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

CHANGELOG.md

@@ -16,6 +16,16 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+## Fixed
+
+- Fixed transition for dual power lane assemblies: When going from dual side submode to single side
+  submode, perform logical commanding first, similarly to when going to OFF mode.
+
+## Changed
+
+- Updated GYR bias values to newest measurements. This also corrects the ADIS values to always
+  consit of just one digit.
+
 # [v1.38.0] 2023-03-17
 
 eive-tmtc: v2.19.2

linux/devices/AcsBoardPolling.cpp

@@ -451,7 +451,12 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
     cdHasTimedOut = gyro.countdown.hasTimedOut();
     mustPerformStartup = gyro.performStartup;
   }
-  if (mode == acs::SimpleSensorMode::NORMAL and cdHasTimedOut) {
+  if (mode == acs::SimpleSensorMode::OFF) {
+    return;
+  }
+  if (not cdHasTimedOut) {
+    return;
+  }
   if (mustPerformStartup) {
     uint8_t regList[6];
     // Read configuration
@@ -539,7 +544,6 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
   gyro.ownReply.data.accelerations[2] = (rawReply[14] << 8) | rawReply[15];
 
   gyro.ownReply.data.temperatureRaw = (rawReply[16] << 8) | rawReply[17];
-  }
 }
 
 void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {

mission/controller/acs/AcsParameters.h

@@ -768,10 +768,10 @@ class AcsParameters : public HasParametersIF {
     double gyr2orientationMatrix[3][3] = {{0, 0, -1}, {0, -1, 0}, {-1, 0, 0}};
     double gyr3orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
 
-    double gyr0bias[3] = {0.06318149743589743, 0.4283235025641024, -0.16383500000000004};
-    double gyr1bias[3] = {-0.12855128205128205, 1.6737307692307695, 1.031724358974359};
-    double gyr2bias[3] = {0.15039212820512823, 0.7094475589743591, -0.22298363589743594};
-    double gyr3bias[3] = {0.0021730769230769217, -0.6655897435897435, 0.034096153846153845};
+    double gyr0bias[3] = {0.0, 0.4, -0.1};
+    double gyr1bias[3] = {0.0956745283018868, 2.0854575471698116, 1.2505990566037737};
+    double gyr2bias[3] = {0.1, 0.7, -0.2};
+    double gyr3bias[3] = {-0.10721698113207549, -0.6111650943396226, 0.1716462264150944};
 
     /* var = sigma^2, sigma = RND*sqrt(freq), following values are RND^2 and not var as freq is
      * assumed to be equal for the same class of sensors */

mission/devices/GyrAdis1650XHandler.cpp

@@ -65,10 +65,7 @@ ReturnValue_t GyrAdis1650XHandler::buildTransitionDeviceCommand(DeviceCommandId_
     }
     case (InternalState::SHUTDOWN): {
       *id = adis1650x::REQUEST;
-      acs::Adis1650XRequest *request = reinterpret_cast<acs::Adis1650XRequest *>(cmdBuf.data());
-      request->mode = acs::SimpleSensorMode::OFF;
-      request->type = adisType;
-      return returnvalue::OK;
+      return preparePeriodicRequest(acs::SimpleSensorMode::OFF);
     }
     default: {
       return NOTHING_TO_SEND;

mission/system/objects/DualLaneAssemblyBase.cpp

@@ -34,10 +34,17 @@ void DualLaneAssemblyBase::performChildOperation() {
 }
 
 void DualLaneAssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
-  // doStartTransition(mode, submode);
   using namespace duallane;
   pwrStateMachine.reset();
   if (mode != MODE_OFF) {
+    // Special exception: A transition from dual side to single mode must be handled like
+    // going OFF.
+    if ((this->mode == MODE_ON or this->mode == DeviceHandlerIF::MODE_NORMAL) and
+        this->submode == DUAL_MODE and submode != DUAL_MODE) {
+      dualToSingleSideTransition = true;
+      AssemblyBase::startTransition(mode, submode);
+      return;
+    }
     // If anything other than MODE_OFF is commanded, perform power state machine first
     // Cache the target modes, required by power state machine
     pwrStateMachine.start(mode, submode);
@@ -75,9 +82,13 @@ ReturnValue_t DualLaneAssemblyBase::pwrStateMachineWrapper() {
       // Will be called for transitions to MODE_OFF, where everything is done after power switching
       finishModeOp();
     } else if (opCode == OpCodes::TO_NOT_OFF_DONE) {
+      if (dualToSingleSideTransition) {
+        finishModeOp();
+      } else {
         // Will be called for transitions from MODE_OFF to anything else, where the mode still has
         // to be commanded after power switching
         AssemblyBase::startTransition(targetMode, targetSubmode);
+      }
     } else if (opCode == OpCodes::TIMEOUT_OCCURED) {
       if (powerRetryCounter == 0) {
         powerRetryCounter++;
@@ -118,6 +129,13 @@ void DualLaneAssemblyBase::handleModeReached() {
     // Ignore failures for now.
     pwrStateMachineWrapper();
   } else {
+    // For dual to single side transition, devices should be logically off, but the switch
+    // handling still needs to be done.
+    if (dualToSingleSideTransition) {
+      pwrStateMachine.start(targetMode, targetSubmode);
+      pwrStateMachineWrapper();
+      return;
+    }
     finishModeOp();
   }
 }
@@ -229,6 +247,7 @@ void DualLaneAssemblyBase::finishModeOp() {
   pwrStateMachine.reset();
   powerRetryCounter = 0;
   tryingOtherSide = false;
+  dualToSingleSideTransition = false;
   dualModeErrorSwitch = true;
 }
 

mission/system/objects/DualLaneAssemblyBase.h

@@ -31,6 +31,7 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
   uint8_t powerRetryCounter = 0;
   bool tryingOtherSide = false;
   bool dualModeErrorSwitch = true;
+  bool dualToSingleSideTransition = false;
   duallane::Submodes defaultSubmode = duallane::Submodes::A_SIDE;
 
   enum RecoveryCustomStates {