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

CHANGELOG.md

@@ -25,6 +25,8 @@ will consitute of a breaking change warranting a new major release:
 
 - Doubled GS PST interval instead of scheduling everything twice.
 - Syrlinks now only has one `PERFORM_OPERATION` step, but still has two communication steps.
+- TCS controller now does a sanity check on the temperature values: Values below -80 C or above
+  160 C are ignored.
 
 # [v1.43.0] 2023-04-04
 

mission/controller/ThermalController.cpp

@@ -988,14 +988,16 @@ void ThermalController::ctrlAcsBoard() {
   sensors[4].first = sensorTemperatures.tcsBoard.isValid();
   sensors[4].second = sensorTemperatures.tcsBoard.value;
   numSensors = 5;
-  if (selectAndReadSensorTemp()) {
-    if (chooseHeater(switchNr, redSwitchNr)) {
+  {
     HeaterContext htrCtx(switchNr, redSwitchNr, acsBoardLimits);
+    if (selectAndReadSensorTemp(htrCtx)) {
+      if (chooseHeater(switchNr, redSwitchNr)) {
         checkLimitsAndCtrlHeater(htrCtx);
       }
       resetSensorsArray();
       return;
     }
+  }
   resetSensorsArray();
   // B side
   sensors[0].first = deviceTemperatures.gyro2SideB.isValid();
@@ -1007,9 +1009,11 @@ void ThermalController::ctrlAcsBoard() {
   sensors[3].first = sensorTemperatures.tcsBoard.isValid();
   sensors[3].second = sensorTemperatures.tcsBoard.value;
   numSensors = 4;
-  if (selectAndReadSensorTemp()) {
-    if (chooseHeater(switchNr, redSwitchNr)) {
+
+  {
     HeaterContext htrCtx(switchNr, redSwitchNr, acsBoardLimits);
+    if (selectAndReadSensorTemp(htrCtx)) {
+      if (chooseHeater(switchNr, redSwitchNr)) {
         checkLimitsAndCtrlHeater(htrCtx);
       }
     } else {
@@ -1019,6 +1023,7 @@ void ThermalController::ctrlAcsBoard() {
         }
       }
     }
+  }
   resetSensorsArray();
 }
 
@@ -1546,7 +1551,7 @@ void ThermalController::performThermalModuleCtrl(const HeaterSwitchStates& heate
   heaterTransitionControl(heaterSwitchStates);
 }
 void ThermalController::ctrlComponentTemperature(HeaterContext& htrCtx) {
-  if (selectAndReadSensorTemp()) {
+  if (selectAndReadSensorTemp(htrCtx)) {
     if (chooseHeater(htrCtx.switchNr, htrCtx.redSwitchNr)) {
       checkLimitsAndCtrlHeater(htrCtx);
     }
@@ -1560,9 +1565,11 @@ void ThermalController::ctrlComponentTemperature(HeaterContext& htrCtx) {
   }
   resetSensorsArray();
 }
-bool ThermalController::selectAndReadSensorTemp() {
+bool ThermalController::selectAndReadSensorTemp(HeaterContext& htrCtx) {
   for (unsigned i = 0; i < numSensors; i++) {
-    if (sensors[i].first and sensors[i].second != INVALID_TEMPERATURE) {
+    if (sensors[i].first and sensors[i].second != INVALID_TEMPERATURE and
+        sensors[i].second > SANITY_LIMIT_LOWER_TEMP and
+        sensors[i].second < SANITY_LIMIT_UPPER_TEMP) {
       sensorTemp = sensors[i].second;
       thermalStates[thermalComponent].errorCounter = 0;
       return true;

mission/controller/ThermalController.h

@@ -91,6 +91,8 @@ class ThermalController : public ExtendedControllerBase {
  public:
   static const uint16_t INVALID_TEMPERATURE = 999;
   static const uint8_t NUMBER_OF_SENSORS = 16;
+  static constexpr int16_t SANITY_LIMIT_LOWER_TEMP = -80;
+  static constexpr int16_t SANITY_LIMIT_UPPER_TEMP = 160;
 
   ThermalController(object_id_t objectId, HeaterHandler& heater);
 
@@ -299,7 +301,7 @@ class ThermalController : public ExtendedControllerBase {
   void heaterCtrlTempTooHighHandler(HeaterContext& heaterContext, const char* whatLimit);
 
   bool chooseHeater(heater::Switchers& switchNr, heater::Switchers redSwitchNr);
-  bool selectAndReadSensorTemp();
+  bool selectAndReadSensorTemp(HeaterContext& htrCtx);
 
   void ctrlAcsBoard();
   void ctrlMgt();