From cbb8103278849ea4c818973ea6f8729eb2c983cf Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Fri, 4 Mar 2022 18:33:23 +0100
Subject: [PATCH] some more bugfixes

---
 .../pollingSequenceFactory.cpp                |  2 +-
 mission/system/AcsBoardAssembly.cpp           | 19 ++++++++++---------
 2 files changed, 11 insertions(+), 10 deletions(-)

diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
index 81d47a4b..73f00814 100644
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@@ -349,7 +349,7 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
 #endif
 
 #if OBSW_ADD_ACS_BOARD == 1 && OBSW_ADD_ACS_HANDLERS == 1
-  bool enableAside = false;
+  bool enableAside = true;
   bool enableBside = true;
   if (enableAside) {
     // A side
diff --git a/mission/system/AcsBoardAssembly.cpp b/mission/system/AcsBoardAssembly.cpp
index 5613e155..eb4afbd5 100644
--- a/mission/system/AcsBoardAssembly.cpp
+++ b/mission/system/AcsBoardAssembly.cpp
@@ -30,6 +30,9 @@ AcsBoardAssembly::AcsBoardAssembly(object_id_t objectId, object_id_t parentId,
 void AcsBoardAssembly::handleChildrenTransition() {
   if (state == States::SWITCHING_POWER) {
     powerStateMachine(targetMode, targetSubmode);
+    if (state == States::MODE_COMMANDING) {
+      AssemblyBase::handleChildrenTransition();
+    }
   } else {
     AssemblyBase::handleChildrenTransition();
   }
@@ -72,26 +75,24 @@ ReturnValue_t AcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_
   refreshHelperModes();
   if (state == States::SWITCHING_POWER) {
     // Wrong mode
-    sif::error << "Wrong mode, currently swichting power" << std::endl;
+    sif::error << "Wrong mode, currently switching power" << std::endl;
     return RETURN_OK;
   }
-  if (submode == A_SIDE) {
+  if (wantedSubmode == A_SIDE) {
     if ((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode) or
         (helper.mgm0SideAMode != wantedMode and helper.mgm1SideAMode != wantedMode) or
         helper.gpsMode != wantedMode) {
-      submode = B_SIDE;
       return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
     }
     return RETURN_OK;
-  } else if (submode == B_SIDE) {
+  } else if (wantedSubmode == B_SIDE) {
     if ((helper.gyro2SideBMode != wantedMode and helper.gyro3SideBMode != wantedMode) or
         (helper.mgm2SideBMode != wantedMode and helper.mgm3SideBMode != wantedMode) or
         helper.gpsMode != wantedMode) {
-      submode = DUAL_MODE;
       return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
     }
     return RETURN_OK;
-  } else if (submode == DUAL_MODE) {
+  } else if (wantedSubmode == DUAL_MODE) {
     if ((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode and
          helper.gyro2AdisIdSideB != wantedMode and helper.gyro3SideBMode != wantedMode) or
         (helper.mgm0SideAMode != wantedMode and helper.mgm1SideAMode != wantedMode and
@@ -115,7 +116,7 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
     if (mode == DeviceHandlerIF::MODE_NORMAL) {
       if (isUseable(objectId, devMode)) {
         if (mode != MODE_OFF) {
-          modeTable[tableIdx].setMode(devMode);
+          modeTable[tableIdx].setMode(mode);
           modeTable[tableIdx].setSubmode(SUBMODE_NONE);
         } else {
           result = NEED_SECOND_STEP;
@@ -123,14 +124,14 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
           modeTable[tableIdx].setSubmode(SUBMODE_NONE);
         }
       }
-    } else if (devMode == MODE_ON) {
+    } else if (mode == MODE_ON) {
       if (isUseable(objectId, devMode)) {
         modeTable[tableIdx].setMode(MODE_ON);
         modeTable[tableIdx].setSubmode(SUBMODE_NONE);
       }
     }
   };
-  switch (this->submode) {
+  switch (submode) {
     case (A_SIDE): {
       cmdSeq(helper.gyro0AdisIdSideA, helper.gyro0SideAMode, ModeTableIdx::GYRO_0_A);
       cmdSeq(helper.gyro1L3gIdSideA, helper.gyro1SideAMode, ModeTableIdx::GYRO_1_A);