (not safeCtrlFailureFlag) {
triggerEvent(acs::SAFE_MODE_CONTROLLER_FAILURE);
safeCtrlFailureFlag = true;
}
safeCtrlFailureCounter++;
if (safeCtrlFailureCounter > 50) {
safeCtrlFailureFlag = false;
}
} else {
safeCtrlFailureFlag = false;
} }
actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs, actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs,

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@ -62,6 +62,9 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
uint8_t multipleRwUnavailableCounter = 0; uint8_t multipleRwUnavailableCounter = 0;
bool mekfInvalidFlag = false; bool mekfInvalidFlag = false;
uint16_t mekfInvalidCounter = 0; uint16_t mekfInvalidCounter = 0;
bool safeCtrlFailureFlag = false;
uint8_t safeCtrlFailureCounter = 0;
int32_t cmdSpeedRws[4] = {0, 0, 0, 0}; int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
int16_t cmdDipolMtqs[3] = {0, 0, 0}; int16_t cmdDipolMtqs[3] = {0, 0, 0};

2
tmtc

@ -1 +1 @@
Subproject commit 4f48c25bf757b6c056072049fe5965da890b4f5b Subproject commit d3f9a83af82cab66a557600752aaf361a4fcd035