From 236916bf67258fe40f60f64f5b7f48ef7477650b Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Thu, 29 Feb 2024 16:06:55 +0100
Subject: [PATCH 01/22] this should remove the fix changed spam

---
 bsp_q7s/core/CoreController.cpp          |  3 +--
 bsp_q7s/core/CoreController.h            |  2 +-
 linux/acs/GpsHyperionLinuxController.cpp | 28 +++++++++++++++---------
 linux/acs/GpsHyperionLinuxController.h   | 13 ++++++-----
 mission/acs/archive/GPSDefinitions.h     |  6 ++---
 5 files changed, 30 insertions(+), 22 deletions(-)

diff --git a/bsp_q7s/core/CoreController.cpp b/bsp_q7s/core/CoreController.cpp
index e1b48fd2..ac5e5292 100644
--- a/bsp_q7s/core/CoreController.cpp
+++ b/bsp_q7s/core/CoreController.cpp
@@ -2072,8 +2072,7 @@ ReturnValue_t CoreController::initClockFromTimeFile() {
   std::string fileName = currMntPrefix + BACKUP_TIME_FILE;
   std::error_code e;
   if (sdcMan->isSdCardUsable(std::nullopt) and std::filesystem::exists(fileName, e) and
-      ((gpsFix == FixMode::UNKNOWN or gpsFix == FixMode::NOT_SEEN) or
-       not utility::timeSanityCheck())) {
+      ((gpsFix == FixMode::NOT_SEEN) or not utility::timeSanityCheck())) {
     ifstream timeFile(fileName);
     string nextWord;
     getline(timeFile, nextWord);
diff --git a/bsp_q7s/core/CoreController.h b/bsp_q7s/core/CoreController.h
index 79224ed2..78925b9c 100644
--- a/bsp_q7s/core/CoreController.h
+++ b/bsp_q7s/core/CoreController.h
@@ -209,7 +209,7 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
   static constexpr MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
   static constexpr uint32_t MUTEX_TIMEOUT = 20;
   bool enableHkSet = false;
-  GpsHyperion::FixMode gpsFix = GpsHyperion::FixMode::UNKNOWN;
+  GpsHyperion::FixMode gpsFix = GpsHyperion::FixMode::NOT_SEEN;
 
   // States for SD state machine, which is used in non-blocking mode
   enum class SdStates {
diff --git a/linux/acs/GpsHyperionLinuxController.cpp b/linux/acs/GpsHyperionLinuxController.cpp
index a2dbd81b..71967140 100644
--- a/linux/acs/GpsHyperionLinuxController.cpp
+++ b/linux/acs/GpsHyperionLinuxController.cpp
@@ -58,8 +58,8 @@ ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
     PoolReadGuard pg(&gpsSet);
     gpsSet.setValidity(false, true);
     // There can't be a fix with a device that is off.
-    triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, 0);
-    gpsSet.fixMode.value = 0;
+    handleFixChangedEvent(GpsHyperion::FixMode::NOT_SEEN);
+    gpsSet.fixMode.value = GpsHyperion::FixMode::NOT_SEEN;
     oneShotSwitches.reset();
     modeCommanded = false;
   }
@@ -249,11 +249,12 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
   uint8_t newFix = 0;
   if (modeIsSet) {
     // 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
-    if (gps.fix.mode == 2 or gps.fix.mode == 3) {
+    if (gps.fix.mode == GpsHyperion::FixMode::FIX_2D or
+        gps.fix.mode == GpsHyperion::FixMode::FIX_3D) {
       validFix = true;
     }
     newFix = gps.fix.mode;
-    if (newFix == 0 or newFix == 1) {
+    if (newFix == GpsHyperion::FixMode::NOT_SEEN or newFix == GpsHyperion::FixMode::NO_FIX) {
       if (modeCommanded and maxTimeToReachFix.hasTimedOut()) {
         // We are supposed to be on and functioning, but no fix was found
         if (mode == MODE_ON or mode == MODE_NORMAL) {
@@ -264,9 +265,7 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
     }
   }
   if (gpsSet.fixMode.value != newFix) {
-#if OBSW_Q7S_EM != 1
-    triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, newFix);
-#endif
+    handleFixChangedEvent(newFix);
   }
   gpsSet.fixMode = newFix;
   gpsSet.fixMode.setValid(modeIsSet);
@@ -297,7 +296,7 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
       // Negative latitude -> South direction
       gpsSet.latitude.value = gps.fix.latitude;
       // As specified in gps.h: Only valid if mode >= 2
-      if (gps.fix.mode >= 2) {
+      if (gps.fix.mode >= GpsHyperion::FixMode::FIX_2D) {
         latValid = true;
       }
     }
@@ -306,7 +305,7 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
       // Negative longitude -> West direction
       gpsSet.longitude.value = gps.fix.longitude;
       // As specified in gps.h: Only valid if mode >= 2
-      if (gps.fix.mode >= 2) {
+      if (gps.fix.mode >= GpsHyperion::FixMode::FIX_2D) {
         longValid = true;
       }
     }
@@ -319,7 +318,7 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
   if (ALTITUDE_SET == (ALTITUDE_SET & gps.set) && std::isfinite(gps.fix.altitude)) {
     gpsSet.altitude.value = gps.fix.altitude;
     // As specified in gps.h: Only valid if mode == 3
-    if (gps.fix.mode == 3) {
+    if (gps.fix.mode == GpsHyperion::FixMode::FIX_3D) {
       altitudeValid = true;
     }
   }
@@ -430,3 +429,12 @@ void GpsHyperionLinuxController::overwriteTimeIfNotSane(timeval time, bool valid
     timeInit = true;
   }
 }
+
+void GpsHyperionLinuxController::handleFixChangedEvent(uint8_t newFix) {
+  if (gainedNewFix.hasTimedOut()) {
+    triggerEvent(GpsHyperion::GPS_FIX_CHANGE, newFix, fixChangeCounter);
+    fixChangeCounter = 0;
+  }
+  fixChangeCounter++;
+  gainedNewFix.resetTimer();
+}
diff --git a/linux/acs/GpsHyperionLinuxController.h b/linux/acs/GpsHyperionLinuxController.h
index 3378ac55..9f63bac5 100644
--- a/linux/acs/GpsHyperionLinuxController.h
+++ b/linux/acs/GpsHyperionLinuxController.h
@@ -1,14 +1,13 @@
 #ifndef MISSION_DEVICES_GPSHYPERIONHANDLER_H_
 #define MISSION_DEVICES_GPSHYPERIONHANDLER_H_
 
+#include <common/config/eive/eventSubsystemIds.h>
+#include <fsfw/FSFW.h>
+#include <fsfw/controller/ExtendedControllerBase.h>
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <mission/acs/archive/GPSDefinitions.h>
 #include <mission/utility/trace.h>
 
-#include "eive/eventSubsystemIds.h"
-#include "fsfw/FSFW.h"
-#include "fsfw/controller/ExtendedControllerBase.h"
-#include "fsfw/devicehandlers/DeviceHandlerBase.h"
-
 #ifdef FSFW_OSAL_LINUX
 #include <gps.h>
 #include <libgpsmm.h>
@@ -65,6 +64,8 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
   const char* currentClientBuf = nullptr;
   ReadModes readMode = ReadModes::SOCKET;
   Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
+  Countdown gainedNewFix = Countdown(60 * 2 * 1000);
+  uint32_t fixChangeCounter = 0;
   bool modeCommanded = false;
   bool timeInit = false;
   uint8_t satNotSetCounter = 0;
@@ -92,6 +93,8 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
   // we set it with the roughly valid time from the GPS. For some reason, NTP might only work
   // if the time difference between sys time and current time is not too large
   void overwriteTimeIfNotSane(timeval time, bool validFix);
+
+  void handleFixChangedEvent(uint8_t newFix);
 };
 
 #endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */
diff --git a/mission/acs/archive/GPSDefinitions.h b/mission/acs/archive/GPSDefinitions.h
index 67169cbc..8feb46a7 100644
--- a/mission/acs/archive/GPSDefinitions.h
+++ b/mission/acs/archive/GPSDefinitions.h
@@ -7,10 +7,10 @@
 
 namespace GpsHyperion {
 
-enum class FixMode : uint8_t { NOT_SEEN = 0, NO_FIX = 1, FIX_2D = 2, FIX_3D = 3, UNKNOWN = 4 };
+enum FixMode : uint8_t { NOT_SEEN = 0, NO_FIX = 1, FIX_2D = 2, FIX_3D = 3 };
 
 static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::GPS_HANDLER;
-//! [EXPORT] : [COMMENT] Fix has changed. P1: Old fix. P2: New fix
+//! [EXPORT] : [COMMENT] Fix has changed. P1: New fix. P2: Missed fix changes
 //! 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix
 static constexpr Event GPS_FIX_CHANGE = event::makeEvent(SUBSYSTEM_ID, 0, severity::INFO);
 //! [EXPORT] : [COMMENT] Could not get fix in maximum allowed time. P1: Maximum allowed time
@@ -53,8 +53,6 @@ static constexpr uint8_t SKYVIEW_ENTRIES = 6;
 
 static constexpr uint8_t MAX_SATELLITES = 30;
 
-enum GpsFixModes : uint8_t { INVALID = 0, NO_FIX = 1, FIX_2D = 2, FIX_3D = 3 };
-
 }  // namespace GpsHyperion
 
 class GpsPrimaryDataset : public StaticLocalDataSet<GpsHyperion::CORE_DATASET_ENTRIES> {

From ffce866ad030e7c52bdc335cebcd757c75861537 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Thu, 29 Feb 2024 16:09:16 +0100
Subject: [PATCH 02/22] small fix

---
 linux/acs/GpsHyperionLinuxController.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/linux/acs/GpsHyperionLinuxController.cpp b/linux/acs/GpsHyperionLinuxController.cpp
index 71967140..982af4f5 100644
--- a/linux/acs/GpsHyperionLinuxController.cpp
+++ b/linux/acs/GpsHyperionLinuxController.cpp
@@ -58,6 +58,7 @@ ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
     PoolReadGuard pg(&gpsSet);
     gpsSet.setValidity(false, true);
     // There can't be a fix with a device that is off.
+    gainedNewFix.timeOut();
     handleFixChangedEvent(GpsHyperion::FixMode::NOT_SEEN);
     gpsSet.fixMode.value = GpsHyperion::FixMode::NOT_SEEN;
     oneShotSwitches.reset();

From 7e7d8c249e2d43eb12a3736a640bb26e6f5283c6 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Fri, 1 Mar 2024 10:09:49 +0100
Subject: [PATCH 03/22] between how many beers was this written

---
 linux/acs/GpsHyperionLinuxController.cpp | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/linux/acs/GpsHyperionLinuxController.cpp b/linux/acs/GpsHyperionLinuxController.cpp
index 982af4f5..1822fc2e 100644
--- a/linux/acs/GpsHyperionLinuxController.cpp
+++ b/linux/acs/GpsHyperionLinuxController.cpp
@@ -76,13 +76,16 @@ ReturnValue_t GpsHyperionLinuxController::executeAction(ActionId_t actionId,
         PoolReadGuard pg(&gpsSet);
         // Set HK entries invalid
         gpsSet.setValidity(false, true);
-        resetCallback(data, size, resetCallbackArgs);
+        ReturnValue_t result = resetCallback(data, size, resetCallbackArgs);
+        if (result != returnvalue::OK) {
+          return result;
+        }
         return HasActionsIF::EXECUTION_FINISHED;
       }
       return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
     }
   }
-  return returnvalue::OK;
+  return HasActionsIF::INVALID_ACTION_ID;
 }
 
 ReturnValue_t GpsHyperionLinuxController::initializeLocalDataPool(

From 8fe7307a5869424d31100fb9ee82dca01c4f4598 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Fri, 1 Mar 2024 10:59:37 +0100
Subject: [PATCH 04/22] remove whatever this is

---
 linux/acs/GpsHyperionLinuxController.cpp | 20 ++++++--------------
 linux/acs/GpsHyperionLinuxController.h   |  1 -
 2 files changed, 6 insertions(+), 15 deletions(-)

diff --git a/linux/acs/GpsHyperionLinuxController.cpp b/linux/acs/GpsHyperionLinuxController.cpp
index 1822fc2e..d4f04720 100644
--- a/linux/acs/GpsHyperionLinuxController.cpp
+++ b/linux/acs/GpsHyperionLinuxController.cpp
@@ -44,17 +44,13 @@ LocalPoolDataSetBase *GpsHyperionLinuxController::getDataSetHandle(sid_t sid) {
 
 ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
                                                            uint32_t *msToReachTheMode) {
-  if (not modeCommanded) {
-    if (mode == MODE_ON or mode == MODE_OFF) {
-      // 5h time to reach fix
-      *msToReachTheMode = MAX_SECONDS_TO_REACH_FIX;
-      maxTimeToReachFix.resetTimer();
-      modeCommanded = true;
-    } else if (mode == MODE_NORMAL) {
-      return HasModesIF::INVALID_MODE;
-    }
+  if (mode == MODE_ON) {
+    maxTimeToReachFix.resetTimer();
+  } else if (mode == MODE_NORMAL) {
+    return HasModesIF::INVALID_MODE;
   }
   if (mode == MODE_OFF) {
+    maxTimeToReachFix.timeOut();
     PoolReadGuard pg(&gpsSet);
     gpsSet.setValidity(false, true);
     // There can't be a fix with a device that is off.
@@ -62,7 +58,6 @@ ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
     handleFixChangedEvent(GpsHyperion::FixMode::NOT_SEEN);
     gpsSet.fixMode.value = GpsHyperion::FixMode::NOT_SEEN;
     oneShotSwitches.reset();
-    modeCommanded = false;
   }
   return returnvalue::OK;
 }
@@ -261,10 +256,7 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
     if (newFix == GpsHyperion::FixMode::NOT_SEEN or newFix == GpsHyperion::FixMode::NO_FIX) {
       if (modeCommanded and maxTimeToReachFix.hasTimedOut()) {
         // We are supposed to be on and functioning, but no fix was found
-        if (mode == MODE_ON or mode == MODE_NORMAL) {
-          mode = MODE_OFF;
-        }
-        modeCommanded = false;
+        // ToDo:: maybe pull reset pins here
       }
     }
   }
diff --git a/linux/acs/GpsHyperionLinuxController.h b/linux/acs/GpsHyperionLinuxController.h
index 9f63bac5..f9039bbd 100644
--- a/linux/acs/GpsHyperionLinuxController.h
+++ b/linux/acs/GpsHyperionLinuxController.h
@@ -66,7 +66,6 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
   Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
   Countdown gainedNewFix = Countdown(60 * 2 * 1000);
   uint32_t fixChangeCounter = 0;
-  bool modeCommanded = false;
   bool timeInit = false;
   uint8_t satNotSetCounter = 0;
 

From b7bf9272880fe75e8507b13aa1092a47a0a184d3 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Fri, 1 Mar 2024 11:31:01 +0100
Subject: [PATCH 05/22] boop

---
 linux/acs/GpsHyperionLinuxController.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/linux/acs/GpsHyperionLinuxController.cpp b/linux/acs/GpsHyperionLinuxController.cpp
index d4f04720..c108a828 100644
--- a/linux/acs/GpsHyperionLinuxController.cpp
+++ b/linux/acs/GpsHyperionLinuxController.cpp
@@ -51,10 +51,10 @@ ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
   }
   if (mode == MODE_OFF) {
     maxTimeToReachFix.timeOut();
+    gainedNewFix.timeOut();
     PoolReadGuard pg(&gpsSet);
     gpsSet.setValidity(false, true);
     // There can't be a fix with a device that is off.
-    gainedNewFix.timeOut();
     handleFixChangedEvent(GpsHyperion::FixMode::NOT_SEEN);
     gpsSet.fixMode.value = GpsHyperion::FixMode::NOT_SEEN;
     oneShotSwitches.reset();

From 8374a02ae28379413c8d56e80c0d66de758dcf42 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Wed, 13 Mar 2024 13:54:49 +0100
Subject: [PATCH 06/22] lets wait a bit longer

---
 bsp_q7s/objectFactory.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/bsp_q7s/objectFactory.cpp b/bsp_q7s/objectFactory.cpp
index c0dc489a..ee83636c 100644
--- a/bsp_q7s/objectFactory.cpp
+++ b/bsp_q7s/objectFactory.cpp
@@ -510,7 +510,7 @@ void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF*
   debugGps = true;
 #endif
   RESET_ARGS_GNSS.gpioComIF = gpioComIF;
-  RESET_ARGS_GNSS.waitPeriodMs = 5;
+  RESET_ARGS_GNSS.waitPeriodMs = 10 * 1e6;
   auto gpsCtrl = new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT,
                                                 enableHkSets, debugGps);
   gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);

From 3c869e521505a11aae2bc9215c7568f77ecf8228 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Wed, 13 Mar 2024 16:08:21 +0100
Subject: [PATCH 07/22] idk what i am doing here

---
 linux/acs/GpsHyperionLinuxController.cpp | 20 +++++++++++++++++++-
 mission/acs/archive/GPSDefinitions.h     |  2 +-
 2 files changed, 20 insertions(+), 2 deletions(-)

diff --git a/linux/acs/GpsHyperionLinuxController.cpp b/linux/acs/GpsHyperionLinuxController.cpp
index c108a828..a9381ce4 100644
--- a/linux/acs/GpsHyperionLinuxController.cpp
+++ b/linux/acs/GpsHyperionLinuxController.cpp
@@ -254,9 +254,27 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
     }
     newFix = gps.fix.mode;
     if (newFix == GpsHyperion::FixMode::NOT_SEEN or newFix == GpsHyperion::FixMode::NO_FIX) {
-      if (modeCommanded and maxTimeToReachFix.hasTimedOut()) {
+      if (maxTimeToReachFix.hasTimedOut()) {
         // We are supposed to be on and functioning, but no fix was found
         // ToDo:: maybe pull reset pins here
+        if (resetCallback != nullptr) {
+          PoolReadGuard pg(&gpsSet);
+          // Set HK entries invalid
+          gpsSet.setValidity(false, true);
+          ReturnValue_t result = resetCallback(0, 1, resetCallbackArgs);
+          if (result != returnvalue::OK) {
+            return result;
+          }
+        }
+        if (resetCallback != nullptr) {
+          PoolReadGuard pg(&gpsSet);
+          // Set HK entries invalid
+          gpsSet.setValidity(false, true);
+          ReturnValue_t result = resetCallback(1, 1, resetCallbackArgs);
+          if (result != returnvalue::OK) {
+            return result;
+          }
+        }
       }
     }
   }
diff --git a/mission/acs/archive/GPSDefinitions.h b/mission/acs/archive/GPSDefinitions.h
index 8feb46a7..0f597397 100644
--- a/mission/acs/archive/GPSDefinitions.h
+++ b/mission/acs/archive/GPSDefinitions.h
@@ -15,7 +15,7 @@ static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::GPS_HANDLER;
 static constexpr Event GPS_FIX_CHANGE = event::makeEvent(SUBSYSTEM_ID, 0, severity::INFO);
 //! [EXPORT] : [COMMENT] Could not get fix in maximum allowed time. P1: Maximum allowed time
 //! to get a fix after the GPS was switched on.
-static constexpr Event CANT_GET_FIX = event::makeEvent(SUBSYSTEM_ID, 1, severity::LOW);
+static constexpr Event CANT_GET_FIX = event::makeEvent(SUBSYSTEM_ID, 1, severity::MEDIUM);
 
 static constexpr DeviceCommandId_t GPS_REPLY = 0;
 static constexpr DeviceCommandId_t TRIGGER_RESET_PIN_GNSS = 5;

From 7a43e1bc67ef960228e207e299d1bc142bb34161 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Fri, 15 Mar 2024 14:54:16 +0100
Subject: [PATCH 08/22] better but still not fixed

---
 linux/acs/GpsHyperionLinuxController.cpp | 18 ++++++------------
 1 file changed, 6 insertions(+), 12 deletions(-)

diff --git a/linux/acs/GpsHyperionLinuxController.cpp b/linux/acs/GpsHyperionLinuxController.cpp
index a9381ce4..8031ba46 100644
--- a/linux/acs/GpsHyperionLinuxController.cpp
+++ b/linux/acs/GpsHyperionLinuxController.cpp
@@ -256,23 +256,17 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
     if (newFix == GpsHyperion::FixMode::NOT_SEEN or newFix == GpsHyperion::FixMode::NO_FIX) {
       if (maxTimeToReachFix.hasTimedOut()) {
         // We are supposed to be on and functioning, but no fix was found
-        // ToDo:: maybe pull reset pins here
+        // Set HK entries invalid
+        PoolReadGuard pg(&gpsSet);
+        gpsSet.setValidity(false, true);
         if (resetCallback != nullptr) {
-          PoolReadGuard pg(&gpsSet);
-          // Set HK entries invalid
-          gpsSet.setValidity(false, true);
           ReturnValue_t result = resetCallback(0, 1, resetCallbackArgs);
           if (result != returnvalue::OK) {
-            return result;
+            // ToDo: Trigger Event
           }
-        }
-        if (resetCallback != nullptr) {
-          PoolReadGuard pg(&gpsSet);
-          // Set HK entries invalid
-          gpsSet.setValidity(false, true);
-          ReturnValue_t result = resetCallback(1, 1, resetCallbackArgs);
+          result = resetCallback(1, 1, resetCallbackArgs);
           if (result != returnvalue::OK) {
-            return result;
+            // ToDo: Trigger Event
           }
         }
       }

From 18d3c8fa91d805b6edf81bd98c37620eb489fd40 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Mon, 18 Mar 2024 17:20:40 +0100
Subject: [PATCH 09/22] not sure why this was ever archived

---
 {mission/acs/archive => linux/acs}/GPSDefinitions.h | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename {mission/acs/archive => linux/acs}/GPSDefinitions.h (100%)

diff --git a/mission/acs/archive/GPSDefinitions.h b/linux/acs/GPSDefinitions.h
similarity index 100%
rename from mission/acs/archive/GPSDefinitions.h
rename to linux/acs/GPSDefinitions.h

From 0cbac07f15c1f4fda85897399652558027cf0e4a Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Mon, 18 Mar 2024 17:20:55 +0100
Subject: [PATCH 10/22] this might work

---
 linux/acs/GpsHyperionLinuxController.cpp | 11 ++++++-----
 linux/acs/GpsHyperionLinuxController.h   |  2 +-
 2 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/linux/acs/GpsHyperionLinuxController.cpp b/linux/acs/GpsHyperionLinuxController.cpp
index 8031ba46..5fa2d344 100644
--- a/linux/acs/GpsHyperionLinuxController.cpp
+++ b/linux/acs/GpsHyperionLinuxController.cpp
@@ -257,16 +257,17 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
       if (maxTimeToReachFix.hasTimedOut()) {
         // We are supposed to be on and functioning, but no fix was found
         // Set HK entries invalid
-        PoolReadGuard pg(&gpsSet);
         gpsSet.setValidity(false, true);
         if (resetCallback != nullptr) {
-          ReturnValue_t result = resetCallback(0, 1, resetCallbackArgs);
+          uint8_t chip = GpsHyperion::GnssChip::A_SIDE;
+          ReturnValue_t result = resetCallback(&chip, 1, resetCallbackArgs);
           if (result != returnvalue::OK) {
-            // ToDo: Trigger Event
+            triggerEvent(GpsHyperion::RESET_FAIL, chip);
           }
-          result = resetCallback(1, 1, resetCallbackArgs);
+          chip = GpsHyperion::GnssChip::B_SIDE;
+          result = resetCallback(&chip, 1, resetCallbackArgs);
           if (result != returnvalue::OK) {
-            // ToDo: Trigger Event
+            triggerEvent(GpsHyperion::RESET_FAIL, chip);
           }
         }
       }
diff --git a/linux/acs/GpsHyperionLinuxController.h b/linux/acs/GpsHyperionLinuxController.h
index f9039bbd..00a8218f 100644
--- a/linux/acs/GpsHyperionLinuxController.h
+++ b/linux/acs/GpsHyperionLinuxController.h
@@ -5,7 +5,7 @@
 #include <fsfw/FSFW.h>
 #include <fsfw/controller/ExtendedControllerBase.h>
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
-#include <mission/acs/archive/GPSDefinitions.h>
+#include <linux/acs/GPSDefinitions.h>
 #include <mission/utility/trace.h>
 
 #ifdef FSFW_OSAL_LINUX

From f2f856e2275980d2685e82877e191027ed29325e Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Mon, 18 Mar 2024 17:21:08 +0100
Subject: [PATCH 11/22] cleanup

---
 bsp_q7s/core/CoreController.h         | 2 +-
 dummies/GpsCtrlDummy.h                | 2 +-
 dummies/GpsDhbDummy.cpp               | 2 +-
 linux/acs/GPSDefinitions.h            | 4 ++++
 mission/controller/acs/SensorValues.h | 2 +-
 5 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/bsp_q7s/core/CoreController.h b/bsp_q7s/core/CoreController.h
index 9c053008..6827a392 100644
--- a/bsp_q7s/core/CoreController.h
+++ b/bsp_q7s/core/CoreController.h
@@ -9,7 +9,7 @@
 #include <fsfw/parameters/ReceivesParameterMessagesIF.h>
 #include <fsfw_hal/linux/uio/UioMapper.h>
 #include <libxiphos.h>
-#include <mission/acs/archive/GPSDefinitions.h>
+#include <linux/acs/GPSDefinitions.h>
 #include <mission/utility/trace.h>
 
 #include <atomic>
diff --git a/dummies/GpsCtrlDummy.h b/dummies/GpsCtrlDummy.h
index 18b990fb..b64647b1 100644
--- a/dummies/GpsCtrlDummy.h
+++ b/dummies/GpsCtrlDummy.h
@@ -2,7 +2,7 @@
 #define DUMMIES_GPSCTRLDUMMY_H_
 
 #include <fsfw/controller/ExtendedControllerBase.h>
-#include <mission/acs/archive/GPSDefinitions.h>
+#include <linux/acs/GPSDefinitions.h>
 
 class GpsCtrlDummy : public ExtendedControllerBase {
  public:
diff --git a/dummies/GpsDhbDummy.cpp b/dummies/GpsDhbDummy.cpp
index 4e385ec5..73addb3c 100644
--- a/dummies/GpsDhbDummy.cpp
+++ b/dummies/GpsDhbDummy.cpp
@@ -1,5 +1,5 @@
 #include <dummies/GpsDhbDummy.h>
-#include <mission/acs/archive/GPSDefinitions.h>
+#include <linux/acs/GPSDefinitions.h>
 
 GpsDhbDummy::GpsDhbDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie) {}
diff --git a/linux/acs/GPSDefinitions.h b/linux/acs/GPSDefinitions.h
index 0f597397..9fb9e31d 100644
--- a/linux/acs/GPSDefinitions.h
+++ b/linux/acs/GPSDefinitions.h
@@ -9,6 +9,8 @@ namespace GpsHyperion {
 
 enum FixMode : uint8_t { NOT_SEEN = 0, NO_FIX = 1, FIX_2D = 2, FIX_3D = 3 };
 
+enum GnssChip : uint8_t { A_SIDE = 0, B_SIDE = 1 };
+
 static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::GPS_HANDLER;
 //! [EXPORT] : [COMMENT] Fix has changed. P1: New fix. P2: Missed fix changes
 //! 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix
@@ -16,6 +18,8 @@ static constexpr Event GPS_FIX_CHANGE = event::makeEvent(SUBSYSTEM_ID, 0, severi
 //! [EXPORT] : [COMMENT] Could not get fix in maximum allowed time. P1: Maximum allowed time
 //! to get a fix after the GPS was switched on.
 static constexpr Event CANT_GET_FIX = event::makeEvent(SUBSYSTEM_ID, 1, severity::MEDIUM);
+//! [EXPORT] : [COMMENT] Failed to reset an GNNS Device. P1: Board-Side.
+static constexpr Event RESET_FAIL = event::makeEvent(SUBSYSTEM_ID, 2, severity::HIGH);
 
 static constexpr DeviceCommandId_t GPS_REPLY = 0;
 static constexpr DeviceCommandId_t TRIGGER_RESET_PIN_GNSS = 5;
diff --git a/mission/controller/acs/SensorValues.h b/mission/controller/acs/SensorValues.h
index d7da66c0..69761666 100644
--- a/mission/controller/acs/SensorValues.h
+++ b/mission/controller/acs/SensorValues.h
@@ -4,7 +4,7 @@
 #include <fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h>
 #include <fsfw_hal/devicehandlers/MgmRM3100Handler.h>
 #include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
-#include <mission/acs/archive/GPSDefinitions.h>
+#include <linux/acs/GPSDefinitions.h>
 #include <mission/acs/gyroAdisHelpers.h>
 #include <mission/acs/imtqHelpers.h>
 #include <mission/acs/rwHelpers.h>

From 4193a565a42971d9680dc35083bbed3d326357bc Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Fri, 22 Mar 2024 11:39:18 +0100
Subject: [PATCH 12/22] i hate this

---
 mission/controller/acs/Guidance.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/mission/controller/acs/Guidance.cpp b/mission/controller/acs/Guidance.cpp
index 2c1b3c63..07730e09 100644
--- a/mission/controller/acs/Guidance.cpp
+++ b/mission/controller/acs/Guidance.cpp
@@ -303,9 +303,9 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
   // First calculate error quaternion between current and target orientation without reference
   // quaternion
   double errorQuatWoRef[4] = {0, 0, 0, 0};
-  QuaternionOperations::multiply(currentQuat, targetQuat, errorQuatWoRef);
+  QuaternionOperations::multiply(targetQuat, currentQuat, errorQuatWoRef);
   // Then add rotation from reference quaternion
-  QuaternionOperations::multiply(refQuat, errorQuatWoRef, errorQuat);
+  QuaternionOperations::multiply(errorQuatWoRef, refQuat, errorQuat);
   // Keep scalar part of quaternion positive
   if (errorQuat[3] < 0) {
     VectorOperations<double>::mulScalar(errorQuat, -1, errorQuat, 4);

From 9f033411089ba7c7cf537fa2fb69bb8a05c4313e Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Fri, 22 Mar 2024 11:40:00 +0100
Subject: [PATCH 13/22] changelog

---
 CHANGELOG.md | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 649cf44f..6510f227 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -16,6 +16,10 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+## Fixed
+
+- Fixed wrong order in quaternion multiplication for computation of the error quaternion.
+
 # [v7.7.4] 2024-03-21
 
 ## Changed

From 2057ab9c10b148f3a84de9d62fe3f2e5cc6f5ccc Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Tue, 9 Apr 2024 09:58:05 +0200
Subject: [PATCH 14/22] some cleanup

---
 linux/acs/GpsHyperionLinuxController.cpp | 96 +++++++++++++-----------
 1 file changed, 53 insertions(+), 43 deletions(-)

diff --git a/linux/acs/GpsHyperionLinuxController.cpp b/linux/acs/GpsHyperionLinuxController.cpp
index 5fa2d344..058c68ed 100644
--- a/linux/acs/GpsHyperionLinuxController.cpp
+++ b/linux/acs/GpsHyperionLinuxController.cpp
@@ -54,7 +54,7 @@ ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
     gainedNewFix.timeOut();
     PoolReadGuard pg(&gpsSet);
     gpsSet.setValidity(false, true);
-    // There can't be a fix with a device that is off.
+    // The ctrl is off, so it cannot detect the data from the devices.
     handleFixChangedEvent(GpsHyperion::FixMode::NOT_SEEN);
     gpsSet.fixMode.value = GpsHyperion::FixMode::NOT_SEEN;
     oneShotSwitches.reset();
@@ -215,15 +215,9 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
   bool modeIsSet = true;
   if (MODE_SET != (MODE_SET & gps.set)) {
     if (mode != MODE_OFF) {
-      if (maxTimeToReachFix.hasTimedOut() and oneShotSwitches.cantGetFixSwitch) {
-        sif::warning << "GpsHyperionLinuxController: No mode could be set in allowed "
-                     << maxTimeToReachFix.getTimeoutMs() / 1000 << " seconds" << std::endl;
-        triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.getTimeoutMs());
-        oneShotSwitches.cantGetFixSwitch = false;
-      }
       modeIsSet = false;
     } else {
-      // GPS device is off anyway, so do other handling
+      // GPS ctrl is off anyway, so do other handling
       return returnvalue::FAILED;
     }
   }
@@ -253,21 +247,28 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
       validFix = true;
     }
     newFix = gps.fix.mode;
-    if (newFix == GpsHyperion::FixMode::NOT_SEEN or newFix == GpsHyperion::FixMode::NO_FIX) {
+    if (not validFix) {
       if (maxTimeToReachFix.hasTimedOut()) {
         // We are supposed to be on and functioning, but no fix was found
         // Set HK entries invalid
         gpsSet.setValidity(false, true);
-        if (resetCallback != nullptr) {
-          uint8_t chip = GpsHyperion::GnssChip::A_SIDE;
-          ReturnValue_t result = resetCallback(&chip, 1, resetCallbackArgs);
-          if (result != returnvalue::OK) {
-            triggerEvent(GpsHyperion::RESET_FAIL, chip);
-          }
-          chip = GpsHyperion::GnssChip::B_SIDE;
-          result = resetCallback(&chip, 1, resetCallbackArgs);
-          if (result != returnvalue::OK) {
-            triggerEvent(GpsHyperion::RESET_FAIL, chip);
+        if (oneShotSwitches.cantGetFixSwitch) {
+          sif::warning << "GpsHyperionLinuxController: No fix detected in allowed "
+                       << maxTimeToReachFix.getTimeoutMs() / 1000 << " seconds" << std::endl;
+          triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.getTimeoutMs());
+          oneShotSwitches.cantGetFixSwitch = false;
+          // Try resetting the devices
+          if (resetCallback != nullptr) {
+            uint8_t chip = GpsHyperion::GnssChip::A_SIDE;
+            ReturnValue_t result = resetCallback(&chip, 1, resetCallbackArgs);
+            if (result != returnvalue::OK) {
+              triggerEvent(GpsHyperion::RESET_FAIL, chip);
+            }
+            chip = GpsHyperion::GnssChip::B_SIDE;
+            result = resetCallback(&chip, 1, resetCallbackArgs);
+            if (result != returnvalue::OK) {
+              triggerEvent(GpsHyperion::RESET_FAIL, chip);
+            }
           }
         }
       }
@@ -290,9 +291,12 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
     }
     satNotSetCounter = 0;
   } else {
-    satNotSetCounter++;
-    if (gpsSet.satInUse.isValid() and satNotSetCounter >= 10) {
+    if (satNotSetCounter < 10) {
+      satNotSetCounter++;
+    } else {
+      gpsSet.satInUse.value = 0;
       gpsSet.satInUse.setValid(false);
+      gpsSet.satInView.value = 0;
       gpsSet.satInView.setValid(false);
     }
   }
@@ -300,22 +304,24 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
   // LATLON is set for every message, no need for a counter
   bool latValid = false;
   bool longValid = false;
-  if (LATLON_SET == (LATLON_SET & gps.set)) {
-    if (std::isfinite(gps.fix.latitude)) {
-      // Negative latitude -> South direction
-      gpsSet.latitude.value = gps.fix.latitude;
-      // As specified in gps.h: Only valid if mode >= 2
-      if (gps.fix.mode >= GpsHyperion::FixMode::FIX_2D) {
-        latValid = true;
+  if (modeIsSet) {
+    if (LATLON_SET == (LATLON_SET & gps.set)) {
+      if (std::isfinite(gps.fix.latitude)) {
+        // Negative latitude -> South direction
+        gpsSet.latitude.value = gps.fix.latitude;
+        // As specified in gps.h: Only valid if mode >= 2
+        if (gps.fix.mode >= GpsHyperion::FixMode::FIX_2D) {
+          latValid = true;
+        }
       }
-    }
 
-    if (std::isfinite(gps.fix.longitude)) {
-      // Negative longitude -> West direction
-      gpsSet.longitude.value = gps.fix.longitude;
-      // As specified in gps.h: Only valid if mode >= 2
-      if (gps.fix.mode >= GpsHyperion::FixMode::FIX_2D) {
-        longValid = true;
+      if (std::isfinite(gps.fix.longitude)) {
+        // Negative longitude -> West direction
+        gpsSet.longitude.value = gps.fix.longitude;
+        // As specified in gps.h: Only valid if mode >= 2
+        if (gps.fix.mode >= GpsHyperion::FixMode::FIX_2D) {
+          longValid = true;
+        }
       }
     }
   }
@@ -324,20 +330,24 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
 
   // ALTITUDE is set for every message, no need for a counter
   bool altitudeValid = false;
-  if (ALTITUDE_SET == (ALTITUDE_SET & gps.set) && std::isfinite(gps.fix.altitude)) {
-    gpsSet.altitude.value = gps.fix.altitude;
-    // As specified in gps.h: Only valid if mode == 3
-    if (gps.fix.mode == GpsHyperion::FixMode::FIX_3D) {
-      altitudeValid = true;
+  if (modeIsSet) {
+    if (ALTITUDE_SET == (ALTITUDE_SET & gps.set) && std::isfinite(gps.fix.altitude)) {
+      gpsSet.altitude.value = gps.fix.altitude;
+      // As specified in gps.h: Only valid if mode == 3
+      if (gps.fix.mode == GpsHyperion::FixMode::FIX_3D) {
+        altitudeValid = true;
+      }
     }
   }
   gpsSet.altitude.setValid(altitudeValid);
 
   // SPEED is set for every message, no need for a counter
   bool speedValid = false;
-  if (SPEED_SET == (SPEED_SET & gps.set) && std::isfinite(gps.fix.speed)) {
-    gpsSet.speed.value = gps.fix.speed;
-    speedValid = true;
+  if (modeIsSet) {
+    if (SPEED_SET == (SPEED_SET & gps.set) && std::isfinite(gps.fix.speed)) {
+      gpsSet.speed.value = gps.fix.speed;
+      speedValid = true;
+    }
   }
   gpsSet.speed.setValid(speedValid);
 

From f3d4e09487ca346f1348a4db0865feca34abee70 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Tue, 9 Apr 2024 09:59:21 +0200
Subject: [PATCH 15/22] improved event comment

---
 linux/acs/GPSDefinitions.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/linux/acs/GPSDefinitions.h b/linux/acs/GPSDefinitions.h
index 9fb9e31d..82025a22 100644
--- a/linux/acs/GPSDefinitions.h
+++ b/linux/acs/GPSDefinitions.h
@@ -15,8 +15,8 @@ static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::GPS_HANDLER;
 //! [EXPORT] : [COMMENT] Fix has changed. P1: New fix. P2: Missed fix changes
 //! 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix
 static constexpr Event GPS_FIX_CHANGE = event::makeEvent(SUBSYSTEM_ID, 0, severity::INFO);
-//! [EXPORT] : [COMMENT] Could not get fix in maximum allowed time. P1: Maximum allowed time
-//! to get a fix after the GPS was switched on.
+//! [EXPORT] : [COMMENT] Could not get fix in maximum allowed time. Trying to reset both GNSS
+//! devices. P1: Maximum allowed time to get a fix after the GPS was switched on.
 static constexpr Event CANT_GET_FIX = event::makeEvent(SUBSYSTEM_ID, 1, severity::MEDIUM);
 //! [EXPORT] : [COMMENT] Failed to reset an GNNS Device. P1: Board-Side.
 static constexpr Event RESET_FAIL = event::makeEvent(SUBSYSTEM_ID, 2, severity::HIGH);

From d4eb124cdf52b80e48a02088281a49af063af134 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Tue, 9 Apr 2024 11:26:55 +0200
Subject: [PATCH 16/22] missing reset

---
 linux/acs/GpsHyperionLinuxController.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/linux/acs/GpsHyperionLinuxController.cpp b/linux/acs/GpsHyperionLinuxController.cpp
index 058c68ed..9b93b22b 100644
--- a/linux/acs/GpsHyperionLinuxController.cpp
+++ b/linux/acs/GpsHyperionLinuxController.cpp
@@ -245,6 +245,7 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
     if (gps.fix.mode == GpsHyperion::FixMode::FIX_2D or
         gps.fix.mode == GpsHyperion::FixMode::FIX_3D) {
       validFix = true;
+      maxTimeToReachFix.resetTimer();
     }
     newFix = gps.fix.mode;
     if (not validFix) {

From 887f1654845ccb4357269ab5d2a2917c1c02a701 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Tue, 9 Apr 2024 13:29:42 +0200
Subject: [PATCH 17/22] ye maybe dont hold the reset pin for 3h

---
 bsp_q7s/objectFactory.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/bsp_q7s/objectFactory.cpp b/bsp_q7s/objectFactory.cpp
index ee83636c..0f61a51d 100644
--- a/bsp_q7s/objectFactory.cpp
+++ b/bsp_q7s/objectFactory.cpp
@@ -510,7 +510,7 @@ void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF*
   debugGps = true;
 #endif
   RESET_ARGS_GNSS.gpioComIF = gpioComIF;
-  RESET_ARGS_GNSS.waitPeriodMs = 10 * 1e6;
+  RESET_ARGS_GNSS.waitPeriodMs = 10 * 1e3;
   auto gpsCtrl = new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT,
                                                 enableHkSets, debugGps);
   gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);

From 0f3eeb42d638d4e8e6811c06a2180fb7070bf05d Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Tue, 9 Apr 2024 13:30:22 +0200
Subject: [PATCH 18/22] 15 should be enough

---
 linux/acs/GpsHyperionLinuxController.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/linux/acs/GpsHyperionLinuxController.h b/linux/acs/GpsHyperionLinuxController.h
index 00a8218f..b8c3ed7a 100644
--- a/linux/acs/GpsHyperionLinuxController.h
+++ b/linux/acs/GpsHyperionLinuxController.h
@@ -23,8 +23,8 @@
  */
 class GpsHyperionLinuxController : public ExtendedControllerBase {
  public:
-  // 30 minutes
-  static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 30;
+  // 15 minutes
+  static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 15;
 
   enum ReadModes { SHM = 0, SOCKET = 1 };
 

From 1c36f36b1fec206bd30a1abb91443c1338563af5 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Tue, 9 Apr 2024 13:31:27 +0200
Subject: [PATCH 19/22] this seems better

---
 linux/acs/GpsHyperionLinuxController.cpp | 52 ++++++++++++------------
 1 file changed, 26 insertions(+), 26 deletions(-)

diff --git a/linux/acs/GpsHyperionLinuxController.cpp b/linux/acs/GpsHyperionLinuxController.cpp
index 9b93b22b..4015ee4f 100644
--- a/linux/acs/GpsHyperionLinuxController.cpp
+++ b/linux/acs/GpsHyperionLinuxController.cpp
@@ -248,38 +248,38 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
       maxTimeToReachFix.resetTimer();
     }
     newFix = gps.fix.mode;
-    if (not validFix) {
-      if (maxTimeToReachFix.hasTimedOut()) {
-        // We are supposed to be on and functioning, but no fix was found
-        // Set HK entries invalid
-        gpsSet.setValidity(false, true);
-        if (oneShotSwitches.cantGetFixSwitch) {
-          sif::warning << "GpsHyperionLinuxController: No fix detected in allowed "
-                       << maxTimeToReachFix.getTimeoutMs() / 1000 << " seconds" << std::endl;
-          triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.getTimeoutMs());
-          oneShotSwitches.cantGetFixSwitch = false;
-          // Try resetting the devices
-          if (resetCallback != nullptr) {
-            uint8_t chip = GpsHyperion::GnssChip::A_SIDE;
-            ReturnValue_t result = resetCallback(&chip, 1, resetCallbackArgs);
-            if (result != returnvalue::OK) {
-              triggerEvent(GpsHyperion::RESET_FAIL, chip);
-            }
-            chip = GpsHyperion::GnssChip::B_SIDE;
-            result = resetCallback(&chip, 1, resetCallbackArgs);
-            if (result != returnvalue::OK) {
-              triggerEvent(GpsHyperion::RESET_FAIL, chip);
-            }
-          }
-        }
-      }
-    }
   }
   if (gpsSet.fixMode.value != newFix) {
     handleFixChangedEvent(newFix);
   }
   gpsSet.fixMode = newFix;
   gpsSet.fixMode.setValid(modeIsSet);
+  // We are supposed to be on and functioning, but no fix was found
+  if (not validFix) {
+    if (maxTimeToReachFix.hasTimedOut()) {
+      // Set HK entries invalid
+      gpsSet.setValidity(false, true);
+      if (oneShotSwitches.cantGetFixSwitch) {
+        sif::warning << "GpsHyperionLinuxController: No fix detected in allowed "
+                     << maxTimeToReachFix.getTimeoutMs() / 1000 << " seconds" << std::endl;
+        triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.getTimeoutMs());
+        oneShotSwitches.cantGetFixSwitch = false;
+        // Try resetting the devices
+        if (resetCallback != nullptr) {
+          uint8_t chip = GpsHyperion::GnssChip::A_SIDE;
+          ReturnValue_t result = resetCallback(&chip, 1, resetCallbackArgs);
+          if (result != returnvalue::OK) {
+            triggerEvent(GpsHyperion::RESET_FAIL, chip);
+          }
+          chip = GpsHyperion::GnssChip::B_SIDE;
+          result = resetCallback(&chip, 1, resetCallbackArgs);
+          if (result != returnvalue::OK) {
+            triggerEvent(GpsHyperion::RESET_FAIL, chip);
+          }
+        }
+      }
+    }
+  }
 
   // Only set on specific messages, so only set a valid flag to invalid
   // if not set for more than a full message set (10 messages here)

From 427c53df8c8074be79eb6d740fc531087af6ae16 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Tue, 9 Apr 2024 14:04:20 +0200
Subject: [PATCH 20/22] better

---
 linux/acs/GpsHyperionLinuxController.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/linux/acs/GpsHyperionLinuxController.cpp b/linux/acs/GpsHyperionLinuxController.cpp
index 4015ee4f..946c5c0a 100644
--- a/linux/acs/GpsHyperionLinuxController.cpp
+++ b/linux/acs/GpsHyperionLinuxController.cpp
@@ -454,6 +454,8 @@ void GpsHyperionLinuxController::handleFixChangedEvent(uint8_t newFix) {
   if (gainedNewFix.hasTimedOut()) {
     triggerEvent(GpsHyperion::GPS_FIX_CHANGE, newFix, fixChangeCounter);
     fixChangeCounter = 0;
+    gainedNewFix.resetTimer();
+    return;
   }
   fixChangeCounter++;
   gainedNewFix.resetTimer();

From 7a12c1c8fef7fc671470b1345708613f49050fa4 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Tue, 9 Apr 2024 14:43:47 +0200
Subject: [PATCH 21/22] the first fix should trigger an event

---
 linux/acs/GpsHyperionLinuxController.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/linux/acs/GpsHyperionLinuxController.cpp b/linux/acs/GpsHyperionLinuxController.cpp
index 946c5c0a..54198ca9 100644
--- a/linux/acs/GpsHyperionLinuxController.cpp
+++ b/linux/acs/GpsHyperionLinuxController.cpp
@@ -46,6 +46,7 @@ ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
                                                            uint32_t *msToReachTheMode) {
   if (mode == MODE_ON) {
     maxTimeToReachFix.resetTimer();
+    gainedNewFix.timeOut();
   } else if (mode == MODE_NORMAL) {
     return HasModesIF::INVALID_MODE;
   }

From 7b53275d61cd2c895d53303f3b126d176c86bb60 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Tue, 9 Apr 2024 15:06:23 +0200
Subject: [PATCH 22/22] changelog

---
 CHANGELOG.md | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index a79f1cf9..4505af87 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -20,6 +20,17 @@ will consitute of a breaking change warranting a new major release:
 
 - Reverted lower OP limit of `PLOC` to -10°C.
 - All pointing laws are now allowed to use the `MEKF` per default.
+- The `GPS Controller` does not set itself to `OFF` anymore, if it has not detected a valid fix for 
+  some time. Instead it attempts to reset both GNSS devices once.
+- The maximum time to reach a fix is shortened from 30min to 15min.
+- The time the reset pin of the GNSS devices is pulled is prolonged from 5ms to 10s.
+- A `GPS FIX HAS CHANGED` is now only triggered if no fix change has been detected within the past
+  2min. This means, this event might be thrown with a 2min delay. It is instantly thrown, if the mode
+  of the controller is changed. As arguments it now displays the new fix and the numer of fix changes
+  missed.
+- The number of satellites seen and used is reset to 0, in case they are set to invalid.
+- Altitude, latitude and longitude messages are not checked anymore, in case the mode message was 
+  already invalid.
 
 # [v7.7.4] 2024-03-21