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

CHANGELOG.md

@@ -8,19 +8,233 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/).
 The [milestone](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones)
 list yields a list of all related PRs for each release.
 
+Starting at v2.0.0, the following changes will consitute of a breaking
+change warranting a new major release:
+
+- The TMTC interface changes in any shape of form.
+- The behavour of the OBSW changes in a major shape or form relevant
+  for operations
+
 # [unreleased]
 
+- Added new heater info set for the TCS controller. This set contains the heater switch states
+  and the current draw.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/351
+
+# [v1.26.2] 2023-02-08
+
+## Changed
+
+- ACS Controller scheduling is now configurable via the `eive/definitions.h` file. Also ensured
+  that scheduling is done in big blocks to reduce risk of missed deadlines.
+- Replaced chained locks for polling new sensor data to the `AcsController`.
+- Made TM store even larger.
+
 ## Fixed
 
+- Bugfix for PDEC handler which causes the PIR register of the PDEC to never
+  be cleared on release builds. The dummy variable used to read the register
+  needs to be declared volatile to avoid compiler optimizations.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/374
+- Bumped FSFW for fix of possible memory leaks in TCP/IP TMTC bridge
+  inside the FSFW.
+
+## Added
+
+- Create TCS controller for EM build.
+
+# [v1.26.1] 2023-02-08
+
+- Initialize parameter helper in ACS controller.
+
+# [v1.26.0] 2023-02-08
+
+eive-tmtc v2.12.1
+
+## Changed
+
+### ACS
+
+- Readded calibration matrices for MGM calibration.
+- Added calculation of satellite velocity vector from GPS position data
+- Added detumble mode using GYR values
+- Added inertial pointing mode
+- Added nadir pointing mode
+- Added ground station target mode
+- Added antistiction for RWs
+- Added `sunTargetSafe` differentiation for LEOP
+- Added check for existance of `SD_0_SKEWED_PTG_FILE` and `SD_1_SKEWED_PTG_FILE` to determine
+  which `sunTargetSafe` to use
+- Added `gpsVelocity` and `gpsPosition` to `gpsProcessed`
+- Removed deprecated `OutputValues`
+- Added `HasParametersIF` to `AcsParameters`
+- Added `ReceivesParameterMessagesIF` and `ParameterHelper` to `AcsController`
+- Updated `AcsParameters` with actual values and changed structure
+- Sun vector model and magnetic field vector model calculations are always executed now
+- `domainId` is now used as identifier for parameter structs
+- Changed onboard GYR value handling from deg/s to rad/s
+
+## Fixed
+
+- Single sourcing the version information into `CMakeLists.txt`. The `git describe` functionality
+  is only used to retrieve the git SHA hash now. Also removed `OBSWVersion.h` accordingly.
+- Build system: Fixed small bug, where the version itself was
+  stored as the git SHA hash in `commonConfig.h`. This will be
+  an empty string now for regular versions.
+- Bump FSFW for important fix in PUS mode service.
+
+### ACS
+
+- Bugfixes in 'SensorProcessing' where previously MGM values would be calibrated before being
+  transformed in body RF. However, the calibration values are in the body RF. Also fixed the
+  validity flag of 'mgmVecTotDerivative'.
+- Fixed calculation of model sun vector
+- Fixed calculation of model magnetic field vector
+- Fixed MEKF algorithm
+- Fixed several variable initializations
+- Fixed several variable types
+- Fixed use of `sunMagAngleMin` for safe mode
+- Fixed MEKF not using correct `sampleTime`
+- Fixed assignment of `SUS0` and `SUS6` calibration matrices due to wiring being mixed up
+- Various smaller bugfixes
+
+# [v1.25.0] 2023-02-06
+
+eive-tmtc version: v2.12.0
+
+## Changed
+
+- Updated Subsystem mode IDs to avoid clashes with regular device handler modes.
+
+## Fixed
+
+- `GpsHyperionLinuxController`: Fix `gpsd` polling by continuously calling `gps_read` in one cycle
+  until it does not have any data left anymore. Also, the data is now polled in a permanent loop,
+  where controller handling is done on 0.2 second timeouts.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/368
+
+# [v1.24.0] 2023-02-03
+
+- eive-tmtc v2.10.0
+- `AcsSubsystem`: OFF, SAFE and DETUMBLE mode were tested. Auto-transitions SAFE <-> DETUMBLE tested
+  as well. Other modes still need to be tested.
+
+## Fixed
+
+- `AcsController`: Parameter fix in `DetumbleParameter`.
+- Set GPS set entries to invalid on MODE_OFF command.
+- Bump FSFW for bugfix in `setNormalDatapoolEntriesInvalid` where the validity was not set to false
+  properly
+- Fixed usage of uint instead of int for commanding MTQ. Also fixed the range in which the ACS Ctrl
+  commands the MTQ to match the actual commanding range.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/363
+- Regression: Revert swap of SUS0 and SUS6. Those devices are on separate power lines. In a
+  future fix, the calibration matrices of SUS0 and SUS6 will be swapped.
+
+## Changed
+
+- Update ACS scheduling to represent the actual ACS design. There is one ACS PST now for all
+  timing sensitive ACS operations. In the debug builds, the new ACS polling sequence table
+  will have a period of 0.6 seconds, but will remain 0.4 seconds for the release build.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
+- `ACS::SensorValues` is now an ACS controller member to reduce the risk of stack overflow.
+- ACS Subsystem Sequence Mode IDs updated.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
+  TMTC PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/130
+- Update and tweak ACS subsystem to represent the actual ACS design
+- Event handling in the ACS subsystem for events triggered by the ACS controller.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
+
+# [v1.23.1] 2023-02-02
+
+TMTC rev: 15adb9bf2ec68304a4f87b8dd418c1a8353283a3
+
+## Fixed
+
+- Bugfix in FSFW where the sequence flags of the PUS packets were set to continuation segment (0b00)
+  instead of unsegmented (0b11).
+- Bugfix in FSFW where the MGM RM3100 value Z axis data was parse incorrectly.
+  PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/123
+
+# [v1.23.0] 2023-02-01
+
+TMTC version: v2.9.0
+
+## Changed
+
+- Bumped FSFW to include improvements and bugfix for Health Service. The health service now
+  supports the announce all health info command.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/725
+
+## Fixed
+
+- Bumped FSFW to include fixes in the time service.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/726
+- The CCSDS handler starts the transmitter timer each time it is commanded to MODE_ON and times
+  out the timer when the handler is commanded to MODE_OFF
+- If the timer is timed out the CCSDS handler will disable the TX clock which will cause the
+  syrlinks to got to standby mode
+- PDEC handler now parses the FAR register also in interrupt mode
+
+
+# [v1.22.1] 2023-01-30
+
+## Changed
+
+- Updated FSFW to include addition where the `SO_REUSEADDR` option is set
+  on the TCP server, which should improve its ergonomics.
+
+# [v1.22.0] 2023-01-28
+
+TMTC version: v2.6.1
+
+## Added
+
+- First COM subsystem implementation. It mirrors the Syrlinks mode/submodes but also takes
+  care of commanding the CCSDS handler. It expects the Syrlinks submodes as mode commands.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/358
+- The CCSDS handler has has a new submode (3) to configure the default datarate.
+- Default datarate parameter commanding moved to COM subsystem.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/358
+
+# [v1.21.0] 2023-01-26
+
+TMTC version: v2.5.0
+Syrlinks PR: PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/353
+
+## Fixed
+
+- The `OBSW_SYRLINKS_SIMULATED` flag is set to 0 for for both EM and FM.
 - MGM4 handling in ACS sensor processing: Bugfix in `mulScalar` operation
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/354
+- Subsystem ID clash: CORE subsystem ID was the same as Syrlinks subsystem ID.
+
+## Changed
+
+- Startracker temperature set and PCDU switcher set are diagnostic now
+- `SyrlinksHkHandler` renamed to `SyrlinksHandler` to better reflect that it does more than
+  just HK and is also responsible for setting the TX mode of the device.
+- `SyrlinksHandler`: Go to startup immediately because the Syrlinks device should always be on
+  by default.
+- `SyrlinksHandler`: Go to normal mode at startup.
+
+## Added
+
+- The Syrlinks handler has submodes for the TX mode now: RX Only (0), RX and TX default
+  datarate (1), RX and TX Low Rate (2), RX and TX High Rate (3) and TX Carrier Wave (4).
+  The submodes apply for both ON and NORMAL mode. The default datarate can be updated using
+  a parameter command (domain ID 0 and unique ID 0) with value 0 for low rate and 1 for high rate.
+- The Syrlinks handler always sets TX to standby when switching off
+- The Syrlinks handler triggers a new TX_ON event when the transmitter was switched on successfully
+  and a TX_OFF event when it was switched off successfully.
+- Startracker temperature set and PCDU switcher set are diagnostic now
+- The CCSDS handler can accept mode commands now. It accepts ON and OFF commands. Furthermore
+  it has a submode for low datarate (1) and high datarate (2) for the ON command.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/352
 
 ## Added
 
 - Startracker temperature set and PCDU switcher set are diagnostic now
-- Added new heater info set for the TCS controller. This set contains the heater switch states
-  and the current draw.
-  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/351
 
 # [v1.20.0] 2023-01-24
 

CMakeLists.txt

@@ -9,9 +9,9 @@
 # ##############################################################################
 cmake_minimum_required(VERSION 3.13)
 
-set(OBSW_VERSION_MAJOR_IF_GIT_FAILS 1)
+set(OBSW_VERSION_MAJOR 1)
-set(OBSW_VERSION_MINOR_IF_GIT_FAILS 20)
+set(OBSW_VERSION_MINOR 26)
-set(OBSW_VERSION_REVISION_IF_GIT_FAILS 0)
+set(OBSW_VERSION_REVISION 2)
 
 # set(CMAKE_VERBOSE TRUE)
 
@@ -150,7 +150,7 @@ set(OBSW_ADD_SCEX_DEVICE
     ${INIT_VAL}
     CACHE STRING "Add Solar Cell Experiment module")
 set(OBSW_SYRLINKS_SIMULATED
-    ${OBSW_Q7S_EM}
+    0
     CACHE STRING "Syrlinks is simulated")
 
 # ##############################################################################
@@ -168,10 +168,13 @@ if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
     set(GIT_INFO
         ${GIT_INFO}
         CACHE STRING "Version information retrieved with git describe")
-    list(GET GIT_INFO 1 OBSW_VERSION_MAJOR)
+    # CMakeLists.txt is now single source of information. list(GET GIT_INFO 1
-    list(GET GIT_INFO 2 OBSW_VERSION_MINOR)
+    # OBSW_VERSION_MAJOR) list(GET GIT_INFO 2 OBSW_VERSION_MINOR) list(GET
-    list(GET GIT_INFO 3 OBSW_VERSION_REVISION)
+    # GIT_INFO 3 OBSW_VERSION_REVISION)
-    list(GET GIT_INFO 4 OBSW_VERSION_CST_GIT_SHA1)
+    list(LENGTH GIT_INFO LIST_LEN)
+    if(LIST_LEN GREATER 4)
+      list(GET GIT_INFO 4 OBSW_VERSION_CST_GIT_SHA1)
+    endif()
     if(NOT OBSW_VERSION_MAJOR)
       set(OBSW_VERSION_MAJOR ${OBSW_VERSION_MAJOR_IF_GIT_FAILS})
     endif()
@@ -301,6 +304,9 @@ else()
   endif()
 endif()
 
+include(BuildType)
+set_build_type()
+
 # Configuration files
 configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
 configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
@@ -559,6 +565,3 @@ add_custom_command(
   POST_BUILD
   COMMAND ${CMAKE_SIZE} ${OBSW_BIN_NAME}${FILE_SUFFIX}
   COMMENT ${POST_BUILD_COMMENT})
-
-include(BuildType)
-set_build_type()

bsp_hosted/OBSWConfig.h.in

@@ -7,7 +7,6 @@
 #define FSFWCONFIG_OBSWCONFIG_H_
 
 #include "commonConfig.h"
-#include "OBSWVersion.h"
     
 /*******************************************************************/
 /** All of the following flags should be enabled for mission code  */

bsp_hosted/ObjectFactory.cpp

@@ -10,10 +10,8 @@
 
 #include "OBSWConfig.h"
 #include "devConf.h"
-#include "eive/definitions.h"
 #include "fsfw/platform.h"
 #include "fsfw_tests/integration/task/TestTask.h"
-#include "tmtc/pusIds.h"
 
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
 #include "fsfw/osal/common/UdpTcPollingTask.h"
@@ -46,8 +44,8 @@
 #include <dummies/StarTrackerDummy.h>
 #include <dummies/SusDummy.h>
 #include <dummies/SyrlinksDummy.h>
-#include <dummies/TemperatureSensorsDummy.h>
 
+#include "../dummies/TemperatureSensorInserter.h"
 #include "dummies/helpers.h"
 #include "mission/utility/GlobalConfigHandler.h"
 
@@ -80,7 +78,7 @@ void ObjectFactory::produce(void* args) {
   CfdpTmFunnel* cfdpFunnel;
   ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel);
 
-  DummyGpioIF* dummyGpioIF = new DummyGpioIF();
+  auto* dummyGpioIF = new DummyGpioIF();
   auto* dummySwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
   static_cast<void>(dummyGpioIF);
 #ifdef PLATFORM_UNIX
@@ -110,6 +108,14 @@ void ObjectFactory::produce(void* args) {
 
   dummy::DummyCfg cfg;
   dummy::createDummies(cfg, *dummySwitcher);
-  new ThermalController(objects::THERMAL_CONTROLLER);
+
+  HeaterHandler* heaterHandler = nullptr;
+  // new ThermalController(objects::THERMAL_CONTROLLER);
+  ObjectFactory::createGenericHeaterComponents(*dummyGpioIF, *dummySwitcher, heaterHandler);
+  if (heaterHandler == nullptr) {
+    sif::error << "HeaterHandler could not be created" << std::endl;
+  } else {
+    ObjectFactory::createThermalController(*heaterHandler);
+  }
   new TestTask(objects::TEST_TASK);
 }

bsp_hosted/fsfwconfig/objects/systemObjectList.h

@@ -24,7 +24,7 @@ enum sourceObjects : uint32_t {
   /* 0x49 ('I') for Communication Interfaces **/
   ARDUINO_COM_IF = 0x49000001,
 
-  DUMMY_COM_IF = 0x49000002
+  DUMMY_COM_IF = 0x49000002,
 };
 }
 

bsp_hosted/fsfwconfig/pollingsequence/DummyPst.cpp

@@ -44,12 +44,11 @@ ReturnValue_t dummy_pst::pst(FixedTimeslotTaskIF *thisSequence) {
   thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_READ);
   thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ);
 
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-                        DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
 
   thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
   thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);

bsp_hosted/scheduling.cpp

@@ -14,6 +14,7 @@
 
 #include "OBSWConfig.h"
 #include "ObjectFactory.h"
+#include "mission/core/scheduling.h"
 #include "scheduling.h"
 
 #ifdef LINUX
@@ -186,6 +187,8 @@ void scheduling::initTasks() {
 
   PeriodicTaskIF* dummyTask = factory->createPeriodicTask(
       "DUMMY_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  scheduling::scheduleTmpTempSensors(dummyTask);
+  scheduling::scheduleRtdSensors(dummyTask);
   dummyTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
   dummyTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
   dummyTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
@@ -198,22 +201,6 @@ void scheduling::initTasks() {
   dummyTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
   dummyTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
   dummyTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
-  dummyTask->addComponent(objects::RTD_0_IC3_PLOC_HEATSPREADER);
-  dummyTask->addComponent(objects::RTD_1_IC4_PLOC_MISSIONBOARD);
-  dummyTask->addComponent(objects::RTD_2_IC5_4K_CAMERA);
-  dummyTask->addComponent(objects::RTD_3_IC6_DAC_HEATSPREADER);
-  dummyTask->addComponent(objects::RTD_4_IC7_STARTRACKER);
-  dummyTask->addComponent(objects::RTD_5_IC8_RW1_MX_MY);
-  dummyTask->addComponent(objects::RTD_6_IC9_DRO);
-  dummyTask->addComponent(objects::RTD_7_IC10_SCEX);
-  dummyTask->addComponent(objects::RTD_8_IC11_X8);
-  dummyTask->addComponent(objects::RTD_9_IC12_HPA);
-  dummyTask->addComponent(objects::RTD_10_IC13_PL_TX);
-  dummyTask->addComponent(objects::RTD_11_IC14_MPA);
-  dummyTask->addComponent(objects::RTD_12_IC15_ACU);
-  dummyTask->addComponent(objects::RTD_13_IC16_PLPCDU_HEATSPREADER);
-  dummyTask->addComponent(objects::RTD_14_IC17_TCS_BOARD);
-  dummyTask->addComponent(objects::RTD_15_IC18_IMTQ);
 
   sif::info << "Starting tasks.." << std::endl;
   tmtcDistributor->startTask();

bsp_q7s/OBSWConfig.h.in

@@ -8,7 +8,8 @@
 
 #include "commonConfig.h"
 #include "q7sConfig.h"
-#include "OBSWVersion.h"
+
+#cmakedefine RELEASE_BUILD
 
 /*******************************************************************/
 /** All of the following flags should be enabled for mission code  */

bsp_q7s/boardtest/Q7STestTask.h

@@ -3,7 +3,7 @@
 
 #include <libgpsmm.h>
 
-#include "test/testtasks/TestTask.h"
+#include "test/TestTask.h"
 
 class CoreController;
 

bsp_q7s/core/CoreController.cpp

@@ -5,7 +5,7 @@
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/tasks/TaskFactory.h>
 
-#include "OBSWVersion.h"
+#include "commonConfig.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/timemanager/Stopwatch.h"
 #include "fsfw/version.h"
@@ -179,6 +179,26 @@ ReturnValue_t CoreController::initializeAfterTaskCreation() {
 ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                                             const uint8_t *data, size_t size) {
   switch (actionId) {
+    case (ANNOUNCE_VERSION): {
+      uint32_t p1 = (common::OBSW_VERSION_MAJOR << 24) | (common::OBSW_VERSION_MINOR << 16) |
+                    (common::OBSW_VERSION_REVISION << 8);
+      uint32_t p2 = 0;
+      if (strcmp("", common::OBSW_VERSION_CST_GIT_SHA1) != 0) {
+        p1 |= 1;
+        auto shaAsStr = std::string(common::OBSW_VERSION_CST_GIT_SHA1);
+        size_t posDash = shaAsStr.find("-");
+        auto gitHash = shaAsStr.substr(posDash + 2, 4);
+        // Only copy first 4 letters of git hash
+        memcpy(&p2, gitHash.c_str(), 4);
+      }
+
+      triggerEvent(VERSION_INFO, p1, p2);
+      return HasActionsIF::EXECUTION_FINISHED;
+    }
+    case (ANNOUNCE_CURRENT_IMAGE): {
+      triggerEvent(CURRENT_IMAGE_INFO, CURRENT_CHIP, CURRENT_COPY);
+      return HasActionsIF::EXECUTION_FINISHED;
+    }
     case (LIST_DIRECTORY_INTO_FILE): {
       return actionListDirectoryIntoFile(actionId, commandedBy, data, size);
     }
@@ -673,9 +693,9 @@ ReturnValue_t CoreController::initVersionFile() {
     sif::warning << "CoreController::versionFileInit: Retrieving uname line failed" << std::endl;
   }
 
-  std::string fullObswVersionString = "OBSW: v" + std::to_string(SW_VERSION) + "." +
+  std::string fullObswVersionString = "OBSW: v" + std::to_string(common::OBSW_VERSION_MAJOR) + "." +
-                                      std::to_string(SW_SUBVERSION) + "." +
+                                      std::to_string(common::OBSW_VERSION_MINOR) + "." +
-                                      std::to_string(SW_REVISION);
+                                      std::to_string(common::OBSW_VERSION_REVISION);
   char versionString[16] = {};
   fsfw::FSFW_VERSION.getVersion(versionString, sizeof(versionString));
   std::string fullFsfwVersionString = "FSFW: v" + std::string(versionString);

bsp_q7s/core/CoreController.h

@@ -74,6 +74,8 @@ class CoreController : public ExtendedControllerBase {
   static constexpr dur_millis_t DEFAULT_SD_CARD_CHECK_TIMEOUT = 60000;
 
   static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
+  static constexpr ActionId_t ANNOUNCE_VERSION = 1;
+  static constexpr ActionId_t ANNOUNCE_CURRENT_IMAGE = 2;
   static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
   static constexpr ActionId_t RESET_REBOOT_COUNTERS = 6;
   static constexpr ActionId_t SWITCH_IMG_LOCK = 7;
@@ -109,6 +111,12 @@ class CoreController : public ExtendedControllerBase {
   //! [EXPORT] : [COMMENT] No SD card was active. Core controller will attempt to re-initialize
   //! a SD card.
   static constexpr Event NO_SD_CARD_ACTIVE = event::makeEvent(SUBSYSTEM_ID, 4, severity::HIGH);
+  //! [EXPORT] : [COMMENT]
+  //! P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash
+  //! P2: First four letters of Git SHA is the last byte of P1 is set.
+  static constexpr Event VERSION_INFO = event::makeEvent(SUBSYSTEM_ID, 5, severity::INFO);
+  //! [EXPORT] : [COMMENT] P1: Current Chip, P2: Current Copy
+  static constexpr Event CURRENT_IMAGE_INFO = event::makeEvent(SUBSYSTEM_ID, 6, severity::INFO);
 
   CoreController(object_id_t objectId);
   virtual ~CoreController();

bsp_q7s/core/ObjectFactory.cpp

@@ -23,7 +23,7 @@
 #include "linux/boardtest/UartTestClass.h"
 #include "linux/callbacks/gpioCallbacks.h"
 #include "linux/csp/CspComIF.h"
-#include "linux/devices/GPSHyperionLinuxController.h"
+#include "linux/devices/GpsHyperionLinuxController.h"
 #include "linux/devices/ScexUartReader.h"
 #include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
@@ -48,6 +48,7 @@
 #include "mission/system/objects/RwAssembly.h"
 #include "mission/system/objects/TcsBoardAssembly.h"
 #include "mission/system/tree/acsModeTree.h"
+#include "mission/system/tree/comModeTree.h"
 #include "mission/system/tree/payloadModeTree.h"
 #include "mission/system/tree/tcsModeTree.h"
 #include "tmtc/pusIds.h"
@@ -56,6 +57,7 @@
 #endif
 #include <mission/devices/ImtqHandler.h>
 #include <mission/devices/PcduHandler.h>
+#include <mission/devices/SyrlinksHandler.h>
 
 #include <sstream>
 
@@ -88,7 +90,6 @@
 #include "mission/devices/RadiationSensorHandler.h"
 #include "mission/devices/RwHandler.h"
 #include "mission/devices/SolarArrayDeploymentHandler.h"
-#include "mission/devices/SyrlinksHkHandler.h"
 #include "mission/devices/Tmp1075Handler.h"
 #include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
 #include "mission/devices/devicedefinitions/Max31865Definitions.h"
@@ -473,7 +474,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
   RESET_ARGS_GNSS.gpioComIF = gpioComIF;
   RESET_ARGS_GNSS.waitPeriodMs = 100;
   auto gpsCtrl =
-      new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
+      new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
   gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
 
   AcsBoardHelper acsBoardHelper = AcsBoardHelper(
@@ -496,7 +497,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
 }
 
 void ObjectFactory::createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher,
-                                           HealthTableIF* healthTable) {
+                                           HealthTableIF* healthTable,
+                                           HeaterHandler*& heaterHandler) {
   using namespace gpio;
   GpioCookie* heaterGpiosCookie = new GpioCookie;
   GpiodRegularByLineName* gpio = nullptr;
@@ -539,19 +541,7 @@ void ObjectFactory::createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwi
 
   gpioIF->addGpios(heaterGpiosCookie);
 
-  HeaterHelper helper({{
+  ObjectFactory::createGenericHeaterComponents(*gpioIF, *pwrSwitcher, heaterHandler);
-      {new HealthDevice(objects::HEATER_0_PLOC_PROC_BRD, MessageQueueIF::NO_QUEUE),
-       gpioIds::HEATER_0},
-      {new HealthDevice(objects::HEATER_1_PCDU_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_1},
-      {new HealthDevice(objects::HEATER_2_ACS_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_2},
-      {new HealthDevice(objects::HEATER_3_OBC_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_3},
-      {new HealthDevice(objects::HEATER_4_CAMERA, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_4},
-      {new HealthDevice(objects::HEATER_5_STR, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_5},
-      {new HealthDevice(objects::HEATER_6_DRO, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_6},
-      {new HealthDevice(objects::HEATER_7_HPA, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_7},
-  }});
-  new HeaterHandler(objects::HEATER_HANDLER, gpioIF, helper, pwrSwitcher,
-                    pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
 }
 
 void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher,
@@ -580,15 +570,17 @@ void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitc
 
 void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
   auto* syrlinksUartCookie =
-      new SerialCookie(objects::SYRLINKS_HK_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD,
+      new SerialCookie(objects::SYRLINKS_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD,
                        syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
   syrlinksUartCookie->setParityEven();
 
-  auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HK_HANDLER);
+  auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HANDLER);
   auto syrlinksHandler =
-      new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
+      new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
-                            pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
+                          pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
   syrlinksHandler->setPowerSwitcher(pwrSwitcher);
+  syrlinksHandler->setStartUpImmediately();
+  syrlinksHandler->connectModeTreeParent(satsystem::com::SUBSYSTEM);
 #if OBSW_DEBUG_SYRLINKS == 1
   syrlinksHandler->setDebugMode(true);
 #endif
@@ -799,6 +791,13 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF,
   vc = new VirtualChannel(ccsds::VC3, config::VC3_QUEUE_SIZE, objects::CCSDS_HANDLER);
   (*ipCoreHandler)->addVirtualChannel(ccsds::VC3, vc);
 
+  ReturnValue_t result = (*ipCoreHandler)->connectModeTreeParent(satsystem::com::SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    sif::error
+        << "ObjectFactory::createCcsdsComponents: Connecting COM subsystem to CCSDS handler failed"
+        << std::endl;
+  }
+
   GpioCookie* gpioCookiePdec = new GpioCookie;
   consumer.str("");
   consumer << "0x" << std::hex << objects::PDEC_HANDLER;
@@ -927,6 +926,7 @@ void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
   I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_PL_EIVE);
   auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
                                      pcdu::Switches::PDU1_CH3_MGT_5V);
+  imtqHandler->setThermalStateRequestPoolIds();
   imtqHandler->setPowerSwitcher(pwrSwitcher);
   imtqHandler->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
   static_cast<void>(imtqHandler);

bsp_q7s/core/ObjectFactory.h

@@ -2,6 +2,7 @@
 #define BSP_Q7S_OBJECTFACTORY_H_
 
 #include <fsfw/returnvalues/returnvalue.h>
+#include <mission/devices/HeaterHandler.h>
 #include <mission/system/objects/Stack5VHandler.h>
 #include <mission/tmtc/CcsdsIpCoreHandler.h>
 #include <mission/tmtc/CfdpTmFunnel.h>
@@ -33,7 +34,8 @@ void createTmpComponents();
 ReturnValue_t createRadSensorComponent(LinuxLibgpioIF* gpioComIF, Stack5VHandler& handler);
 void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
                               PowerSwitchIF* pwrSwitcher);
-void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable);
+void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable,
+                            HeaterHandler*& heaterHandler);
 void createImtqComponents(PowerSwitchIF* pwrSwitcher);
 void createBpxBatteryComponent();
 void createStrComponents(PowerSwitchIF* pwrSwitcher);

bsp_q7s/core/scheduling.cpp

@@ -1,6 +1,7 @@
 #include "scheduling.h"
 
 #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/subsystem/Subsystem.h>
 #include <linux/scheduling.h>
 
 #include <iostream>
@@ -16,6 +17,7 @@
 #include "fsfw/tasks/FixedTimeslotTaskIF.h"
 #include "fsfw/tasks/PeriodicTaskIF.h"
 #include "fsfw/tasks/TaskFactory.h"
+#include "mission/core/scheduling.h"
 #include "mission/devices/devicedefinitions/Max31865Definitions.h"
 #include "mission/utility/InitMission.h"
 #include "pollingsequence/pollingSequenceFactory.h"
@@ -142,10 +144,15 @@ void scheduling::initTasks() {
 #endif
 #endif
 
+  PeriodicTaskIF* comTask = factory->createPeriodicTask(
+      "COM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  result = comTask->addComponent(objects::COM_SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("COM subsystem", objects::COM_SUBSYSTEM);
+  }
+
 #if OBSW_ADD_CCSDS_IP_CORES == 1
-  PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask(
+  result = comTask->addComponent(objects::CCSDS_HANDLER);
-      "CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-  result = ccsdsHandlerTask->addComponent(objects::CCSDS_HANDLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
   }
@@ -168,53 +175,17 @@ void scheduling::initTasks() {
   }
 #endif
 
-  PeriodicTaskIF* acsCtrlTask = factory->createPeriodicTask(
-      "ACS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
 #if OBSW_ADD_GPS_CTRL == 1
-  result = acsCtrlTask->addComponent(objects::GPS_CONTROLLER);
+  PeriodicTaskIF* gpsTask = factory->createPeriodicTask(
+      "GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  result = gpsTask->addComponent(objects::GPS_CONTROLLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
   }
 #endif /* OBSW_ADD_GPS_CTRL */
 
-#if OBSW_ADD_ACS_CTRL == 1
-  acsCtrlTask->addComponent(objects::ACS_CONTROLLER);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("ACS_CTRL", objects::ACS_CONTROLLER);
-  }
-#endif
-#if OBSW_Q7S_EM == 1
-  acsCtrlTask->addComponent(objects::MGM_0_LIS3_HANDLER);
-  acsCtrlTask->addComponent(objects::MGM_1_RM3100_HANDLER);
-  acsCtrlTask->addComponent(objects::MGM_2_LIS3_HANDLER);
-  acsCtrlTask->addComponent(objects::MGM_3_RM3100_HANDLER);
-  acsCtrlTask->addComponent(objects::IMTQ_HANDLER);
-  acsCtrlTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
-  acsCtrlTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
-  acsCtrlTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
-  acsCtrlTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
-  acsCtrlTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
-  acsCtrlTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
-  acsCtrlTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
-  acsCtrlTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
-  acsCtrlTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
-  acsCtrlTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
-  acsCtrlTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
-  acsCtrlTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
-  acsCtrlTask->addComponent(objects::GYRO_0_ADIS_HANDLER);
-  acsCtrlTask->addComponent(objects::GYRO_1_L3G_HANDLER);
-  acsCtrlTask->addComponent(objects::GYRO_2_ADIS_HANDLER);
-  acsCtrlTask->addComponent(objects::GYRO_3_L3G_HANDLER);
-  acsCtrlTask->addComponent(objects::GPS_CONTROLLER);
-  acsCtrlTask->addComponent(objects::STAR_TRACKER);
-  acsCtrlTask->addComponent(objects::RW1);
-  acsCtrlTask->addComponent(objects::RW2);
-  acsCtrlTask->addComponent(objects::RW3);
-  acsCtrlTask->addComponent(objects::RW4);
-#endif
-
   PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
-      "SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+      "SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
   static_cast<void>(acsSysTask);
 #if OBSW_ADD_ACS_BOARD == 1
   result = acsSysTask->addComponent(objects::ACS_BOARD_ASS);
@@ -249,32 +220,7 @@ void scheduling::initTasks() {
 
   PeriodicTaskIF* tcsTask = factory->createPeriodicTask(
       "TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
-  std::array<object_id_t, EiveMax31855::NUM_RTDS> rtdIds = {
+  scheduling::scheduleRtdSensors(tcsTask);
-      objects::RTD_0_IC3_PLOC_HEATSPREADER,
-      objects::RTD_1_IC4_PLOC_MISSIONBOARD,
-      objects::RTD_2_IC5_4K_CAMERA,
-      objects::RTD_3_IC6_DAC_HEATSPREADER,
-      objects::RTD_4_IC7_STARTRACKER,
-      objects::RTD_5_IC8_RW1_MX_MY,
-      objects::RTD_6_IC9_DRO,
-      objects::RTD_7_IC10_SCEX,
-      objects::RTD_8_IC11_X8,
-      objects::RTD_9_IC12_HPA,
-      objects::RTD_10_IC13_PL_TX,
-      objects::RTD_11_IC14_MPA,
-      objects::RTD_12_IC15_ACU,
-      objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
-      objects::RTD_14_IC17_TCS_BOARD,
-      objects::RTD_15_IC18_IMTQ,
-  };
-
-  for (const auto& rtd : rtdIds) {
-    tcsTask->addComponent(rtd, DeviceHandlerIF::PERFORM_OPERATION);
-    tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_WRITE);
-    tcsTask->addComponent(rtd, DeviceHandlerIF::GET_WRITE);
-    tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_READ);
-    tcsTask->addComponent(rtd, DeviceHandlerIF::GET_READ);
-  }
 #endif
 
   PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask(
@@ -343,7 +289,8 @@ void scheduling::initTasks() {
   std::vector<PeriodicTaskIF*> pusTasks;
   createPusTasks(*factory, missedDeadlineFunc, pusTasks);
   std::vector<PeriodicTaskIF*> pstTasks;
-  createPstTasks(*factory, missedDeadlineFunc, pstTasks);
+  AcsPstCfg cfg;
+  createPstTasks(*factory, missedDeadlineFunc, pstTasks, cfg);
 
 #if OBSW_ADD_TEST_CODE == 1
 #if OBSW_TEST_CCSDS_BRIDGE == 1
@@ -380,8 +327,8 @@ void scheduling::initTasks() {
 #endif
 #endif
 
+  comTask->startTask();
 #if OBSW_ADD_CCSDS_IP_CORES == 1
-  ccsdsHandlerTask->startTask();
   pdecHandlerTask->startTask();
 #endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
 
@@ -409,7 +356,9 @@ void scheduling::initTasks() {
   strHelperTask->startTask();
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
-  acsCtrlTask->startTask();
+#if OBSW_ADD_GPS_CTRL == 1
+  gpsTask->startTask();
+#endif
   acsSysTask->startTask();
 #if OBSW_ADD_RTD_DEVICES == 1
   tcsPollingTask->startTask();
@@ -431,13 +380,32 @@ void scheduling::initTasks() {
 }
 
 void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
-                                std::vector<PeriodicTaskIF*>& taskVec) {
+                                std::vector<PeriodicTaskIF*>& taskVec, AcsPstCfg cfg) {
   ReturnValue_t result = returnvalue::OK;
+
+#ifdef RELEASE_BUILD
+  static constexpr float acsPstPeriod = 0.4;
+#else
+  static constexpr float acsPstPeriod = 0.6;
+#endif
+  FixedTimeslotTaskIF* acsPst = factory.createFixedTimeslotTask(
+      "ACS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc);
+  result = pst::pstAcs(acsPst, cfg);
+  if (result != returnvalue::OK) {
+    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+      sif::warning << "scheduling::initTasks: ACS PST is empty" << std::endl;
+    } else {
+      sif::error << "scheduling::initTasks: Creating ACS PST failed!" << std::endl;
+    }
+  } else {
+    taskVec.push_back(acsPst);
+  }
+
   /* Polling Sequence Table Default */
 #if OBSW_ADD_SPI_TEST_CODE == 0
   FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
-      "MAIN_SPI", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+      "MAIN_SPI", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
-  result = pst::pstSpi(spiPst);
+  result = pst::pstSpiAndSyrlinks(spiPst);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
       sif::warning << "scheduling::initTasks: SPI PST is empty" << std::endl;
@@ -449,37 +417,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
   }
 #endif
 
-#if OBSW_ADD_RW == 1
-  FixedTimeslotTaskIF* rwPstTask = factory.createFixedTimeslotTask(
-      "RW_SPI", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 1.0, missedDeadlineFunc);
-  result = pst::pstSpiRw(rwPstTask);
-  if (result != returnvalue::OK) {
-    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
-      sif::warning << "scheduling::initTasks: SPI PST is empty" << std::endl;
-    } else {
-      sif::error << "scheduling::initTasks: Creating SPI PST failed!" << std::endl;
-    }
-  } else {
-    taskVec.push_back(rwPstTask);
-  }
-#endif
-
-  FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
-      "UART_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
-  result = pst::pstUart(uartPst);
-  if (result != returnvalue::OK) {
-    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
-      sif::warning << "scheduling::initTasks: UART PST is empty" << std::endl;
-    } else {
-      sif::error << "scheduling::initTasks: Creating UART PST failed!" << std::endl;
-    }
-  } else {
-    taskVec.push_back(uartPst);
-  }
-
 #if OBSW_ADD_I2C_TEST_CODE == 0
   FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
-      "I2C_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
+      "I2C_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
   result = pst::pstI2c(i2cPst);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -494,7 +434,7 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
 
 #if OBSW_ADD_GOMSPACE_PCDU == 1
   FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
-      "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
+      "GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
   result = pst::pstGompaceCan(gomSpacePstTask);
   if (result != returnvalue::OK) {
     if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {

bsp_q7s/core/scheduling.h

@@ -1,10 +1,14 @@
 #ifndef BSP_Q7S_INITMISSION_H_
 #define BSP_Q7S_INITMISSION_H_
 
+#include <pollingsequence/pollingSequenceFactory.h>
+
 #include <vector>
 
 #include "fsfw/tasks/definitions.h"
 
+using pst::AcsPstCfg;
+
 class PeriodicTaskIF;
 class TaskFactory;
 
@@ -13,7 +17,7 @@ void initMission();
 void initTasks();
 
 void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
-                    std::vector<PeriodicTaskIF*>& taskVec);
+                    std::vector<PeriodicTaskIF*>& taskVec, AcsPstCfg cfg);
 void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
                     std::vector<PeriodicTaskIF*>& taskVec);
 void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,

bsp_q7s/em/emObjectFactory.cpp

@@ -14,6 +14,7 @@
 #include "linux/ObjectFactory.h"
 #include "linux/callbacks/gpioCallbacks.h"
 #include "mission/core/GenericFactory.h"
+#include "mission/system/tree/comModeTree.h"
 
 void ObjectFactory::produce(void* args) {
   ObjectFactory::setStatics();
@@ -42,6 +43,9 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_GOMSPACE_PCDU == 1
   dummyCfg.addPowerDummies = false;
 #endif
+#if OBSW_ADD_ACS_BOARD == 1
+  dummyCfg.addAcsBoardDummies = false;
+#endif
 
   PowerSwitchIF* pwrSwitcher = nullptr;
 #if OBSW_ADD_GOMSPACE_PCDU == 0
@@ -108,4 +112,6 @@ void ObjectFactory::produce(void* args) {
                        pcdu::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
 #endif
   createAcsController(true);
+  createThermalController();
+  satsystem::com::init();
 }

bsp_q7s/fmObjectFactory.cpp

@@ -45,7 +45,8 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_ACS_BOARD == 1
   createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
 #endif
-  createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
+  HeaterHandler* heaterHandler;
+  createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
 #if OBSW_ADD_TMP_DEVICES == 1
   createTmpComponents();
 #endif
@@ -87,7 +88,7 @@ void ObjectFactory::produce(void* args) {
 #endif /* OBSW_ADD_TEST_CODE == 1 */
 
   createMiscComponents();
-  createThermalController();
+  createThermalController(*heaterHandler);
   createAcsController(true);
   satsystem::init();
 }

cmake/BuildType.cmake

@@ -21,10 +21,13 @@ if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
 	)
 endif()
 
+set(RELEASE_BUILD 1 PARENT_SCOPE)
+
 if(${CMAKE_BUILD_TYPE} MATCHES "Debug")
 	message(STATUS 
 		"Building Debug application with flags: ${CMAKE_C_FLAGS_DEBUG}"
 	)
+	set(RELEASE_BUILD 0 PARENT_SCOPE)
 elseif(${CMAKE_BUILD_TYPE} MATCHES "RelWithDebInfo")
 	message(STATUS 
 		"Building Release (Debug) application with "

cmake/EiveHelpers.cmake

@@ -4,7 +4,7 @@
 # 2. Major version
 # 3. Minor version
 # 4. Revision
-# 5. git SHA hash and commits since tag
+# 5. (Optional) git SHA hash and commits since tag when applicable
 function(determine_version_with_git)
     include(GetGitRevisionDescription)
     git_describe(VERSION ${ARGN})
@@ -22,7 +22,9 @@ function(determine_version_with_git)
     list(APPEND GIT_INFO ${_VERSION_MAJOR})
     list(APPEND GIT_INFO ${_VERSION_MINOR})
     list(APPEND GIT_INFO ${_VERSION_PATCH})
-    list(APPEND GIT_INFO ${VERSION_SHA1})
+    if(NOT VERSION_SHA1 STREQUAL VERSION)
+        list(APPEND GIT_INFO ${VERSION_SHA1})
+    endif()
     set(GIT_INFO ${GIT_INFO} PARENT_SCOPE)
     message(STATUS "eive | Set git version info into GIT_INFO from the git tag ${VERSION}")
 endfunction()

common/config/OBSWVersion.h

@@ -1,10 +0,0 @@
-#ifndef COMMON_CONFIG_OBSWVERSION_H_
-#define COMMON_CONFIG_OBSWVERSION_H_
-
-const char* const SW_NAME = "eive";
-
-#define SW_VERSION 1
-#define SW_SUBVERSION 12
-#define SW_REVISION 1
-
-#endif /* COMMON_CONFIG_OBSWVERSION_H_ */

common/config/devices/addresses.h

@@ -9,7 +9,7 @@
 
 namespace addresses {
 /* Logical addresses have uint32_t datatype */
-enum logicalAddresses : address_t {
+enum LogicAddress : address_t {
   PCDU,
 
   MGM_0_LIS3 = objects::MGM_0_LIS3_HANDLER,

common/config/devices/heaterSwitcherList.h

@@ -12,7 +12,7 @@ enum Switchers : uint8_t {
   HEATER_4_CAMERA,
   HEATER_5_STR,
   HEATER_6_DRO,
-  HEATER_7_HPA,
+  HEATER_7_S_BAND,
   NUMBER_OF_SWITCHES
 };
 }

common/config/eive/definitions.h

@@ -50,6 +50,24 @@ static constexpr uint8_t VC1_QUEUE_SIZE = 80;
 static constexpr uint8_t VC2_QUEUE_SIZE = 50;
 static constexpr uint8_t VC3_QUEUE_SIZE = 50;
 
+static constexpr uint32_t MAX_PUS_FUNNEL_QUEUE_DEPTH = 100;
+
+static constexpr uint32_t MAX_STORED_CMDS_UDP = 120;
+static constexpr uint32_t MAX_STORED_CMDS_TCP = 120;
+
+namespace acs {
+
+static constexpr uint32_t SCHED_BLOCK_1_SENSORS_MS = 15;
+static constexpr uint32_t SCHED_BLOCK_2_ACS_CTRL_MS = 40;
+static constexpr uint32_t SCHED_BLOCK_3_ACTUATOR_MS = 45;
+
+// 15 ms for FM
+static constexpr float SCHED_BLOCK_1_PERIOD = static_cast<float>(SCHED_BLOCK_1_SENSORS_MS) / 400.0;
+static constexpr float SCHED_BLOCK_2_PERIOD = static_cast<float>(SCHED_BLOCK_2_ACS_CTRL_MS) / 400.0;
+static constexpr float SCHED_BLOCK_3_PERIOD = static_cast<float>(SCHED_BLOCK_3_ACTUATOR_MS) / 400.0;
+
+}  // namespace acs
+
 }  // namespace config
 
 #endif /* COMMON_CONFIG_DEFINITIONS_H_ */

common/config/eive/eventSubsystemIds.h

@@ -35,6 +35,8 @@ enum : uint8_t {
   SYRLINKS = 137,
   SCEX_HANDLER = 138,
   CONFIGHANDLER = 139,
+  CORE = 140,
+  TCS_CONTROLLER = 141,
   COMMON_SUBSYSTEM_ID_END
 
 };

common/config/eive/objects.h

@@ -50,7 +50,7 @@ enum commonObjects : uint32_t {
   TMP1075_HANDLER_PLPCDU_0 = 0x44420006,
   TMP1075_HANDLER_PLPCDU_1 = 0x44420007,
   TMP1075_HANDLER_IF_BOARD = 0x44420008,
-  TMP1075_HANDLER_OBC_IF_BOARD = 0x44420009,
+
   PCDU_HANDLER = 0x442000A1,
   P60DOCK_HANDLER = 0x44250000,
   PDU1_HANDLER = 0x44250001,
@@ -117,7 +117,9 @@ enum commonObjects : uint32_t {
   SUS_5_N_LOC_XFYMZB_PT_ZB = 0x44120037,
   SUS_11_R_LOC_XBYMZB_PT_ZB = 0x44120043,
 
-  SYRLINKS_HK_HANDLER = 0x445300A3,
+  SYRLINKS_HANDLER = 0x445300A3,
+  // might be obsolete, was not used in Q7S FM SW
+  // CCSDS_IP_CORE_BRIDGE = 0x73500000,
 
   /* 0x49 ('I') for Communication Interfaces */
   SPI_RTD_COM_IF = 0x49020006,
@@ -142,11 +144,16 @@ enum commonObjects : uint32_t {
   ACS_SUBSYSTEM = 0x73010001,
   PL_SUBSYSTEM = 0x73010002,
   TCS_SUBSYSTEM = 0x73010003,
+  COM_SUBSYSTEM = 0x73010004,
+
   TM_FUNNEL = 0x73000100,
   PUS_TM_FUNNEL = 0x73000101,
   CFDP_TM_FUNNEL = 0x73000102,
   CFDP_HANDLER = 0x73000205,
   CFDP_DISTRIBUTOR = 0x73000206,
+
+  // Other stuff
+  THERMAL_TEMP_INSERTER = 0x90000003,
 };
 }
 

common/config/eive/resultClassIds.h

@@ -35,6 +35,11 @@ enum commonClassIds : uint8_t {
   SA_DEPL_HANDLER,          // SADPL
   MPSOC_RETURN_VALUES_IF,   // MPSOCRTVIF
   SUPV_RETURN_VALUES_IF,    // SPVRTVIF
+  ACS_KALMAN,               // ACSKAL
+  ACS_SAFE,                 // ACSSAF
+  ACS_PTG,                  // ACSPTG
+  ACS_DETUMBLE,             // ACSDTB
+  ACS_MEKF,                 // ACSMEK
   COMMON_CLASS_ID_END       // [EXPORT] : [END]
 };
 

dummies/CMakeLists.txt

@@ -1,11 +1,12 @@
 target_sources(
   ${LIB_DUMMIES}
-  PUBLIC TemperatureSensorsDummy.cpp
+  PUBLIC TemperatureSensorInserter.cpp
          SusDummy.cpp
          BpxDummy.cpp
          ComIFDummy.cpp
          ComCookieDummy.cpp
          RwDummy.cpp
+         Max31865Dummy.cpp
          StarTrackerDummy.cpp
          SyrlinksDummy.cpp
          ImtqDummy.cpp
@@ -20,4 +21,5 @@ target_sources(
          PlPcduDummy.cpp
          CoreControllerDummy.cpp
          helpers.cpp
-         MgmRm3100Dummy.cpp)
+         MgmRm3100Dummy.cpp
+         Tmp1075Dummy.cpp)

dummies/ImtqDummy.cpp

@@ -5,7 +5,7 @@
 ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie) {}
 
-ImtqDummy::~ImtqDummy() {}
+ImtqDummy::~ImtqDummy() = default;
 
 void ImtqDummy::doStartUp() {}
 

dummies/ImtqDummy.h

@@ -12,7 +12,7 @@ class ImtqDummy : public DeviceHandlerBase {
   static const uint8_t PERIODIC_REPLY_DATA = 2;
 
   ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
-  virtual ~ImtqDummy();
+  ~ImtqDummy() override;
 
  protected:
   void doStartUp() override;

dummies/Max31865Dummy.cpp

@@ -0,0 +1,45 @@
+#include "Max31865Dummy.h"
+
+using namespace returnvalue;
+
+Max31865Dummy::Max31865Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
+    : DeviceHandlerBase(objectId, comif, comCookie), set(this, EiveMax31855::EXCHANGE_SET_ID) {}
+void Max31865Dummy::doStartUp() { setMode(MODE_ON); }
+void Max31865Dummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
+ReturnValue_t Max31865Dummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+ReturnValue_t Max31865Dummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) { return OK; }
+ReturnValue_t Max31865Dummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                     const uint8_t *commandData,
+                                                     size_t commandDataLen) {
+  return 0;
+}
+ReturnValue_t Max31865Dummy::scanForReply(const uint8_t *start, size_t len,
+                                          DeviceCommandId_t *foundId, size_t *foundLen) {
+  return 0;
+}
+ReturnValue_t Max31865Dummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
+  return 0;
+}
+void Max31865Dummy::fillCommandAndReplyMap() {}
+uint32_t Max31865Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 0; }
+ReturnValue_t Max31865Dummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                                     LocalDataPoolManager &poolManager) {
+  using namespace MAX31865;
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::RTD_VALUE), new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::TEMPERATURE_C), new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::LAST_FAULT_BYTE),
+                           new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::FAULT_BYTE), new PoolEntry<uint8_t>({0}));
+  return OK;
+}
+
+void Max31865Dummy::setTemperature(float temperature) {
+  set.temperatureCelcius.value = temperature;
+}
+
+LocalPoolDataSetBase *Max31865Dummy::getDataSetHandle(sid_t sid) { return &set; }
+Max31865Dummy::Max31865Dummy(object_id_t objectId, CookieIF *cookie)
+    : DeviceHandlerBase(objectId, objects::DUMMY_COM_IF, cookie),
+      set(this, EiveMax31855::EXCHANGE_SET_ID) {}

dummies/Max31865Dummy.h

@@ -0,0 +1,33 @@
+#ifndef EIVE_OBSW_MAX31865DUMMY_H
+#define EIVE_OBSW_MAX31865DUMMY_H
+
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "mission/devices/devicedefinitions/Max31865Definitions.h"
+
+class Max31865Dummy : public DeviceHandlerBase {
+ public:
+  Max31865Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  Max31865Dummy(object_id_t objectId, CookieIF *comCookie);
+
+  void setTemperature(float temperature);
+
+ private:
+  MAX31865::PrimarySet set;
+
+  void doStartUp() override;
+  void doShutDown() override;
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+                                        size_t commandDataLen) override;
+  ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+                             size_t *foundLen) override;
+  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
+  void fillCommandAndReplyMap() override;
+  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                        LocalDataPoolManager &poolManager) override;
+  LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
+};
+
+#endif  // EIVE_OBSW_MAX31865DUMMY_H

dummies/TemperatureSensorInserter.cpp

@@ -0,0 +1,39 @@
+#include "TemperatureSensorInserter.h"
+
+#include <objects/systemObjectList.h>
+
+#include <cmath>
+#include <cstdlib>
+
+TemperatureSensorInserter::TemperatureSensorInserter(object_id_t objectId,
+                                                     const Max31865DummyMap& tempSensorDummies_,
+                                                     const Tmp1075DummyMap& tempTmpSensorDummies_)
+    : SystemObject(objects::THERMAL_TEMP_INSERTER),
+      max31865DummyMap(tempSensorDummies_),
+      tmp1075DummyMap(tempTmpSensorDummies_) {}
+
+ReturnValue_t TemperatureSensorInserter::initialize() {
+  if (performTest) {
+    if (testCase == TestCase::COOL_SYRLINKS) {
+    }
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t TemperatureSensorInserter::performOperation(uint8_t opCode) {
+  /*
+  ReturnValue_t result = max31865PlocHeatspreaderSet.read();
+  if (result != returnvalue::OK) {
+    sif::warning << "Failed to read temperature from MAX31865 dataset" << std::endl;
+  }
+  max31865PlocHeatspreaderSet.rtdValue = value - 5;
+  max31865PlocHeatspreaderSet.temperatureCelcius = value;
+  if ((iteration % 100) < 20) {
+    max31865PlocHeatspreaderSet.setValidity(false, true);
+  } else {
+    max31865PlocHeatspreaderSet.setValidity(true, true);
+  }
+  max31865PlocHeatspreaderSet.commit();
+  */
+  return returnvalue::OK;
+}

dummies/TemperatureSensorInserter.h

@@ -0,0 +1,31 @@
+#pragma once
+
+#include <fsfw/controller/ExtendedControllerBase.h>
+#include <mission/devices/devicedefinitions/Max31865Definitions.h>
+
+#include "Max31865Dummy.h"
+#include "Tmp1075Dummy.h"
+
+class TemperatureSensorInserter : public ExecutableObjectIF, public SystemObject {
+ public:
+  using Max31865DummyMap = std::map<object_id_t, Max31865Dummy*>;
+  using Tmp1075DummyMap = std::map<object_id_t, Tmp1075Dummy*>;
+  explicit TemperatureSensorInserter(object_id_t objectId,
+                                     const Max31865DummyMap& tempSensorDummies_,
+                                     const Tmp1075DummyMap& tempTmpSensorDummies_);
+
+  ReturnValue_t initialize() override;
+
+ protected:
+  ReturnValue_t performOperation(uint8_t opCode) override;
+
+ private:
+  Max31865DummyMap max31865DummyMap;
+  Tmp1075DummyMap tmp1075DummyMap;
+  enum TestCase { NONE = 0, COOL_SYRLINKS = 1 };
+  int iteration = 0;
+  bool performTest = false;
+  TestCase testCase = TestCase::NONE;
+
+  // void noise();
+};

dummies/TemperatureSensorsDummy.cpp

@@ -1,102 +0,0 @@
-#include "TemperatureSensorsDummy.h"
-
-#include <objects/systemObjectList.h>
-
-#include <cmath>
-#include <cstdlib>
-
-TemperatureSensorsDummy::TemperatureSensorsDummy()
-    : ExtendedControllerBase(objects::RTD_0_IC3_PLOC_HEATSPREADER),
-      max31865Set(this, MAX31865::MAX31865_SET_ID) {
-  ObjectManager::instance()->insert(objects::RTD_1_IC4_PLOC_MISSIONBOARD, this);
-  ObjectManager::instance()->insert(objects::RTD_2_IC5_4K_CAMERA, this);
-  ObjectManager::instance()->insert(objects::RTD_3_IC6_DAC_HEATSPREADER, this);
-  ObjectManager::instance()->insert(objects::RTD_4_IC7_STARTRACKER, this);
-  ObjectManager::instance()->insert(objects::RTD_5_IC8_RW1_MX_MY, this);
-  ObjectManager::instance()->insert(objects::RTD_6_IC9_DRO, this);
-  ObjectManager::instance()->insert(objects::RTD_7_IC10_SCEX, this);
-  ObjectManager::instance()->insert(objects::RTD_8_IC11_X8, this);
-  ObjectManager::instance()->insert(objects::RTD_9_IC12_HPA, this);
-  ObjectManager::instance()->insert(objects::RTD_10_IC13_PL_TX, this);
-  ObjectManager::instance()->insert(objects::RTD_11_IC14_MPA, this);
-  ObjectManager::instance()->insert(objects::RTD_12_IC15_ACU, this);
-  ObjectManager::instance()->insert(objects::RTD_13_IC16_PLPCDU_HEATSPREADER, this);
-  ObjectManager::instance()->insert(objects::RTD_14_IC17_TCS_BOARD, this);
-  ObjectManager::instance()->insert(objects::RTD_15_IC18_IMTQ, this);
-  ObjectManager::instance()->insert(objects::TMP1075_HANDLER_TCS_0, this);
-  ObjectManager::instance()->insert(objects::TMP1075_HANDLER_TCS_1, this);
-
-  ObjectManager::instance()->insert(objects::TMP1075_HANDLER_PLPCDU_0, this);
-  ObjectManager::instance()->insert(objects::TMP1075_HANDLER_PLPCDU_1, this);
-  ObjectManager::instance()->insert(objects::TMP1075_HANDLER_IF_BOARD, this);
-}
-
-ReturnValue_t TemperatureSensorsDummy::initialize() {
-  static bool done = false;
-  if (not done) {
-    done = true;
-    ReturnValue_t result = ExtendedControllerBase::initialize();
-    if (result != returnvalue::OK) {
-      return result;
-    }
-  }
-
-  return returnvalue::OK;
-}
-
-ReturnValue_t TemperatureSensorsDummy::handleCommandMessage(CommandMessage* message) {
-  return returnvalue::FAILED;
-}
-
-void TemperatureSensorsDummy::performControlOperation() {
-  iteration++;
-  value = sin(iteration / 80. * M_PI) * 10;
-
-  ReturnValue_t result = max31865Set.read();
-  if (result != returnvalue::OK) {
-    sif::warning << "Failed to read temperature from MAX31865 dataset" << std::endl;
-  }
-  max31865Set.rtdValue = value - 5;
-  max31865Set.temperatureCelcius = value;
-  if ((iteration % 100) < 20) {
-    max31865Set.setValidity(false, true);
-  } else {
-    max31865Set.setValidity(true, true);
-  }
-  max31865Set.commit();
-}
-
-ReturnValue_t TemperatureSensorsDummy::initializeLocalDataPool(
-    localpool::DataPool& localDataPoolMap, LocalDataPoolManager& poolManager) {
-  localDataPoolMap.emplace(static_cast<lp_id_t>(MAX31865::PoolIds::RTD_VALUE),
-                           new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(static_cast<lp_id_t>(MAX31865::PoolIds::TEMPERATURE_C),
-                           new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(static_cast<lp_id_t>(MAX31865::PoolIds::LAST_FAULT_BYTE),
-                           new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(static_cast<lp_id_t>(MAX31865::PoolIds::FAULT_BYTE),
-                           new PoolEntry<uint8_t>({0}));
-
-  return returnvalue::OK;
-}
-
-LocalPoolDataSetBase* TemperatureSensorsDummy::getDataSetHandle(sid_t sid) {
-  sif::debug << "getHandle" << std::endl;
-  switch (sid.ownerSetId) {
-    case MAX31865::MAX31865_SET_ID:
-      return &max31865Set;
-    default:
-      return nullptr;
-  }
-}
-
-ReturnValue_t TemperatureSensorsDummy::checkModeCommand(Mode_t mode, Submode_t submode,
-                                                        uint32_t* msToReachTheMode) {
-  if (submode != SUBMODE_NONE) {
-    return INVALID_SUBMODE;
-  }
-  if ((mode != MODE_OFF) && (mode != MODE_ON) && (mode != MODE_NORMAL)) {
-    return INVALID_MODE;
-  }
-  return returnvalue::OK;
-}

dummies/TemperatureSensorsDummy.h

@@ -1,29 +0,0 @@
-#pragma once
-
-#include <fsfw/controller/ExtendedControllerBase.h>
-#include <mission/devices/devicedefinitions/Max31865Definitions.h>
-
-class TemperatureSensorsDummy : public ExtendedControllerBase {
- public:
-  TemperatureSensorsDummy();
-
-  ReturnValue_t initialize() override;
-
- protected:
-  virtual ReturnValue_t handleCommandMessage(CommandMessage* message) override;
-  virtual void performControlOperation() override;
-  virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
-                                                LocalDataPoolManager& poolManager) override;
-  virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
-
-  // Mode abstract functions
-  virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                         uint32_t* msToReachTheMode) override;
-
- private:
-  int iteration = 0;
-  float value = 0;
-  MAX31865::Max31865Set max31865Set;
-
-  void noise();
-};

dummies/Tmp1075Dummy.cpp

@@ -0,0 +1,34 @@
+#include "Tmp1075Dummy.h"
+
+#include "mission/devices/devicedefinitions/Tmp1075Definitions.h"
+
+using namespace returnvalue;
+
+Tmp1075Dummy::Tmp1075Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
+    : DeviceHandlerBase(objectId, comif, comCookie), set(this) {}
+void Tmp1075Dummy::doStartUp() { setMode(MODE_ON); }
+void Tmp1075Dummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
+ReturnValue_t Tmp1075Dummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+ReturnValue_t Tmp1075Dummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) { return OK; }
+ReturnValue_t Tmp1075Dummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                    const uint8_t *commandData,
+                                                    size_t commandDataLen) {
+  return 0;
+}
+ReturnValue_t Tmp1075Dummy::scanForReply(const uint8_t *start, size_t len,
+                                         DeviceCommandId_t *foundId, size_t *foundLen) {
+  return 0;
+}
+ReturnValue_t Tmp1075Dummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
+  return 0;
+}
+void Tmp1075Dummy::fillCommandAndReplyMap() {}
+uint32_t Tmp1075Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 1000; }
+ReturnValue_t Tmp1075Dummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                                    LocalDataPoolManager &poolManager) {
+  localDataPoolMap.emplace(TMP1075::TEMPERATURE_C_TMP1075, new PoolEntry<float>({0.0}));
+  return OK;
+}
+LocalPoolDataSetBase *Tmp1075Dummy::getDataSetHandle(sid_t sid) { return &set; }

dummies/Tmp1075Dummy.h

@@ -0,0 +1,32 @@
+#ifndef EIVE_OBSW_TMP1075DUMMY_H
+#define EIVE_OBSW_TMP1075DUMMY_H
+
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "mission/devices/devicedefinitions/Tmp1075Definitions.h"
+
+class Tmp1075Dummy : public DeviceHandlerBase {
+ public:
+  Tmp1075Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+
+ private:
+  TMP1075::Tmp1075Dataset set;
+
+  void doStartUp() override;
+  void doShutDown() override;
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+                                        size_t commandDataLen) override;
+  ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+                             size_t *foundLen) override;
+  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
+  void fillCommandAndReplyMap() override;
+  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                        LocalDataPoolManager &poolManager) override;
+
+ protected:
+  LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
+};
+
+#endif  // EIVE_OBSW_TMP1075DUMMY_H

dummies/helpers.cpp

@@ -19,14 +19,17 @@
 #include <dummies/StarTrackerDummy.h>
 #include <dummies/SusDummy.h>
 #include <dummies/SyrlinksDummy.h>
-#include <dummies/TemperatureSensorsDummy.h>
 #include <mission/system/objects/CamSwitcher.h>
 
+#include "TemperatureSensorInserter.h"
+#include "dummies/Max31865Dummy.h"
+#include "dummies/Tmp1075Dummy.h"
+
 using namespace dummy;
 
 void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch) {
   new ComIFDummy(objects::DUMMY_COM_IF);
-  ComCookieDummy* comCookieDummy = new ComCookieDummy();
+  auto* comCookieDummy = new ComCookieDummy();
   new BpxDummy(objects::BPX_BATT_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
   if (cfg.addCoreCtrlCfg) {
     new CoreControllerDummy(objects::CORE_CONTROLLER);
@@ -41,7 +44,7 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch) {
   new SaDeplDummy(objects::SOLAR_ARRAY_DEPL_HANDLER);
   new StarTrackerDummy(objects::STAR_TRACKER, objects::DUMMY_COM_IF, comCookieDummy);
   if (cfg.addSyrlinksDummies) {
-    new SyrlinksDummy(objects::SYRLINKS_HK_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    new SyrlinksDummy(objects::SYRLINKS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
   }
   new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
   if (cfg.addPowerDummies) {
@@ -79,7 +82,75 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch) {
   }
 
   if (cfg.addTempSensorDummies) {
-    new TemperatureSensorsDummy();
+    std::map<object_id_t, Max31865Dummy*> tempSensorDummies;
+    tempSensorDummies.emplace(objects::RTD_0_IC3_PLOC_HEATSPREADER,
+                              new Max31865Dummy(objects::RTD_0_IC3_PLOC_HEATSPREADER,
+                                                objects::DUMMY_COM_IF, comCookieDummy));
+    tempSensorDummies.emplace(objects::RTD_1_IC4_PLOC_MISSIONBOARD,
+                              new Max31865Dummy(objects::RTD_1_IC4_PLOC_MISSIONBOARD,
+                                                objects::DUMMY_COM_IF, comCookieDummy));
+    tempSensorDummies.emplace(
+        objects::RTD_2_IC5_4K_CAMERA,
+        new Max31865Dummy(objects::RTD_2_IC5_4K_CAMERA, objects::DUMMY_COM_IF, comCookieDummy));
+    tempSensorDummies.emplace(objects::RTD_3_IC6_DAC_HEATSPREADER,
+                              new Max31865Dummy(objects::RTD_3_IC6_DAC_HEATSPREADER,
+                                                objects::DUMMY_COM_IF, comCookieDummy));
+    tempSensorDummies.emplace(
+        objects::RTD_4_IC7_STARTRACKER,
+        new Max31865Dummy(objects::RTD_4_IC7_STARTRACKER, objects::DUMMY_COM_IF, comCookieDummy));
+    tempSensorDummies.emplace(
+        objects::RTD_5_IC8_RW1_MX_MY,
+        new Max31865Dummy(objects::RTD_5_IC8_RW1_MX_MY, objects::DUMMY_COM_IF, comCookieDummy));
+    tempSensorDummies.emplace(
+        objects::RTD_6_IC9_DRO,
+        new Max31865Dummy(objects::RTD_6_IC9_DRO, objects::DUMMY_COM_IF, comCookieDummy));
+    tempSensorDummies.emplace(
+        objects::RTD_7_IC10_SCEX,
+        new Max31865Dummy(objects::RTD_7_IC10_SCEX, objects::DUMMY_COM_IF, comCookieDummy));
+    tempSensorDummies.emplace(
+        objects::RTD_8_IC11_X8,
+        new Max31865Dummy(objects::RTD_8_IC11_X8, objects::DUMMY_COM_IF, comCookieDummy));
+    tempSensorDummies.emplace(
+        objects::RTD_9_IC12_HPA,
+        new Max31865Dummy(objects::RTD_9_IC12_HPA, objects::DUMMY_COM_IF, comCookieDummy));
+    tempSensorDummies.emplace(
+        objects::RTD_10_IC13_PL_TX,
+        new Max31865Dummy(objects::RTD_10_IC13_PL_TX, objects::DUMMY_COM_IF, comCookieDummy));
+    tempSensorDummies.emplace(
+        objects::RTD_11_IC14_MPA,
+        new Max31865Dummy(objects::RTD_11_IC14_MPA, objects::DUMMY_COM_IF, comCookieDummy));
+    tempSensorDummies.emplace(
+        objects::RTD_12_IC15_ACU,
+        new Max31865Dummy(objects::RTD_12_IC15_ACU, objects::DUMMY_COM_IF, comCookieDummy));
+    tempSensorDummies.emplace(objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
+                              new Max31865Dummy(objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
+                                                objects::DUMMY_COM_IF, comCookieDummy));
+    tempSensorDummies.emplace(
+        objects::RTD_14_IC17_TCS_BOARD,
+        new Max31865Dummy(objects::RTD_14_IC17_TCS_BOARD, objects::DUMMY_COM_IF, comCookieDummy));
+    tempSensorDummies.emplace(
+        objects::RTD_15_IC18_IMTQ,
+        new Max31865Dummy(objects::RTD_15_IC18_IMTQ, objects::DUMMY_COM_IF, comCookieDummy));
+
+    std::map<object_id_t, Tmp1075Dummy*> tempTmpSensorDummies;
+    tempTmpSensorDummies.emplace(
+        objects::TMP1075_HANDLER_TCS_0,
+        new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_0, objects::DUMMY_COM_IF, comCookieDummy));
+    tempTmpSensorDummies.emplace(
+        objects::TMP1075_HANDLER_TCS_1,
+        new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_1, objects::DUMMY_COM_IF, comCookieDummy));
+    tempTmpSensorDummies.emplace(
+        objects::TMP1075_HANDLER_PLPCDU_0,
+        new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_0, objects::DUMMY_COM_IF, comCookieDummy));
+    tempTmpSensorDummies.emplace(
+        objects::TMP1075_HANDLER_PLPCDU_1,
+        new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_1, objects::DUMMY_COM_IF, comCookieDummy));
+    tempTmpSensorDummies.emplace(
+        objects::TMP1075_HANDLER_IF_BOARD,
+        new Tmp1075Dummy(objects::TMP1075_HANDLER_IF_BOARD, objects::DUMMY_COM_IF, comCookieDummy));
+
+    new TemperatureSensorInserter(objects::THERMAL_TEMP_INSERTER, tempSensorDummies,
+                                  tempTmpSensorDummies);
   }
   new CamSwitcher(objects::CAM_SWITCHER, pwrSwitch, power::NO_SWITCH);
   new PlPcduDummy(objects::PLPCDU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);

fsfw

@@ -1 +1 @@
-Subproject commit 049e3b431da51ac2069c2d48c5715bb12f3234bc
+Subproject commit 6ce80ea6c5b7621876422d2c7614096cbca6f302

generators/bsp_q7s_events.csv

@@ -76,14 +76,16 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 7903;0x1edf;BIT_LOCK_LOST;INFO;A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
 7905;0x1ee1;FRAME_PROCESSING_FAILED;LOW;The CCSDS Board could not interpret a TC;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
 8900;0x22c4;CLOCK_SET;INFO;;fsfw/src/fsfw/pus/Service9TimeManagement.h
-8901;0x22c5;CLOCK_SET_FAILURE;LOW;;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8901;0x22c5;CLOCK_DUMP;INFO;;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8902;0x22c6;CLOCK_SET_FAILURE;LOW;;fsfw/src/fsfw/pus/Service9TimeManagement.h
 9100;0x238c;TC_DELETION_FAILED;MEDIUM;Deletion of a TC from the map failed. P1: First 32 bit of request ID, P2. Last 32 bit of Request ID;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 9700;0x25e4;TEST;INFO;;fsfw/src/fsfw/pus/Service17Test.h
 10600;0x2968;CHANGE_OF_SETUP_PARAMETER;LOW;;fsfw/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
 10800;0x2a30;STORE_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
 10801;0x2a31;MSG_QUEUE_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
 10802;0x2a32;SERIALIZATION_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
-11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;;mission/controller/AcsController.h
+11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;;mission/acsDefs.h
+11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;;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
 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;;mission/devices/devicedefinitions/powerDefinitions.h
@@ -196,6 +198,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 12903;0x3267;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/objects/SusAssembly.h
 13000;0x32c8;CHILDREN_LOST_MODE;MEDIUM;;mission/system/objects/TcsBoardAssembly.h
 13100;0x332c;GPS_FIX_CHANGE;INFO;Fix has changed. P1: Old fix. P2: New fix 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix;mission/devices/devicedefinitions/GPSDefinitions.h
+13101;0x332d;CANT_GET_FIX;LOW;Could not get fix in maximum allowed time. P1: Maximum allowed time to get a fix after the GPS was switched on.;mission/devices/devicedefinitions/GPSDefinitions.h
 13200;0x3390;P60_BOOT_COUNT;INFO;P60 boot count is broadcasted once at SW startup. P1: Boot count;mission/devices/P60DockHandler.h
 13201;0x3391;BATT_MODE;INFO;Battery mode is broadcasted at startup. P1: Mode;mission/devices/P60DockHandler.h
 13202;0x3392;BATT_MODE_CHANGED;MEDIUM;Battery mode has changed. P1: Old mode. P2: New mode;mission/devices/P60DockHandler.h
@@ -226,11 +229,9 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 13630;0x353e;SUPV_UPDATE_PROGRESS;INFO;Will be triggered every 5 percent of the update progress. P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written;linux/devices/ploc/PlocSupvUartMan.h
 13631;0x353f;HDLC_FRAME_REMOVAL_ERROR;INFO;;linux/devices/ploc/PlocSupvUartMan.h
 13632;0x3540;HDLC_CRC_ERROR;INFO;;linux/devices/ploc/PlocSupvUartMan.h
-13700;0x3584;ALLOC_FAILURE;MEDIUM;;bsp_q7s/core/CoreController.h
+13700;0x3584;FDIR_REACTION_IGNORED;MEDIUM;;mission/devices/devicedefinitions/SyrlinksDefinitions.h
-13701;0x3585;REBOOT_SW;MEDIUM; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
+13701;0x3585;TX_ON;INFO;Transmitter is on now. P1: Submode, P2: Current default datarate.;mission/devices/devicedefinitions/SyrlinksDefinitions.h
-13702;0x3586;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s/core/CoreController.h
+13702;0x3586;TX_OFF;INFO;Transmitter is off now.;mission/devices/devicedefinitions/SyrlinksDefinitions.h
-13703;0x3587;REBOOT_HW;MEDIUM;;bsp_q7s/core/CoreController.h
-13704;0x3588;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;bsp_q7s/core/CoreController.h
 13800;0x35e8;MISSING_PACKET;LOW;;mission/devices/devicedefinitions/ScexDefinitions.h
 13801;0x35e9;EXPERIMENT_TIMEDOUT;LOW;;mission/devices/devicedefinitions/ScexDefinitions.h
 13802;0x35ea;MULTI_PACKET_COMMAND_DONE;INFO;;mission/devices/devicedefinitions/ScexDefinitions.h
@@ -239,3 +240,10 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 13903;0x364f;INSERT_CONFIGFILEVALUE_FAILED;MEDIUM;;mission/utility/GlobalConfigHandler.h
 13904;0x3650;WRITE_CONFIGFILE_FAILED;MEDIUM;;mission/utility/GlobalConfigHandler.h
 13905;0x3651;READ_CONFIGFILE_FAILED;MEDIUM;;mission/utility/GlobalConfigHandler.h
+14000;0x36b0;ALLOC_FAILURE;MEDIUM;;bsp_q7s/core/CoreController.h
+14001;0x36b1;REBOOT_SW;MEDIUM; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
+14002;0x36b2;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s/core/CoreController.h
+14003;0x36b3;REBOOT_HW;MEDIUM;;bsp_q7s/core/CoreController.h
+14004;0x36b4;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;bsp_q7s/core/CoreController.h
+14005;0x36b5;VERSION_INFO;INFO;P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set.;bsp_q7s/core/CoreController.h
+14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h

generators/bsp_q7s_objects.csv

@@ -72,7 +72,7 @@
 0x44420029;RTD_13_IC16_PLPCDU_HEATSPREADER
 0x44420030;RTD_14_IC17_TCS_BOARD
 0x44420031;RTD_15_IC18_IMTQ
-0x445300A3;SYRLINKS_HK_HANDLER
+0x445300A3;SYRLINKS_HANDLER
 0x49000000;ARDUINO_COM_IF
 0x49010005;GPIO_IF
 0x49010006;SCEX_UART_READER
@@ -147,5 +147,6 @@
 0x73010001;ACS_SUBSYSTEM
 0x73010002;PL_SUBSYSTEM
 0x73010003;TCS_SUBSYSTEM
+0x73010004;COM_SUBSYSTEM
 0x73500000;CCSDS_IP_CORE_BRIDGE
 0xFFFFFFFF;NO_OBJECT

generators/bsp_q7s_returnvalues.csv

@@ -1,13 +1,23 @@
 Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x0000;OK;System-wide code for ok.;0;HasReturnvaluesIF;fsfw/returnvalues/returnvalue.h
 0x0001;Failed;Unspecified system-wide code for failed.;1;HasReturnvaluesIF;fsfw/returnvalues/returnvalue.h
-0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/tmtc/CcsdsIpCoreHandler.h
+0x63a0;NVMB_KeyNotExists;Specified key does not exist in json file;160;NVM_PARAM_BASE;mission/memory/NVMParameterBase.h
-0x5d00;GOMS_PacketTooLong;;0;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x6300;NVMB_Busy;;0;NVM_PARAM_BASE;mission/system/objects/Stack5VHandler.h
-0x5d01;GOMS_InvalidTableId;;1;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x58a0;SUSS_ErrorUnlockMutex;;160;SUS_HANDLER;mission/devices/SusHandler.h
-0x5d02;GOMS_InvalidAddress;;2;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x58a1;SUSS_ErrorLockMutex;;161;SUS_HANDLER;mission/devices/SusHandler.h
-0x5d03;GOMS_InvalidParamSize;;3;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x66a0;SADPL_CommandNotSupported;;160;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
-0x5d04;GOMS_InvalidPayloadSize;;4;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x66a1;SADPL_DeploymentAlreadyExecuting;;161;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
-0x5d05;GOMS_UnknownReplyId;;5;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x66a2;SADPL_MainSwitchTimeoutFailure;;162;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x66a3;SADPL_SwitchingDeplSa1Failed;;163;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x66a4;SADPL_SwitchingDeplSa2Failed;;164;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x51a0;IMTQ_InvalidCommandCode;;160;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a1;IMTQ_ParameterMissing;;161;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a2;IMTQ_ParameterInvalid;;162;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a3;IMTQ_CcUnavailable;;163;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a4;IMTQ_InternalProcessingError;;164;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a5;IMTQ_RejectedWithoutReason;;165;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a6;IMTQ_CmdErrUnknown;;166;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a7;IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;167;IMTQ_HANDLER;mission/devices/ImtqHandler.h
 0x52b0;RWHA_SpiWriteFailure;;176;RW_HANDLER;mission/devices/RwHandler.h
 0x52b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;177;RW_HANDLER;mission/devices/RwHandler.h
 0x52b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;178;RW_HANDLER;mission/devices/RwHandler.h
@@ -20,158 +30,132 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x52a2;RWHA_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;RW_HANDLER;mission/devices/RwHandler.h
 0x52a3;RWHA_ExecutionFailed;Command execution failed;163;RW_HANDLER;mission/devices/RwHandler.h
 0x52a4;RWHA_CrcError;Reaction wheel reply has invalid crc;164;RW_HANDLER;mission/devices/RwHandler.h
+0x50a0;SYRLINKS_CrcFailure;;160;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a1;SYRLINKS_UartFraminOrParityErrorAck;;161;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a2;SYRLINKS_BadCharacterAck;;162;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a3;SYRLINKS_BadParameterValueAck;;163;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a4;SYRLINKS_BadEndOfFrameAck;;164;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a5;SYRLINKS_UnknownCommandIdAck;;165;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a6;SYRLINKS_BadCrcAck;;166;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a7;SYRLINKS_ReplyWrongSize;;167;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a8;SYRLINKS_MissingStartFrameCharacter;;168;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x5d00;GOMS_PacketTooLong;;0;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d01;GOMS_InvalidTableId;;1;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d02;GOMS_InvalidAddress;;2;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d03;GOMS_InvalidParamSize;;3;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d04;GOMS_InvalidPayloadSize;;4;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d05;GOMS_UnknownReplyId;;5;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x4fa1;HEATER_CommandNotSupported;;161;HEATER_HANDLER;mission/devices/HeaterHandler.h
 0x4fa2;HEATER_InitFailed;;162;HEATER_HANDLER;mission/devices/HeaterHandler.h
 0x4fa3;HEATER_InvalidSwitchNr;;163;HEATER_HANDLER;mission/devices/HeaterHandler.h
 0x4fa4;HEATER_MainSwitchSetTimeout;;164;HEATER_HANDLER;mission/devices/HeaterHandler.h
 0x4fa5;HEATER_CommandAlreadyWaiting;;165;HEATER_HANDLER;mission/devices/HeaterHandler.h
-0x58a0;SUSS_ErrorUnlockMutex;;160;SUS_HANDLER;mission/devices/SusHandler.h
+0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/tmtc/CcsdsIpCoreHandler.h
-0x58a1;SUSS_ErrorLockMutex;;161;SUS_HANDLER;mission/devices/SusHandler.h
+0x6a01;ACSSAF_SafectrlMekfInputInvalid;;1;ACS_SAFE;mission/controller/acs/control/SafeCtrl.h
-0x51a0;IMTQ_InvalidCommandCode;;160;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x6b01;ACSPTG_PtgctrlMekfInputInvalid;;1;ACS_PTG;mission/controller/acs/control/PtgCtrl.h
-0x51a1;IMTQ_ParameterMissing;;161;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x6c01;ACSDTB_DetumbleNoSensordata;;1;ACS_DETUMBLE;mission/controller/acs/control/Detumble.h
-0x51a2;IMTQ_ParameterInvalid;;162;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x6901;ACSKAL_KalmanNoGyrMeas;;1;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x51a3;IMTQ_CcUnavailable;;163;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x6902;ACSKAL_KalmanNoModel;;2;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x51a4;IMTQ_InternalProcessingError;;164;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x6903;ACSKAL_KalmanInversionFailed;;3;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x51a5;IMTQ_RejectedWithoutReason;;165;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x4500;HSPI_OpeningFileFailed;;0;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
-0x51a6;IMTQ_CmdErrUnknown;;166;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x4501;HSPI_FullDuplexTransferFailed;;1;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
-0x51a7;IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;167;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x4502;HSPI_HalfDuplexTransferFailed;;2;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
-0x50a0;SYRLINKS_CrcFailure;;160;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
+0x4801;HGIO_UnknownGpioId;;1;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x50a1;SYRLINKS_UartFraminOrParityErrorAck;;161;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
+0x4802;HGIO_DriveGpioFailure;;2;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x50a2;SYRLINKS_BadCharacterAck;;162;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
+0x4803;HGIO_GpioTypeFailure;;3;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x50a3;SYRLINKS_BadParameterValueAck;;163;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
+0x4804;HGIO_GpioInvalidInstance;;4;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x50a4;SYRLINKS_BadEndOfFrameAck;;164;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
+0x4805;HGIO_GpioDuplicateDetected;;5;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x50a5;SYRLINKS_UnknownCommandIdAck;;165;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
+0x4806;HGIO_GpioInitFailed;;6;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x50a6;SYRLINKS_BadCrcAck;;166;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
+0x4807;HGIO_GpioGetValueFailed;;7;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x50a7;SYRLINKS_ReplyWrongSize;;167;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
+0x4601;HURT_UartReadFailure;;1;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
-0x50a8;SYRLINKS_MissingStartFrameCharacter;;168;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
+0x4602;HURT_UartReadSizeMissmatch;;2;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
-0x66a0;SADPL_CommandNotSupported;;160;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x4603;HURT_UartRxBufferTooSmall;;3;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
-0x66a1;SADPL_DeploymentAlreadyExecuting;;161;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x4400;UXOS_ExecutionFinished;Execution of the current command has finished;0;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x66a2;SADPL_MainSwitchTimeoutFailure;;162;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x4401;UXOS_CommandPending;Command is pending. This will also be returned if the user tries to load another command but a command is still pending;1;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x66a3;SADPL_SwitchingDeplSa1Failed;;163;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x4402;UXOS_BytesRead;Some bytes have been read from the executing process;2;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x66a4;SADPL_SwitchingDeplSa2Failed;;164;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x4403;UXOS_CommandError;Command execution failed;3;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x6600;SADPL_Busy;;0;SA_DEPL_HANDLER;mission/system/objects/Stack5VHandler.h
+0x4404;UXOS_NoCommandLoadedOrPending;;4;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x6601;SADPL_KalmanNoGyrMeas;;1;SA_DEPL_HANDLER;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x4406;UXOS_PcloseCallError;;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x6602;SADPL_KalmanNoModel;;2;SA_DEPL_HANDLER;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x2801;SM_DataTooLarge;;1;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x6603;SADPL_KalmanInversionFailed;;3;SA_DEPL_HANDLER;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x2802;SM_DataStorageFull;;2;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x63a0;NVMB_KeyNotExists;Specified key does not exist in json file;160;NVM_PARAM_BASE;mission/memory/NVMParameterBase.h
+0x2803;SM_IllegalStorageId;;3;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2c01;CCS_BcIsSetVrCommand;;1;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2804;SM_DataDoesNotExist;;4;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2c02;CCS_BcIsUnlockCommand;;2;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2805;SM_IllegalAddress;;5;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2cb0;CCS_BcIllegalCommand;;176;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2806;SM_PoolTooLarge;;6;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2cb1;CCS_BoardReadingNotFinished;;177;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x0601;PP_DoItMyself;;1;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x2cf0;CCS_NsPositiveW;;240;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x0602;PP_PointsToVariable;;2;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x2cf1;CCS_NsNegativeW;;241;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x0603;PP_PointsToMemory;;3;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x2cf2;CCS_NsLockout;;242;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x0604;PP_ActivityCompleted;;4;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x2cf3;CCS_FarmInLockout;;243;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x0605;PP_PointsToVectorUint8;;5;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x2cf4;CCS_FarmInWait;;244;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x0606;PP_PointsToVectorUint16;;6;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x2ce0;CCS_WrongSymbol;;224;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x0607;PP_PointsToVectorUint32;;7;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x2ce1;CCS_DoubleStart;;225;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x0608;PP_PointsToVectorFloat;;8;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x2ce2;CCS_StartSymbolMissed;;226;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x06a0;PP_DumpNotSupported;;160;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x2ce3;CCS_EndWithoutStart;;227;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x06e0;PP_InvalidSize;;224;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x2ce4;CCS_TooLarge;;228;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x06e1;PP_InvalidAddress;;225;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x2ce5;CCS_TooShort;;229;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x06e2;PP_InvalidContent;;226;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x2ce6;CCS_WrongTfVersion;;230;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x06e3;PP_UnalignedAccess;;227;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x2ce7;CCS_WrongSpacecraftId;;231;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x06e4;PP_WriteProtected;;228;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x2ce8;CCS_NoValidFrameType;;232;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x13e0;MH_UnknownCmd;;224;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
-0x2ce9;CCS_CrcFailed;;233;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x13e1;MH_InvalidAddress;;225;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
-0x2cea;CCS_VcNotFound;;234;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x13e2;MH_InvalidSize;;226;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
-0x2ceb;CCS_ForwardingFailed;;235;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x13e3;MH_StateMismatch;;227;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
-0x2cec;CCS_ContentTooLarge;;236;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x38a1;SGP4_InvalidEccentricity;;161;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x2ced;CCS_ResidualData;;237;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x38a2;SGP4_InvalidMeanMotion;;162;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x2cee;CCS_DataCorrupted;;238;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x38a3;SGP4_InvalidPerturbationElements;;163;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x2cef;CCS_IllegalSegmentationFlag;;239;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x38a4;SGP4_InvalidSemiLatusRectum;;164;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x2cd0;CCS_IllegalFlagCombination;;208;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x38a5;SGP4_InvalidEpochElements;;165;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x2cd1;CCS_ShorterThanHeader;;209;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x38a6;SGP4_SatelliteHasDecayed;;166;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x2cd2;CCS_TooShortBlockedPacket;;210;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x38b1;SGP4_TleTooOld;;177;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x2cd3;CCS_TooShortMapExtraction;;211;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x38b2;SGP4_TleNotInitialized;;178;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x3b00;SPH_ConnBroken;;0;SEMAPHORE_IF;fsfw/src/fsfw/osal/common/TcpTmTcServer.h
+0x1801;FF_Full;;1;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
-0x2a01;IEC_NoConfigurationTable;;1;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x1802;FF_Empty;;2;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
-0x2a02;IEC_NoCpuTable;;2;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x1601;FMM_MapFull;;1;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
-0x2a03;IEC_InvalidWorkspaceAddress;;3;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x1602;FMM_KeyDoesNotExist;;2;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
-0x2a04;IEC_TooLittleWorkspace;;4;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x3901;MUX_NotEnoughResources;;1;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x2a05;IEC_WorkspaceAllocation;;5;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x3902;MUX_InsufficientMemory;;2;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x2a06;IEC_InterruptStackTooSmall;;6;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x3903;MUX_NoPrivilege;;3;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x2a07;IEC_ThreadExitted;;7;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x3904;MUX_WrongAttributeSetting;;4;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x2a08;IEC_InconsistentMpInformation;;8;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x3905;MUX_MutexAlreadyLocked;;5;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x2a09;IEC_InvalidNode;;9;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x3906;MUX_MutexNotFound;;6;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x2a0a;IEC_NoMpci;;10;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x3907;MUX_MutexMaxLocks;;7;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x2a0b;IEC_BadPacket;;11;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x3908;MUX_CurrThreadAlreadyOwnsMutex;;8;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x2a0c;IEC_OutOfPackets;;12;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x3909;MUX_CurrThreadDoesNotOwnMutex;;9;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x2a0d;IEC_OutOfGlobalObjects;;13;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x390a;MUX_MutexTimeout;;10;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x2a0e;IEC_OutOfProxies;;14;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x390b;MUX_MutexInvalidId;;11;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x2a0f;IEC_InvalidGlobalId;;15;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x390c;MUX_MutexDestroyedWhileWaiting;;12;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x2a10;IEC_BadStackHook;;16;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x3a01;MQI_Empty;;1;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
-0x2a11;IEC_BadAttributes;;17;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x3a02;MQI_Full;No space left for more messages;2;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
-0x2a12;IEC_ImplementationKeyCreateInconsistency;;18;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x3a03;MQI_NoReplyPartner;Returned if a reply method was called without partner;3;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
-0x2a13;IEC_ImplementationBlockingOperationCancel;;19;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x3a04;MQI_DestinationInvalid;Returned if the target destination is invalid.;4;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
-0x2a14;IEC_MutexObtainFromBadState;;20;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x0f01;CM_UnknownCommand;;1;COMMAND_MESSAGE;fsfw/src/fsfw/ipc/CommandMessageIF.h
-0x2a15;IEC_UnlimitedAndMaximumIs0;;21;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
 0x0e01;HM_InvalidMode;;1;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
 0x0e02;HM_TransNotAllowed;;2;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
 0x0e03;HM_InTransition;;3;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
 0x0e04;HM_InvalidSubmode;;4;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
-0x2e01;HPA_InvalidIdentifierId;;1;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x0c02;MS_InvalidEntry;;2;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
-0x2e02;HPA_InvalidDomainId;;2;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x0c03;MS_TooManyElements;;3;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
-0x2e03;HPA_InvalidValue;;3;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x0c04;MS_CantStoreEmpty;;4;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
-0x2e05;HPA_ReadOnly;;5;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x0b01;SB_ChildNotFound;;1;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x2d01;PAW_UnknownDatatype;;1;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x0b02;SB_ChildInfoUpdated;;2;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x2d02;PAW_DatatypeMissmatch;;2;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x0b03;SB_ChildDoesntHaveModes;;3;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x2d03;PAW_Readonly;;3;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x0b04;SB_CouldNotInsertChild;;4;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x2d04;PAW_TooBig;;4;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x0b05;SB_TableContainsInvalidObjectId;;5;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x2d05;PAW_SourceNotSet;;5;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x0d01;SS_SequenceAlreadyExists;;1;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x2d06;PAW_OutOfBounds;;6;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x0d02;SS_TableAlreadyExists;;2;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x2d07;PAW_NotSet;;7;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x0d03;SS_TableDoesNotExist;;3;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x2d08;PAW_ColumnOrRowsZero;;8;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x0d04;SS_TableOrSequenceLengthInvalid;;4;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x3201;CF_ObjectHasNoFunctions;;1;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
+0x0d05;SS_SequenceDoesNotExist;;5;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x3202;CF_AlreadyCommanding;;2;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
+0x0d06;SS_TableContainsInvalidObjectId;;6;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x3301;HF_IsBusy;;1;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
+0x0d07;SS_FallbackSequenceDoesNotExist;;7;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x3302;HF_InvalidParameters;;2;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
+0x0d08;SS_NoTargetTable;;8;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x3303;HF_ExecutionFinished;;3;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
+0x0d09;SS_SequenceOrTableTooLong;;9;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x3304;HF_InvalidActionId;;4;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
+0x0d0b;SS_IsFallbackSequence;;11;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0201;OM_InsertionFailed;;1;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x0d0c;SS_AccessDenied;;12;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0202;OM_NotFound;;2;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x0d0e;SS_TableInUse;;14;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0203;OM_ChildInitFailed;;3;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x0da1;SS_TargetTableNotReached;;161;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0204;OM_InternalErrReporterUninit;;4;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x0da2;SS_TableCheckFailed;;162;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x2600;FDI_YourFault;;0;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
+0x2501;EV_ListenerNotFound;;1;EVENT_MANAGER_IF;fsfw/src/fsfw/events/EventManagerIF.h
-0x2601;FDI_MyFault;;1;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
-0x2602;FDI_ConfirmLater;;2;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
-0x2201;TMF_Busy;;1;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2202;TMF_LastPacketFound;;2;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2203;TMF_StopFetch;;3;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2204;TMF_Timeout;;4;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2205;TMF_TmChannelFull;;5;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2206;TMF_NotStored;;6;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2207;TMF_AllDeleted;;7;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2208;TMF_InvalidData;;8;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2209;TMF_NotReady;;9;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2101;TMB_Busy;;1;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2102;TMB_Full;;2;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2103;TMB_Empty;;3;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2104;TMB_NullRequested;;4;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2105;TMB_TooLarge;;5;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2106;TMB_NotReady;;6;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2107;TMB_DumpError;;7;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2108;TMB_CrcError;;8;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2109;TMB_Timeout;;9;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210a;TMB_IdlePacketFound;;10;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210b;TMB_TelecommandFound;;11;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210c;TMB_NoPusATm;;12;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210d;TMB_TooSmall;;13;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210e;TMB_BlockNotFound;;14;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210f;TMB_InvalidRequest;;15;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x1c01;TCD_PacketLost;;1;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
-0x1c02;TCD_DestinationNotFound;;2;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
-0x1c03;TCD_ServiceIdAlreadyExists;;3;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
-0x1b00;TCC_NoDestinationFound;;0;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b01;TCC_InvalidCcsdsVersion;;1;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b02;TCC_InvalidApid;;2;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b03;TCC_InvalidPacketType;;3;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b04;TCC_InvalidSecHeaderField;;4;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b05;TCC_IncorrectPrimaryHeader;;5;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b07;TCC_IncompletePacket;;7;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b08;TCC_InvalidPusVersion;;8;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b09;TCC_IncorrectChecksum;;9;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b0a;TCC_IllegalPacketSubtype;;10;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b0b;TCC_IncorrectSecondaryHeader;;11;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
 0x04e1;RMP_CommandNoDescriptorsAvailable;;225;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
 0x04e2;RMP_CommandBufferFull;;226;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
 0x04e3;RMP_CommandChannelOutOfRange;;227;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
@@ -212,95 +196,9 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x040a;RMP_ReplyCommandNotImplementedOrNotAuthorised;;10;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
 0x040b;RMP_ReplyRmwDataLengthError;;11;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
 0x040c;RMP_ReplyInvalidTargetLogicalAddress;;12;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x2801;SM_DataTooLarge;;1;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x1401;SE_BufferTooShort;;1;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
-0x2802;SM_DataStorageFull;;2;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x1402;SE_StreamTooShort;;2;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
-0x2803;SM_IllegalStorageId;;3;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x1403;SE_TooManyElements;;3;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
-0x2804;SM_DataDoesNotExist;;4;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2805;SM_IllegalAddress;;5;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2806;SM_PoolTooLarge;;6;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x38a1;SGP4_InvalidEccentricity;;161;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38a2;SGP4_InvalidMeanMotion;;162;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38a3;SGP4_InvalidPerturbationElements;;163;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38a4;SGP4_InvalidSemiLatusRectum;;164;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38a5;SGP4_InvalidEpochElements;;165;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38a6;SGP4_SatelliteHasDecayed;;166;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38b1;SGP4_TleTooOld;;177;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38b2;SGP4_TleNotInitialized;;178;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x2401;MT_NoPacketFound;;1;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/DleParser.h
-0x2402;MT_PossiblePacketLoss;;2;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/DleParser.h
-0x2403;MT_NoMatch;;3;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
-0x2404;MT_Full;;4;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
-0x2405;MT_NewNodeCreated;;5;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
-0x3f01;DLEE_StreamTooShort;;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
-0x3f02;DLEE_DecodingError;;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
-0x2f01;ASC_TooLongForTargetType;;1;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
-0x2f02;ASC_InvalidCharacters;;2;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
-0x2f03;ASC_BufferTooSmall;;3;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
-0x0f01;CM_UnknownCommand;;1;COMMAND_MESSAGE;fsfw/src/fsfw/ipc/CommandMessageIF.h
-0x3a01;MQI_Empty;;1;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
-0x3a02;MQI_Full;No space left for more messages;2;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
-0x3a03;MQI_NoReplyPartner;Returned if a reply method was called without partner;3;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
-0x3a04;MQI_DestinationInvalid;Returned if the target destination is invalid.;4;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
-0x3901;MUX_NotEnoughResources;;1;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3902;MUX_InsufficientMemory;;2;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3903;MUX_NoPrivilege;;3;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3904;MUX_WrongAttributeSetting;;4;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3905;MUX_MutexAlreadyLocked;;5;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3906;MUX_MutexNotFound;;6;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3907;MUX_MutexMaxLocks;;7;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3908;MUX_CurrThreadAlreadyOwnsMutex;;8;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3909;MUX_CurrThreadDoesNotOwnMutex;;9;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x390a;MUX_MutexTimeout;;10;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x390b;MUX_MutexInvalidId;;11;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x390c;MUX_MutexDestroyedWhileWaiting;;12;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3b01;SPH_SemaphoreTimeout;;1;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
-0x3b02;SPH_SemaphoreNotOwned;;2;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
-0x3b03;SPH_SemaphoreInvalid;;3;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
-0x1e00;PUS_InvalidPusVersion;;0;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
-0x1e01;PUS_InvalidCrc16;;1;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
-0x3601;CFDP_InvalidTlvType;;1;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3602;CFDP_InvalidDirectiveField;;2;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3603;CFDP_InvalidPduDatafieldLen;;3;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3604;CFDP_InvalidAckDirectiveFields;;4;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3605;CFDP_MetadataCantParseOptions;;5;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3606;CFDP_NakCantParseOptions;;6;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3607;CFDP_FinishedCantParseFsResponses;;7;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3608;CFDP_FilestoreRequiresSecondFile;;8;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3609;CFDP_FilestoreResponseCantParseFsMessage;;9;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x360a;CFDP_InvalidPduFormat;;10;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x2901;TC_InvalidTargetState;;1;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
-0x29f1;TC_AboveOperationalLimit;;241;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
-0x29f2;TC_BelowOperationalLimit;;242;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
-0x0c02;MS_InvalidEntry;;2;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
-0x0c03;MS_TooManyElements;;3;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
-0x0c04;MS_CantStoreEmpty;;4;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
-0x0d01;SS_SequenceAlreadyExists;;1;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d02;SS_TableAlreadyExists;;2;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d03;SS_TableDoesNotExist;;3;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d04;SS_TableOrSequenceLengthInvalid;;4;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d05;SS_SequenceDoesNotExist;;5;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d06;SS_TableContainsInvalidObjectId;;6;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d07;SS_FallbackSequenceDoesNotExist;;7;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d08;SS_NoTargetTable;;8;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d09;SS_SequenceOrTableTooLong;;9;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d0b;SS_IsFallbackSequence;;11;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d0c;SS_AccessDenied;;12;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d0e;SS_TableInUse;;14;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0da1;SS_TargetTableNotReached;;161;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0da2;SS_TableCheckFailed;;162;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0b01;SB_ChildNotFound;;1;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x0b02;SB_ChildInfoUpdated;;2;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x0b03;SB_ChildDoesntHaveModes;;3;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x0b04;SB_CouldNotInsertChild;;4;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x0b05;SB_TableContainsInvalidObjectId;;5;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x3e00;HKM_QueueOrDestinationInvalid;;0;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3e01;HKM_WrongHkPacketType;;1;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3e02;HKM_ReportingStatusUnchanged;;2;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3e03;HKM_PeriodicHelperInvalid;;3;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3e04;HKM_PoolobjectNotFound;;4;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3e05;HKM_DatasetNotFound;;5;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3c00;LPIF_PoolEntryNotFound;;0;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
-0x3c01;LPIF_PoolEntryTypeConflict;;1;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
 0x3da0;PVA_InvalidReadWriteMode;;160;POOL_VARIABLE_IF;fsfw/src/fsfw/datapool/PoolVariableIF.h
 0x3da1;PVA_InvalidPoolEntry;;161;POOL_VARIABLE_IF;fsfw/src/fsfw/datapool/PoolVariableIF.h
 0x0801;DPS_InvalidParameterDefinition;;1;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
@@ -309,35 +207,20 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x0804;DPS_DataSetUninitialised;;4;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
 0x0805;DPS_DataSetFull;;5;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
 0x0806;DPS_PoolVarNull;;6;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
-0x1000;TIM_UnsupportedTimeFormat;;0;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1c01;TCD_PacketLost;;1;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
-0x1001;TIM_NotEnoughInformationForTargetFormat;;1;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1c02;TCD_DestinationNotFound;;2;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
-0x1002;TIM_LengthMismatch;;2;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1c03;TCD_ServiceIdAlreadyExists;;3;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
-0x1003;TIM_InvalidTimeFormat;;3;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1b00;TCC_NoDestinationFound;;0;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1004;TIM_InvalidDayOfYear;;4;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1b01;TCC_InvalidCcsdsVersion;;1;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1005;TIM_TimeDoesNotFitFormat;;5;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1b02;TCC_InvalidApid;;2;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x3701;TSI_BadTimestamp;;1;TIME_STAMPER_IF;fsfw/src/fsfw/timemanager/TimeStampIF.h
+0x1b03;TCC_InvalidPacketType;;3;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1d01;ATC_ActivityStarted;;1;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1b04;TCC_InvalidSecHeaderField;;4;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1d02;ATC_InvalidSubservice;;2;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1b05;TCC_IncorrectPrimaryHeader;;5;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1d03;ATC_IllegalApplicationData;;3;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1b07;TCC_IncompletePacket;;7;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1d04;ATC_SendTmFailed;;4;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1b08;TCC_InvalidPusVersion;;8;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1d05;ATC_Timeout;;5;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1b09;TCC_IncorrectChecksum;;9;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x4c00;SPPA_NoPacketFound;;0;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
+0x1b0a;TCC_IllegalPacketSubtype;;10;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x4c01;SPPA_SplitPacket;;1;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
+0x1b0b;TCC_IncorrectSecondaryHeader;;11;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x2001;CSB_ExecutionComplete;;1;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2002;CSB_NoStepMessage;;2;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2003;CSB_ObjectBusy;;3;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2004;CSB_Busy;;4;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2005;CSB_InvalidTc;;5;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2006;CSB_InvalidObject;;6;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2007;CSB_InvalidReply;;7;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x1801;FF_Full;;1;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
-0x1802;FF_Empty;;2;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
-0x1601;FMM_MapFull;;1;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
-0x1602;FMM_KeyDoesNotExist;;2;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
-0x2501;EV_ListenerNotFound;;1;EVENT_MANAGER_IF;fsfw/src/fsfw/events/EventManagerIF.h
-0x1701;HHI_ObjectNotHealthy;;1;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
-0x1702;HHI_InvalidHealthState;;2;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
-0x1703;HHI_IsExternallyControlled;;3;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
 0x3001;POS_InPowerTransition;;1;POWER_SWITCHER;fsfw/src/fsfw/power/PowerSwitcher.h
 0x3002;POS_SwitchStateMismatch;;2;POWER_SWITCHER;fsfw/src/fsfw/power/PowerSwitcher.h
 0x0501;PS_SwitchOn;;1;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
@@ -345,23 +228,76 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x0502;PS_SwitchTimeout;;2;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
 0x0503;PS_FuseOn;;3;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
 0x0504;PS_FuseOff;;4;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
-0x4300;FILS_GenericFileError;;0;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x3b00;SPH_ConnBroken;;0;SEMAPHORE_IF;fsfw/src/fsfw/osal/common/TcpTmTcServer.h
-0x4301;FILS_GenericDirError;;1;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x2a01;IEC_NoConfigurationTable;;1;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x4302;FILS_FilesystemInactive;;2;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x2a02;IEC_NoCpuTable;;2;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x4303;FILS_GenericRenameError;;3;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x2a03;IEC_InvalidWorkspaceAddress;;3;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x4304;FILS_IsBusy;;4;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x2a04;IEC_TooLittleWorkspace;;4;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x4305;FILS_InvalidParameters;;5;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x2a05;IEC_WorkspaceAllocation;;5;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x430a;FILS_FileDoesNotExist;;10;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x2a06;IEC_InterruptStackTooSmall;;6;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x430b;FILS_FileAlreadyExists;;11;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x2a07;IEC_ThreadExitted;;7;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x430c;FILS_NotAFile;;12;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x2a08;IEC_InconsistentMpInformation;;8;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x430d;FILS_FileLocked;;13;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x2a09;IEC_InvalidNode;;9;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x430e;FILS_PermissionDenied;;14;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x2a0a;IEC_NoMpci;;10;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x4315;FILS_DirectoryDoesNotExist;;21;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x2a0b;IEC_BadPacket;;11;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x4316;FILS_DirectoryAlreadyExists;;22;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x2a0c;IEC_OutOfPackets;;12;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x4317;FILS_NotADirectory;;23;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x2a0d;IEC_OutOfGlobalObjects;;13;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x4318;FILS_DirectoryNotEmpty;;24;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x2a0e;IEC_OutOfProxies;;14;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x431e;FILS_SequencePacketMissingWrite;;30;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x2a0f;IEC_InvalidGlobalId;;15;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x431f;FILS_SequencePacketMissingRead;;31;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x2a10;IEC_BadStackHook;;16;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a11;IEC_BadAttributes;;17;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a12;IEC_ImplementationKeyCreateInconsistency;;18;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a13;IEC_ImplementationBlockingOperationCancel;;19;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a14;IEC_MutexObtainFromBadState;;20;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a15;IEC_UnlimitedAndMaximumIs0;;21;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2600;FDI_YourFault;;0;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
+0x2601;FDI_MyFault;;1;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
+0x2602;FDI_ConfirmLater;;2;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
+0x1e00;PUS_InvalidPusVersion;;0;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
+0x1e01;PUS_InvalidCrc16;;1;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
+0x0201;OM_InsertionFailed;;1;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x0202;OM_NotFound;;2;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x0203;OM_ChildInitFailed;;3;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x0204;OM_InternalErrReporterUninit;;4;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x2201;TMF_Busy;;1;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2202;TMF_LastPacketFound;;2;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2203;TMF_StopFetch;;3;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2204;TMF_Timeout;;4;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2205;TMF_TmChannelFull;;5;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2206;TMF_NotStored;;6;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2207;TMF_AllDeleted;;7;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2208;TMF_InvalidData;;8;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2209;TMF_NotReady;;9;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2101;TMB_Busy;;1;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2102;TMB_Full;;2;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2103;TMB_Empty;;3;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2104;TMB_NullRequested;;4;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2105;TMB_TooLarge;;5;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2106;TMB_NotReady;;6;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2107;TMB_DumpError;;7;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2108;TMB_CrcError;;8;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2109;TMB_Timeout;;9;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210a;TMB_IdlePacketFound;;10;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210b;TMB_TelecommandFound;;11;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210c;TMB_NoPusATm;;12;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210d;TMB_TooSmall;;13;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210e;TMB_BlockNotFound;;14;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210f;TMB_InvalidRequest;;15;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2d01;PAW_UnknownDatatype;;1;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d02;PAW_DatatypeMissmatch;;2;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d03;PAW_Readonly;;3;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d04;PAW_TooBig;;4;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d05;PAW_SourceNotSet;;5;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d06;PAW_OutOfBounds;;6;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d07;PAW_NotSet;;7;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d08;PAW_ColumnOrRowsZero;;8;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2e01;HPA_InvalidIdentifierId;;1;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x2e02;HPA_InvalidDomainId;;2;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x2e03;HPA_InvalidValue;;3;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x2e05;HPA_ReadOnly;;5;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x3b01;SPH_SemaphoreTimeout;;1;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
+0x3b02;SPH_SemaphoreNotOwned;;2;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
+0x3b03;SPH_SemaphoreInvalid;;3;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
 0x1a01;TRC_NotEnoughSensors;;1;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
 0x1a02;TRC_LowestValueOol;;2;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
 0x1a03;TRC_HighestValueOol;;3;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
@@ -380,36 +316,74 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x31e2;LIM_WrongPid;;226;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
 0x31e3;LIM_WrongLimitId;;227;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
 0x31ee;LIM_MonitorNotFound;;238;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
+0x3601;CFDP_InvalidTlvType;;1;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3602;CFDP_InvalidDirectiveField;;2;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3603;CFDP_InvalidPduDatafieldLen;;3;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3604;CFDP_InvalidAckDirectiveFields;;4;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3605;CFDP_MetadataCantParseOptions;;5;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3606;CFDP_NakCantParseOptions;;6;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3607;CFDP_FinishedCantParseFsResponses;;7;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3608;CFDP_FilestoreRequiresSecondFile;;8;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3609;CFDP_FilestoreResponseCantParseFsMessage;;9;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x360a;CFDP_InvalidPduFormat;;10;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x4300;FILS_GenericFileError;;0;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4301;FILS_GenericDirError;;1;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4302;FILS_FilesystemInactive;;2;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4303;FILS_GenericRenameError;;3;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4304;FILS_IsBusy;;4;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4305;FILS_InvalidParameters;;5;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430a;FILS_FileDoesNotExist;;10;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430b;FILS_FileAlreadyExists;;11;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430c;FILS_NotAFile;;12;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430d;FILS_FileLocked;;13;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430e;FILS_PermissionDenied;;14;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4315;FILS_DirectoryDoesNotExist;;21;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4316;FILS_DirectoryAlreadyExists;;22;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4317;FILS_NotADirectory;;23;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4318;FILS_DirectoryNotEmpty;;24;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x431e;FILS_SequencePacketMissingWrite;;30;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x431f;FILS_SequencePacketMissingRead;;31;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x2c01;CCS_BcIsSetVrCommand;;1;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2c02;CCS_BcIsUnlockCommand;;2;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cb0;CCS_BcIllegalCommand;;176;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cb1;CCS_BoardReadingNotFinished;;177;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf0;CCS_NsPositiveW;;240;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf1;CCS_NsNegativeW;;241;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf2;CCS_NsLockout;;242;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf3;CCS_FarmInLockout;;243;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf4;CCS_FarmInWait;;244;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce0;CCS_WrongSymbol;;224;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce1;CCS_DoubleStart;;225;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce2;CCS_StartSymbolMissed;;226;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce3;CCS_EndWithoutStart;;227;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce4;CCS_TooLarge;;228;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce5;CCS_TooShort;;229;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce6;CCS_WrongTfVersion;;230;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce7;CCS_WrongSpacecraftId;;231;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce8;CCS_NoValidFrameType;;232;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce9;CCS_CrcFailed;;233;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cea;CCS_VcNotFound;;234;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ceb;CCS_ForwardingFailed;;235;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cec;CCS_ContentTooLarge;;236;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ced;CCS_ResidualData;;237;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cee;CCS_DataCorrupted;;238;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cef;CCS_IllegalSegmentationFlag;;239;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cd0;CCS_IllegalFlagCombination;;208;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cd1;CCS_ShorterThanHeader;;209;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cd2;CCS_TooShortBlockedPacket;;210;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cd3;CCS_TooShortMapExtraction;;211;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
 0x4201;PUS11_InvalidTypeTimeWindow;;1;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4202;PUS11_InvalidTimeWindow;;2;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4203;PUS11_TimeshiftingNotPossible;;3;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4204;PUS11_InvalidRelativeTime;;4;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4205;PUS11_ContainedTcTooSmall;;5;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4206;PUS11_ContainedTcCrcMissmatch;;6;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
-0x0601;PP_DoItMyself;;1;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x3401;DC_NoReplyReceived;;1;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x0602;PP_PointsToVariable;;2;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x3402;DC_ProtocolError;;2;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x0603;PP_PointsToMemory;;3;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x3403;DC_Nullpointer;;3;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x0604;PP_ActivityCompleted;;4;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x3404;DC_InvalidCookieType;;4;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x0605;PP_PointsToVectorUint8;;5;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x3405;DC_NotActive;;5;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x0606;PP_PointsToVectorUint16;;6;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x3406;DC_TooMuchData;;6;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x0607;PP_PointsToVectorUint32;;7;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0608;PP_PointsToVectorFloat;;8;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06a0;PP_DumpNotSupported;;160;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06e0;PP_InvalidSize;;224;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06e1;PP_InvalidAddress;;225;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06e2;PP_InvalidContent;;226;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06e3;PP_UnalignedAccess;;227;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06e4;PP_WriteProtected;;228;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x13e0;MH_UnknownCmd;;224;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
-0x13e1;MH_InvalidAddress;;225;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
-0x13e2;MH_InvalidSize;;226;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
-0x13e3;MH_StateMismatch;;227;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
-0x1201;AB_NeedSecondStep;;1;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x1202;AB_NeedToReconfigure;;2;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x1203;AB_ModeFallback;;3;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x1204;AB_ChildNotCommandable;;4;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x1205;AB_NeedToChangeHealth;;5;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x12a1;AB_NotEnoughChildrenInCorrectState;;161;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
 0x03a0;DHB_InvalidChannel;;160;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
 0x03b0;DHB_AperiodicReply;;176;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
 0x03b1;DHB_IgnoreReplyData;;177;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
@@ -419,12 +393,12 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x03d0;DHB_NoSwitch;;208;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
 0x03e0;DHB_ChildTimeout;;224;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
 0x03e1;DHB_SwitchFailed;;225;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
-0x3401;DC_NoReplyReceived;;1;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x1201;AB_NeedSecondStep;;1;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x3402;DC_ProtocolError;;2;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x1202;AB_NeedToReconfigure;;2;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x3403;DC_Nullpointer;;3;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x1203;AB_ModeFallback;;3;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x3404;DC_InvalidCookieType;;4;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x1204;AB_ChildNotCommandable;;4;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x3405;DC_NotActive;;5;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x1205;AB_NeedToChangeHealth;;5;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x3406;DC_TooMuchData;;6;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x12a1;AB_NotEnoughChildrenInCorrectState;;161;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
 0x27a0;DHI_NoCommandData;;160;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 0x27a1;DHI_CommandNotSupported;;161;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 0x27a2;DHI_CommandAlreadySent;;162;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
@@ -446,38 +420,67 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x27c3;DHI_DeviceReplyInvalid;;195;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 0x27d0;DHI_InvalidCommandParameter;;208;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 0x27d1;DHI_InvalidNumberOrLengthOfParameters;;209;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-0x1401;SE_BufferTooShort;;1;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
+0x2401;MT_TooDetailedRequest;;1;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
-0x1402;SE_StreamTooShort;;2;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
+0x2402;MT_TooGeneralRequest;;2;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
-0x1403;SE_TooManyElements;;3;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
+0x2403;MT_NoMatch;;3;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
-0x4500;HSPI_HalTimeoutRetval;;0;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
+0x2404;MT_Full;;4;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
-0x4501;HSPI_HalBusyRetval;;1;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
+0x2405;MT_NewNodeCreated;;5;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
-0x4502;HSPI_HalErrorRetval;;2;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
+0x3f01;DLEE_NoPacketFound;;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
-0x4601;HURT_UartReadFailure;;1;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
+0x3f02;DLEE_PossiblePacketLoss;;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
-0x4602;HURT_UartReadSizeMissmatch;;2;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
+0x2f01;ASC_TooLongForTargetType;;1;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
-0x4603;HURT_UartRxBufferTooSmall;;3;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
+0x2f02;ASC_InvalidCharacters;;2;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
-0x4801;HGIO_UnknownGpioId;;1;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x2f03;ASC_BufferTooSmall;;3;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
-0x4802;HGIO_DriveGpioFailure;;2;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x1701;HHI_ObjectNotHealthy;;1;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
-0x4803;HGIO_GpioTypeFailure;;3;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x1702;HHI_InvalidHealthState;;2;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
-0x4804;HGIO_GpioInvalidInstance;;4;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x1703;HHI_IsExternallyControlled;;3;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
-0x4805;HGIO_GpioDuplicateDetected;;5;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x3201;CF_ObjectHasNoFunctions;;1;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
-0x4806;HGIO_GpioInitFailed;;6;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x3202;CF_AlreadyCommanding;;2;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
-0x4807;HGIO_GpioGetValueFailed;;7;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x3301;HF_IsBusy;;1;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
-0x4400;UXOS_ExecutionFinished;Execution of the current command has finished;0;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x3302;HF_InvalidParameters;;2;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
-0x4401;UXOS_CommandPending;Command is pending. This will also be returned if the user tries to load another command but a command is still pending;1;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x3303;HF_ExecutionFinished;;3;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
-0x4402;UXOS_BytesRead;Some bytes have been read from the executing process;2;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x3304;HF_InvalidActionId;;4;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
-0x4403;UXOS_CommandError;Command execution failed;3;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x1000;TIM_UnsupportedTimeFormat;;0;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x4404;UXOS_NoCommandLoadedOrPending;;4;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x1001;TIM_NotEnoughInformationForTargetFormat;;1;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x4406;UXOS_PcloseCallError;;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x1002;TIM_LengthMismatch;;2;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1003;TIM_InvalidTimeFormat;;3;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1004;TIM_InvalidDayOfYear;;4;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1005;TIM_TimeDoesNotFitFormat;;5;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x3701;TSI_BadTimestamp;;1;TIME_STAMPER_IF;fsfw/src/fsfw/timemanager/TimeStampIF.h
+0x3c00;LPIF_PoolEntryNotFound;;0;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
+0x3c01;LPIF_PoolEntryTypeConflict;;1;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
+0x3e00;HKM_QueueOrDestinationInvalid;;0;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e01;HKM_WrongHkPacketType;;1;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e02;HKM_ReportingStatusUnchanged;;2;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e03;HKM_PeriodicHelperInvalid;;3;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e04;HKM_PoolobjectNotFound;;4;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e05;HKM_DatasetNotFound;;5;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x2901;TC_InvalidTargetState;;1;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+0x29f1;TC_AboveOperationalLimit;;241;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+0x29f2;TC_BelowOperationalLimit;;242;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+0x2001;CSB_ExecutionComplete;;1;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2002;CSB_NoStepMessage;;2;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2003;CSB_ObjectBusy;;3;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2004;CSB_Busy;;4;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2005;CSB_InvalidTc;;5;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2006;CSB_InvalidObject;;6;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2007;CSB_InvalidReply;;7;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x4c00;SPPA_NoPacketFound;;0;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
+0x4c01;SPPA_SplitPacket;;1;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
+0x1d01;ATC_ActivityStarted;;1;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1d02;ATC_InvalidSubservice;;2;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1d03;ATC_IllegalApplicationData;;3;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1d04;ATC_SendTmFailed;;4;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1d05;ATC_Timeout;;5;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x7000;SCBU_KeyNotFound;;0;SCRATCH_BUFFER;bsp_q7s/memory/scratchApi.h
 0x64a0;FSHLP_SdNotMounted;SD card specified with path string not mounted;160;FILE_SYSTEM_HELPER;bsp_q7s/fs/FilesystemHelper.h
 0x64a1;FSHLP_FileNotExists;Specified file does not exist on filesystem;161;FILE_SYSTEM_HELPER;bsp_q7s/fs/FilesystemHelper.h
-0x6a00;SDMA_OpOngoing;;0;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6f00;SDMA_OpOngoing;;0;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
-0x6a01;SDMA_AlreadyOn;;1;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6f01;SDMA_AlreadyOn;;1;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
-0x6a02;SDMA_AlreadyMounted;;2;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6f02;SDMA_AlreadyMounted;;2;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
-0x6a03;SDMA_AlreadyOff;;3;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6f03;SDMA_AlreadyOff;;3;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
-0x6a0a;SDMA_StatusFileNexists;;10;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6f0a;SDMA_StatusFileNexists;;10;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
-0x6a0b;SDMA_StatusFileFormatInvalid;;11;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6f0b;SDMA_StatusFileFormatInvalid;;11;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
-0x6a0c;SDMA_MountError;;12;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6f0c;SDMA_MountError;;12;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
-0x6a0d;SDMA_UnmountError;;13;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6f0d;SDMA_UnmountError;;13;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
-0x6a0e;SDMA_SystemCallError;;14;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6f0e;SDMA_SystemCallError;;14;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
-0x6a0f;SDMA_PopenCallError;;15;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6f0f;SDMA_PopenCallError;;15;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
-0x6b00;SCBU_KeyNotFound;;0;SCRATCH_BUFFER;bsp_q7s/memory/scratchApi.h

generators/events/event_parser.py

@@ -29,6 +29,7 @@ GENERATE_CSV = True
 COPY_CPP_FILE = True
 COPY_CPP_H_FILE = True
 MOVE_CSV_FILE = True
+PRINT_EVENTS = False
 
 PARSE_HOST_BSP = True
 
@@ -80,13 +81,13 @@ LOGGER = get_console_logger()
 
 
 def parse_events(
-    generate_csv: bool = True, generate_cpp: bool = True, print_events: bool = True
+    generate_csv: bool = True, generate_cpp: bool = True
 ):
     LOGGER.info("EventParser: Parsing events: ")
     # Small delay for clean printout
     time.sleep(0.01)
     event_list = generate_event_list()
-    if print_events:
+    if PRINT_EVENTS:
         PrettyPrinter.pprint(event_list)
         # Delay for clean printout
         time.sleep(0.1)

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 240 translations.
+ * @brief    Auto-generated event translation file. Contains 248 translations.
  * @details
- * Generated on: 2023-01-23 11:30:32
+ * Generated on: 2023-02-08 14:09:40
  */
 #include "translateEvents.h"
 
@@ -82,6 +82,7 @@ const char *BIT_LOCK_STRING = "BIT_LOCK";
 const char *BIT_LOCK_LOST_STRING = "BIT_LOCK_LOST";
 const char *FRAME_PROCESSING_FAILED_STRING = "FRAME_PROCESSING_FAILED";
 const char *CLOCK_SET_STRING = "CLOCK_SET";
+const char *CLOCK_DUMP_STRING = "CLOCK_DUMP";
 const char *CLOCK_SET_FAILURE_STRING = "CLOCK_SET_FAILURE";
 const char *TC_DELETION_FAILED_STRING = "TC_DELETION_FAILED";
 const char *TEST_STRING = "TEST";
@@ -90,6 +91,7 @@ const char *STORE_ERROR_STRING = "STORE_ERROR";
 const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
 const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
 const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
+const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@@ -198,6 +200,7 @@ const char *POWER_STATE_MACHINE_TIMEOUT_STRING = "POWER_STATE_MACHINE_TIMEOUT";
 const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED";
 const char *CHILDREN_LOST_MODE_STRING = "CHILDREN_LOST_MODE";
 const char *GPS_FIX_CHANGE_STRING = "GPS_FIX_CHANGE";
+const char *CANT_GET_FIX_STRING = "CANT_GET_FIX";
 const char *P60_BOOT_COUNT_STRING = "P60_BOOT_COUNT";
 const char *BATT_MODE_STRING = "BATT_MODE";
 const char *BATT_MODE_CHANGED_STRING = "BATT_MODE_CHANGED";
@@ -228,11 +231,8 @@ const char *SUPV_REPLY_CRC_MISSMATCH_STRING = "SUPV_REPLY_CRC_MISSMATCH";
 const char *SUPV_UPDATE_PROGRESS_STRING = "SUPV_UPDATE_PROGRESS";
 const char *HDLC_FRAME_REMOVAL_ERROR_STRING = "HDLC_FRAME_REMOVAL_ERROR";
 const char *HDLC_CRC_ERROR_STRING = "HDLC_CRC_ERROR";
-const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
+const char *TX_ON_STRING = "TX_ON";
-const char *REBOOT_SW_STRING = "REBOOT_SW";
+const char *TX_OFF_STRING = "TX_OFF";
-const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
-const char *REBOOT_HW_STRING = "REBOOT_HW";
-const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";
 const char *MISSING_PACKET_STRING = "MISSING_PACKET";
 const char *EXPERIMENT_TIMEDOUT_STRING = "EXPERIMENT_TIMEDOUT";
 const char *MULTI_PACKET_COMMAND_DONE_STRING = "MULTI_PACKET_COMMAND_DONE";
@@ -241,6 +241,13 @@ const char *GET_CONFIGFILEVALUE_FAILED_STRING = "GET_CONFIGFILEVALUE_FAILED";
 const char *INSERT_CONFIGFILEVALUE_FAILED_STRING = "INSERT_CONFIGFILEVALUE_FAILED";
 const char *WRITE_CONFIGFILE_FAILED_STRING = "WRITE_CONFIGFILE_FAILED";
 const char *READ_CONFIGFILE_FAILED_STRING = "READ_CONFIGFILE_FAILED";
+const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
+const char *REBOOT_SW_STRING = "REBOOT_SW";
+const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
+const char *REBOOT_HW_STRING = "REBOOT_HW";
+const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";
+const char *VERSION_INFO_STRING = "VERSION_INFO";
+const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
 
 const char *translateEvents(Event event) {
   switch ((event & 0xFFFF)) {
@@ -399,6 +406,8 @@ const char *translateEvents(Event event) {
     case (8900):
       return CLOCK_SET_STRING;
     case (8901):
+      return CLOCK_DUMP_STRING;
+    case (8902):
       return CLOCK_SET_FAILURE_STRING;
     case (9100):
       return TC_DELETION_FAILED_STRING;
@@ -414,6 +423,8 @@ const char *translateEvents(Event event) {
       return SERIALIZATION_ERROR_STRING;
     case (11200):
       return SAFE_RATE_VIOLATION_STRING;
+    case (11201):
+      return SAFE_RATE_RECOVERY_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):
@@ -630,6 +641,8 @@ const char *translateEvents(Event event) {
       return CHILDREN_LOST_MODE_STRING;
     case (13100):
       return GPS_FIX_CHANGE_STRING;
+    case (13101):
+      return CANT_GET_FIX_STRING;
     case (13200):
       return P60_BOOT_COUNT_STRING;
     case (13201):
@@ -690,16 +703,10 @@ const char *translateEvents(Event event) {
       return HDLC_FRAME_REMOVAL_ERROR_STRING;
     case (13632):
       return HDLC_CRC_ERROR_STRING;
-    case (13700):
-      return ALLOC_FAILURE_STRING;
     case (13701):
-      return REBOOT_SW_STRING;
+      return TX_ON_STRING;
     case (13702):
-      return REBOOT_MECHANISM_TRIGGERED_STRING;
+      return TX_OFF_STRING;
-    case (13703):
-      return REBOOT_HW_STRING;
-    case (13704):
-      return NO_SD_CARD_ACTIVE_STRING;
     case (13800):
       return MISSING_PACKET_STRING;
     case (13801):
@@ -716,6 +723,20 @@ const char *translateEvents(Event event) {
       return WRITE_CONFIGFILE_FAILED_STRING;
     case (13905):
       return READ_CONFIGFILE_FAILED_STRING;
+    case (14000):
+      return ALLOC_FAILURE_STRING;
+    case (14001):
+      return REBOOT_SW_STRING;
+    case (14002):
+      return REBOOT_MECHANISM_TRIGGERED_STRING;
+    case (14003):
+      return REBOOT_HW_STRING;
+    case (14004):
+      return NO_SD_CARD_ACTIVE_STRING;
+    case (14005):
+      return VERSION_INFO_STRING;
+    case (14006):
+      return CURRENT_IMAGE_INFO_STRING;
     default:
       return "UNKNOWN_EVENT";
   }

generators/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 151 translations.
+ * Contains 152 translations.
- * Generated on: 2023-01-23 11:30:32
+ * Generated on: 2023-02-08 14:09:40
  */
 #include "translateObjects.h"
 
@@ -80,7 +80,7 @@ const char *RTD_12_IC15_ACU_STRING = "RTD_12_IC15_ACU";
 const char *RTD_13_IC16_PLPCDU_HEATSPREADER_STRING = "RTD_13_IC16_PLPCDU_HEATSPREADER";
 const char *RTD_14_IC17_TCS_BOARD_STRING = "RTD_14_IC17_TCS_BOARD";
 const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ";
-const char *SYRLINKS_HK_HANDLER_STRING = "SYRLINKS_HK_HANDLER";
+const char *SYRLINKS_HANDLER_STRING = "SYRLINKS_HANDLER";
 const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
 const char *GPIO_IF_STRING = "GPIO_IF";
 const char *SCEX_UART_READER_STRING = "SCEX_UART_READER";
@@ -155,6 +155,7 @@ const char *EIVE_SYSTEM_STRING = "EIVE_SYSTEM";
 const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
 const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
 const char *TCS_SUBSYSTEM_STRING = "TCS_SUBSYSTEM";
+const char *COM_SUBSYSTEM_STRING = "COM_SUBSYSTEM";
 const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
 
@@ -309,7 +310,7 @@ const char *translateObject(object_id_t object) {
     case 0x44420031:
       return RTD_15_IC18_IMTQ_STRING;
     case 0x445300A3:
-      return SYRLINKS_HK_HANDLER_STRING;
+      return SYRLINKS_HANDLER_STRING;
     case 0x49000000:
       return ARDUINO_COM_IF_STRING;
     case 0x49010005:
@@ -458,6 +459,8 @@ const char *translateObject(object_id_t object) {
       return PL_SUBSYSTEM_STRING;
     case 0x73010003:
       return TCS_SUBSYSTEM_STRING;
+    case 0x73010004:
+      return COM_SUBSYSTEM_STRING;
     case 0x73500000:
       return CCSDS_IP_CORE_BRIDGE_STRING;
     case 0xFFFFFFFF:

generators/returnvalues/returnvalues_parser.py

@@ -22,7 +22,7 @@ LOGGER = get_console_logger()
 EXPORT_TO_FILE = True
 COPY_CSV_FILE = True
 EXPORT_TO_SQL = True
-PRINT_TABLES = True
+PRINT_TABLES = False
 
 
 FILE_SEPARATOR = ";"

linux/ObjectFactory.cpp

@@ -11,21 +11,19 @@
 #include <linux/callbacks/gpioCallbacks.h>
 #include <linux/devices/Max31865RtdLowlevelHandler.h>
 #include <mission/controller/AcsController.h>
-#include <mission/controller/ThermalController.h>
 #include <mission/devices/Max31865EiveHandler.h>
-#include <mission/devices/Max31865PT1000Handler.h>
 #include <mission/devices/ScexDeviceHandler.h>
 #include <mission/devices/SusHandler.h>
 #include <mission/system/fdir/RtdFdir.h>
 #include <mission/system/fdir/SusFdir.h>
+#include <mission/system/objects/SusAssembly.h>
+#include <mission/system/objects/TcsBoardAssembly.h>
 
 #include "OBSWConfig.h"
 #include "devConf.h"
 #include "devices/addresses.h"
 #include "devices/gpioIds.h"
 #include "eive/definitions.h"
-#include "mission/system/objects/SusAssembly.h"
-#include "mission/system/objects/TcsBoardAssembly.h"
 #include "mission/system/tree/acsModeTree.h"
 #include "mission/system/tree/payloadModeTree.h"
 #include "mission/system/tree/tcsModeTree.h"
@@ -79,11 +77,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
 #if OBSW_ADD_SUN_SENSORS == 1
   SusFdir* fdir = nullptr;
   std::array<SusHandler*, 12> susHandlers = {};
-  gpioId_t gpioId = gpioIds::CS_SUS_0;
+  SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, SUS::MAX_CMD_SIZE,
-  if (swap0And6) {
-    gpioId = gpioIds::CS_SUS_6;
-  }
-  SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioId, SUS::MAX_CMD_SIZE,
                                        spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   susHandlers[0] =
       new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_MAIN_COM_IF, spiCookie);
@@ -125,12 +119,8 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
   fdir = new SusFdir(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
   susHandlers[5]->setCustomFdir(fdir);
 
-  gpioId = gpioIds::CS_SUS_6;
+  spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, SUS::MAX_CMD_SIZE,
-  if (swap0And6) {
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-    gpioId = gpioIds::CS_SUS_0;
-  }
-  spiCookie = new SpiCookie(addresses::SUS_6, gpioId, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE,
-                            spi::SUS_MAX1227_SPI_FREQ);
   susHandlers[6] =
       new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
@@ -350,11 +340,6 @@ void ObjectFactory::createScexComponents(std::string uartDev, PowerSwitchIF* pwr
   scexHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
 }
 
-void ObjectFactory::createThermalController() {
-  auto* tcsCtrl = new ThermalController(objects::THERMAL_CONTROLLER);
-  tcsCtrl->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
-}
-
 AcsController* ObjectFactory::createAcsController(bool connectSubsystem) {
   auto acsCtrl = new AcsController(objects::ACS_CONTROLLER);
   if (connectSubsystem) {
@@ -371,6 +356,6 @@ void ObjectFactory::gpioChecker(ReturnValue_t result, std::string output) {
 
 void ObjectFactory::addTmtcIpCoresToFunnels(CcsdsIpCoreHandler& ipCoreHandler,
                                             PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel) {
-  cfdpFunnel.addDestination(ipCoreHandler, config::LIVE_TM);
+  cfdpFunnel.addDestination("PTME IP Core", ipCoreHandler, config::LIVE_TM);
-  pusFunnel.addDestination(ipCoreHandler, config::LIVE_TM);
+  pusFunnel.addDestination("PTME IP Core", ipCoreHandler, config::LIVE_TM);
 }

linux/ObjectFactory.h

@@ -11,6 +11,8 @@
 #include <optional>
 #include <string>
 
+#include "mission/devices/HeaterHandler.h"
+
 class GpioIF;
 class SpiComIF;
 class PowerSwitchIF;
@@ -29,10 +31,8 @@ void createScexComponents(std::string uartDev, PowerSwitchIF* pwrSwitcher,
 
 void gpioChecker(ReturnValue_t result, std::string output);
 
-void createThermalController();
 AcsController* createAcsController(bool connectSubsystem);
 
 void addTmtcIpCoresToFunnels(CcsdsIpCoreHandler& ipCoreHandler, PusTmFunnel& pusFunnel,
                              CfdpTmFunnel& cfdpFunnel);
-
 }  // namespace ObjectFactory

linux/boardtest/I2cTestClass.h

@@ -1,7 +1,7 @@
 #ifndef LINUX_BOARDTEST_I2CTESTCLASS_H_
 #define LINUX_BOARDTEST_I2CTESTCLASS_H_
 
-#include <test/testtasks/TestTask.h>
+#include <test/TestTask.h>
 
 #include <array>
 #include <string>

linux/boardtest/LibgpiodTest.h

@@ -5,7 +5,7 @@
 #include <fsfw_hal/common/gpio/GpioCookie.h>
 #include <fsfw_hal/common/gpio/GpioIF.h>
 
-#include "TestTask.h"
+#include "test/TestTask.h"
 
 /**
  * @brief   Test for the GPIO read implementation of the LinuxLibgpioIF.

linux/boardtest/SpiTestClass.h

@@ -13,7 +13,7 @@
 
 #include <fsfw_hal/common/gpio/GpioIF.h>
 #include <fsfw_hal/linux/spi/SpiCookie.h>
-#include <test/testtasks/TestTask.h>
+#include <test/TestTask.h>
 
 #include <vector>
 

linux/boardtest/UartTestClass.h

@@ -12,7 +12,7 @@
 
 #include "lwgps/lwgps.h"
 #include "mission/devices/devicedefinitions/ScexDefinitions.h"
-#include "test/testtasks/TestTask.h"
+#include "test/TestTask.h"
 
 class ScexUartReader;
 class ScexDleParser;

linux/devices/CMakeLists.txt

@@ -1,5 +1,5 @@
 if(EIVE_BUILD_GPSD_GPS_HANDLER)
-  target_sources(${OBSW_NAME} PRIVATE GPSHyperionLinuxController.cpp)
+  target_sources(${OBSW_NAME} PRIVATE GpsHyperionLinuxController.cpp)
 endif()
 
 target_sources(

linux/devices/GpsHyperionLinuxController.cpp

@@ -1,5 +1,6 @@
-#include "GPSHyperionLinuxController.h"
+#include "GpsHyperionLinuxController.h"
 
+#include <fsfw/tasks/TaskFactory.h>
 #include <fsfw/timemanager/Stopwatch.h>
 
 #include "OBSWConfig.h"
@@ -16,30 +17,23 @@
 #include <cmath>
 #include <ctime>
 
-GPSHyperionLinuxController::GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
+GpsHyperionLinuxController::GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId,
                                                        bool debugHyperionGps)
     : ExtendedControllerBase(objectId), gpsSet(this), debugHyperionGps(debugHyperionGps) {
   timeUpdateCd.resetTimer();
 }
 
-GPSHyperionLinuxController::~GPSHyperionLinuxController() {
+GpsHyperionLinuxController::~GpsHyperionLinuxController() {
   gps_stream(&gps, WATCH_DISABLE, nullptr);
   gps_close(&gps);
 }
 
-void GPSHyperionLinuxController::performControlOperation() {
+LocalPoolDataSetBase *GpsHyperionLinuxController::getDataSetHandle(sid_t sid) { return &gpsSet; }
-#ifdef FSFW_OSAL_LINUX
-  readGpsDataFromGpsd();
-#endif
-}
 
-LocalPoolDataSetBase *GPSHyperionLinuxController::getDataSetHandle(sid_t sid) { return &gpsSet; }
+ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
-
-ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
                                                            uint32_t *msToReachTheMode) {
   if (not modeCommanded) {
     if (mode == MODE_ON or mode == MODE_OFF) {
-      gpsNotOpenSwitch = true;
       // 5h time to reach fix
       *msToReachTheMode = MAX_SECONDS_TO_REACH_FIX;
       maxTimeToReachFix.resetTimer();
@@ -48,10 +42,18 @@ ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
       return HasModesIF::INVALID_MODE;
     }
   }
+  if (mode == MODE_OFF) {
+    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);
+    oneShotSwitches.reset();
+    modeCommanded = false;
+  }
   return returnvalue::OK;
 }
 
-ReturnValue_t GPSHyperionLinuxController::executeAction(ActionId_t actionId,
+ReturnValue_t GpsHyperionLinuxController::executeAction(ActionId_t actionId,
                                                         MessageQueueId_t commandedBy,
                                                         const uint8_t *data, size_t size) {
   switch (actionId) {
@@ -69,7 +71,7 @@ ReturnValue_t GPSHyperionLinuxController::executeAction(ActionId_t actionId,
   return returnvalue::OK;
 }
 
-ReturnValue_t GPSHyperionLinuxController::initializeLocalDataPool(
+ReturnValue_t GpsHyperionLinuxController::initializeLocalDataPool(
     localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
   localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({0.0}));
   localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({0.0}));
@@ -89,92 +91,109 @@ ReturnValue_t GPSHyperionLinuxController::initializeLocalDataPool(
   return returnvalue::OK;
 }
 
-void GPSHyperionLinuxController::setResetPinTriggerFunction(gpioResetFunction_t resetCallback,
+void GpsHyperionLinuxController::setResetPinTriggerFunction(gpioResetFunction_t resetCallback,
                                                             void *args) {
   this->resetCallback = resetCallback;
   resetCallbackArgs = args;
 }
 
-ReturnValue_t GPSHyperionLinuxController::initialize() {
+ReturnValue_t GpsHyperionLinuxController::performOperation(uint8_t opCode) {
+  handleQueue();
+  poolManager.performHkOperation();
+  while (true) {
+    bool callAgainImmediately = readGpsDataFromGpsd();
+    if (not callAgainImmediately) {
+      handleQueue();
+      poolManager.performHkOperation();
+      TaskFactory::delayTask(250);
+    }
+  }
+  // Should never be reached.
+  return returnvalue::OK;
+}
+
+ReturnValue_t GpsHyperionLinuxController::initialize() {
   ReturnValue_t result = ExtendedControllerBase::initialize();
   if (result != returnvalue::OK) {
     return result;
   }
   auto openError = [&](const char *type, int error) {
-    if (gpsNotOpenSwitch) {
+  // Opening failed
-      // Opening failed
 #if FSFW_VERBOSE_LEVEL >= 1
-      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM " << type
+    sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM " << type
-                   << " failed | Error " << error << " | " << gps_errstr(error) << std::endl;
+                 << " failed | Error " << error << " | " << gps_errstr(error) << std::endl;
 #endif
-      gpsNotOpenSwitch = false;
-    }
   };
   if (readMode == ReadModes::SOCKET) {
     int retval = gps_open("localhost", DEFAULT_GPSD_PORT, &gps);
     if (retval != 0) {
       openError("Socket", retval);
+      return ObjectManager::CHILD_INIT_FAILED;
     }
+    gps_stream(&gps, WATCH_ENABLE | WATCH_JSON, nullptr);
   } else if (readMode == ReadModes::SHM) {
     int retval = gps_open(GPSD_SHARED_MEMORY, "", &gps);
     if (retval != 0) {
       openError("SHM", retval);
+      return ObjectManager::CHILD_INIT_FAILED;
     }
   }
   return result;
 }
 
-ReturnValue_t GPSHyperionLinuxController::handleCommandMessage(CommandMessage *message) {
+ReturnValue_t GpsHyperionLinuxController::handleCommandMessage(CommandMessage *message) {
   return ExtendedControllerBase::handleCommandMessage(message);
 }
 
-#ifdef FSFW_OSAL_LINUX
+void GpsHyperionLinuxController::performControlOperation() {}
 
-void GPSHyperionLinuxController::readGpsDataFromGpsd() {
+bool GpsHyperionLinuxController::readGpsDataFromGpsd() {
-  auto readError = [&](int error) {
+  auto readError = [&]() {
-    if (gpsReadFailedSwitch) {
+    if (oneShotSwitches.gpsReadFailedSwitch) {
-      gpsReadFailedSwitch = false;
+      oneShotSwitches.gpsReadFailedSwitch = false;
       sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed | "
                       "Error "
-                   << error << " | " << gps_errstr(error) << std::endl;
+                   << errno << " | " << gps_errstr(errno) << std::endl;
     }
   };
-  currentClientBuf = gps_data(&gps);
+  // GPS is off, no point in reading data from GPSD.
-  if (readMode == ReadModes::SOCKET) {
+  if (mode == MODE_OFF) {
-    gps_stream(&gps, WATCH_ENABLE | WATCH_JSON, nullptr);
+    return false;
-    // Exit if no data is seen in 2 seconds (should not happen)
-    if (not gps_waiting(&gps, 2000000)) {
-      return;
-    }
-    int result = gps_read(&gps);
-    if (result == -1) {
-      readError(result);
-      return;
-    }
-    if (MODE_SET != (MODE_SET & gps.set)) {
-      if (noModeSetCntr >= 0) {
-        noModeSetCntr++;
-      }
-      if (noModeSetCntr == 10) {
-        // TODO: Trigger event here
-        sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: No mode could be "
-                        "read for 10 consecutive reads"
-                     << std::endl;
-        noModeSetCntr = -1;
-      }
-    }
-    noModeSetCntr = 0;
-  } else if (readMode == ReadModes::SHM) {
-    int result = gps_read(&gps);
-    if (result == -1) {
-      readError(result);
-      return;
-    }
   }
-  handleGpsRead();
+  if (readMode == ReadModes::SOCKET) {
+    // Poll the GPS.
+    if (gps_waiting(&gps, 0)) {
+      if (-1 == gps_read(&gps)) {
+        readError();
+        return false;
+      }
+      oneShotSwitches.gpsReadFailedSwitch = true;
+      if (MODE_SET != (MODE_SET & gps.set)) {
+        if (mode != MODE_OFF and maxTimeToReachFix.hasTimedOut() and
+            oneShotSwitches.cantGetFixSwitch) {
+          sif::warning
+              << "GPSHyperionHandler::readGpsDataFromGpsd: No mode could be set in allowed "
+              << maxTimeToReachFix.timeout / 1000 << " seconds" << std::endl;
+          triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.timeout);
+          oneShotSwitches.cantGetFixSwitch = false;
+          // did not event get mode, nothing to see.
+          return false;
+        }
+      }
+      noModeSetCntr = 0;
+    } else {
+      return false;
+    }
+  } else if (readMode == ReadModes::SHM) {
+    sif::error << "GpsHyperionLinuxController::readGpsDataFromGpsdPermanentLoop: "
+                  "SHM read not implemented"
+               << std::endl;
+  }
+  handleGpsReadData();
+  return true;
 }
 
-ReturnValue_t GPSHyperionLinuxController::handleGpsRead() {
+ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
   PoolReadGuard pg(&gpsSet);
   if (pg.getReadResult() != returnvalue::OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
@@ -184,51 +203,58 @@ ReturnValue_t GPSHyperionLinuxController::handleGpsRead() {
   }
 
   bool validFix = false;
-  static_cast<void>(validFix);
   // 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
-  int newFixMode = gps.fix.mode;
+  if (gps.fix.mode == 2 or gps.fix.mode == 3) {
-  if (newFixMode == 2 or newFixMode == 3) {
     validFix = true;
   }
-  if (gpsSet.fixMode.value != newFixMode) {
+  if (gpsSet.fixMode.value != gps.fix.mode) {
-    triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, newFixMode);
+    triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, gps.fix.mode);
   }
-  gpsSet.fixMode.value = newFixMode;
+  gpsSet.fixMode.value = gps.fix.mode;
   if (gps.fix.mode == 0 or gps.fix.mode == 1) {
     if (modeCommanded and maxTimeToReachFix.hasTimedOut()) {
-      // We are supposed to be on and functioning, but not fix was found
+      // 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;
     }
     gpsSet.setValidity(false, true);
-  } else if (gps.satellites_used > 0) {
+  } else if (gps.satellites_used > 0 && validFix && mode != MODE_OFF) {
     gpsSet.setValidity(true, true);
   }
 
   gpsSet.satInUse.value = gps.satellites_used;
   gpsSet.satInView.value = gps.satellites_visible;
 
+  bool latValid = false;
   if (std::isfinite(gps.fix.latitude)) {
     // Negative latitude -> South direction
     gpsSet.latitude.value = gps.fix.latitude;
-  } else {
+    if (gps.fix.mode >= 2) {
-    gpsSet.latitude.setValid(false);
+      latValid = true;
+    }
   }
+  gpsSet.latitude.setValid(latValid);
 
+  bool longValid = false;
   if (std::isfinite(gps.fix.longitude)) {
     // Negative longitude -> West direction
     gpsSet.longitude.value = gps.fix.longitude;
-  } else {
+    if (gps.fix.mode >= 2) {
-    gpsSet.longitude.setValid(false);
+      longValid = true;
+    }
   }
+  gpsSet.latitude.setValid(longValid);
 
+  bool altitudeValid = false;
   if (std::isfinite(gps.fix.altitude)) {
     gpsSet.altitude.value = gps.fix.altitude;
-  } else {
+    if (gps.fix.mode == 3) {
-    gpsSet.altitude.setValid(false);
+      altitudeValid = true;
+    }
   }
+  gpsSet.altitude.setValid(altitudeValid);
 
   if (std::isfinite(gps.fix.speed)) {
     gpsSet.speed.value = gps.fix.speed;
@@ -236,59 +262,44 @@ ReturnValue_t GPSHyperionLinuxController::handleGpsRead() {
     gpsSet.speed.setValid(false);
   }
 
+  if (TIME_SET == (TIME_SET & gps.set)) {
+    timeval time = {};
 #if LIBGPS_VERSION_MINOR <= 17
-  gpsSet.unixSeconds.value = gps.fix.time;
+    gpsSet.unixSeconds.value = std::floor(gps.fix.time);
+    double fractionalPart = gps.fix.time - gpsSet.unixSeconds.value;
+    time.tv_usec = fractionalPart * 1000.0 * 1000.0;
 #else
-  gpsSet.unixSeconds.value = gps.fix.time.tv_sec;
+    gpsSet.unixSeconds.value = gps.fix.time.tv_sec;
+    time.tv_usec = gps.fix.time.tv_nsec / 1000;
 #endif
-  timeval time = {};
+    time.tv_sec = gpsSet.unixSeconds.value;
-  time.tv_sec = gpsSet.unixSeconds.value;
+    // If the time is totally wrong (e.g. year 2000 after system reset because we do not have a RTC
-#if LIBGPS_VERSION_MINOR <= 17
+    // and no time file available) we set it with the roughly valid time from the GPS.
-  double fractionalPart = gps.fix.time - std::floor(gps.fix.time);
+    // NTP might only work if the time difference between sys time and current time is not too
-  time.tv_usec = fractionalPart * 1000.0 * 1000.0;
+    // large.
-#else
+    overwriteTimeIfNotSane(time, validFix);
-  time.tv_usec = gps.fix.time.tv_nsec / 1000;
+    Clock::TimeOfDay_t timeOfDay = {};
-#endif
+    Clock::convertTimevalToTimeOfDay(&time, &timeOfDay);
-  std::time_t t = std::time(nullptr);
+    gpsSet.year = timeOfDay.year;
-  if (time.tv_sec == t) {
+    gpsSet.month = timeOfDay.month;
-    timeIsConstantCounter++;
+    gpsSet.day = timeOfDay.day;
+    gpsSet.hours = timeOfDay.hour;
+    gpsSet.minutes = timeOfDay.minute;
+    gpsSet.seconds = timeOfDay.second;
   } else {
-    timeIsConstantCounter = 0;
+    gpsSet.unixSeconds.setValid(false);
-  }
+    gpsSet.year.setValid(false);
-  if (timeInit and validFix) {
+    gpsSet.month.setValid(false);
-    if (not utility::timeSanityCheck()) {
+    gpsSet.day.setValid(false);
-#if OBSW_VERBOSE_LEVEL >= 1
+    gpsSet.hours.setValid(false);
-      time_t timeRaw = time.tv_sec;
+    gpsSet.minutes.setValid(false);
-      std::tm *timeTm = std::gmtime(&timeRaw);
+    gpsSet.seconds.setValid(false);
-      sif::info << "Setting invalid system time from GPS data directly: "
-                << std::put_time(timeTm, "%c %Z") << std::endl;
-#endif
-      // For some reason, the clock needs to be somewhat correct for NTP to work. Really dumb..
-      Clock::setClock(&time);
-    }
-    timeInit = false;
-  }
-  // If the received time does not change anymore for whatever reason, do not set it here
-  // to avoid stale times. Also, don't do it too often often to avoid jumping times
-  if (timeIsConstantCounter < 20 and timeUpdateCd.hasTimedOut()) {
-    // Update the system time here for now. NTP seems to be unable to do so for whatever reason.
-    // Further tests have shown that the time seems to be set by NTPD after some time..
-    // Clock::setClock(&time);
-    timeUpdateCd.resetTimer();
   }
 
-  Clock::TimeOfDay_t timeOfDay = {};
-  Clock::convertTimevalToTimeOfDay(&time, &timeOfDay);
-  gpsSet.year = timeOfDay.year;
-  gpsSet.month = timeOfDay.month;
-  gpsSet.day = timeOfDay.day;
-  gpsSet.hours = timeOfDay.hour;
-  gpsSet.minutes = timeOfDay.minute;
-  gpsSet.seconds = timeOfDay.second;
   if (debugHyperionGps) {
     sif::info << "-- Hyperion GPS Data --" << std::endl;
 #if LIBGPS_VERSION_MINOR <= 17
-    time_t timeRaw = gps.fix.time;
+    time_t timeRaw = gpsSet.unixSeconds.value;
 #else
     time_t timeRaw = gps.fix.time.tv_sec;
 #endif
@@ -312,4 +323,18 @@ ReturnValue_t GPSHyperionLinuxController::handleGpsRead() {
   return returnvalue::OK;
 }
 
+void GpsHyperionLinuxController::overwriteTimeIfNotSane(timeval time, bool validFix) {
+  if (not timeInit and validFix) {
+    if (not utility::timeSanityCheck()) {
+#if OBSW_VERBOSE_LEVEL >= 1
+      time_t timeRaw = time.tv_sec;
+      std::tm *timeTm = std::gmtime(&timeRaw);
+      sif::info << "Overwriting invalid system time from GPS data directly: "
+                << std::put_time(timeTm, "%c %Z") << std::endl;
 #endif
+      // For some reason, the clock needs to be somewhat correct for NTP to work. Really dumb..
+      Clock::setClock(&time);
+    }
+    timeInit = true;
+  }
+}

linux/devices/GpsHyperionLinuxController.h

@@ -20,18 +20,19 @@
  * This device handler can only be used on Linux system where the gpsd daemon with shared memory
  * export is running.
  */
-class GPSHyperionLinuxController : public ExtendedControllerBase {
+class GpsHyperionLinuxController : public ExtendedControllerBase {
  public:
   static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 60 * 5;
 
   enum ReadModes { SHM = 0, SOCKET = 1 };
 
-  GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
+  GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId,
                              bool debugHyperionGps = false);
-  virtual ~GPSHyperionLinuxController();
+  virtual ~GpsHyperionLinuxController();
 
   using gpioResetFunction_t = ReturnValue_t (*)(const uint8_t* actionData, size_t len, void* args);
 
+  ReturnValue_t performOperation(uint8_t opCode) override;
   void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void* args);
   ReturnValue_t handleCommandMessage(CommandMessage* message) override;
   void performControlOperation() override;
@@ -49,7 +50,7 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
 
-  ReturnValue_t handleGpsRead();
+  ReturnValue_t handleGpsReadData();
 
  private:
   GpsPrimaryDataset gpsSet;
@@ -57,16 +58,30 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
   const char* currentClientBuf = nullptr;
   ReadModes readMode = ReadModes::SOCKET;
   Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
-  bool modeCommanded = true;
+  bool modeCommanded = false;
-  bool timeInit = true;
+  bool timeInit = false;
-  bool gpsNotOpenSwitch = true;
+
-  bool gpsReadFailedSwitch = true;
+  struct OneShotSwitches {
+    void reset() {
+      gpsReadFailedSwitch = true;
+      cantGetFixSwitch = true;
+    }
+    bool gpsReadFailedSwitch = true;
+    bool cantGetFixSwitch = true;
+
+  } oneShotSwitches;
+
   bool debugHyperionGps = false;
   int32_t noModeSetCntr = 0;
-  uint32_t timeIsConstantCounter = 0;
   Countdown timeUpdateCd = Countdown(60);
 
-  void readGpsDataFromGpsd();
+  // Returns true if the function should be called again or false if other
+  // controller handling can be done.
+  bool readGpsDataFromGpsd();
+  // If the time is totally wrong (e.g. year 2000 after system reset because we do not have a RTC)
+  // 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);
 };
 
 #endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */

linux/fsfwconfig/events/subsystemIdRanges.h

@@ -13,7 +13,6 @@
 namespace SUBSYSTEM_ID {
 enum : uint8_t {
   SUBSYSTEM_ID_START = COMMON_SUBSYSTEM_ID_END,
-  CORE = 137,
 };
 }
 

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 240 translations.
+ * @brief    Auto-generated event translation file. Contains 248 translations.
  * @details
- * Generated on: 2023-01-23 11:30:32
+ * Generated on: 2023-02-08 14:09:40
  */
 #include "translateEvents.h"
 
@@ -82,6 +82,7 @@ const char *BIT_LOCK_STRING = "BIT_LOCK";
 const char *BIT_LOCK_LOST_STRING = "BIT_LOCK_LOST";
 const char *FRAME_PROCESSING_FAILED_STRING = "FRAME_PROCESSING_FAILED";
 const char *CLOCK_SET_STRING = "CLOCK_SET";
+const char *CLOCK_DUMP_STRING = "CLOCK_DUMP";
 const char *CLOCK_SET_FAILURE_STRING = "CLOCK_SET_FAILURE";
 const char *TC_DELETION_FAILED_STRING = "TC_DELETION_FAILED";
 const char *TEST_STRING = "TEST";
@@ -90,6 +91,7 @@ const char *STORE_ERROR_STRING = "STORE_ERROR";
 const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
 const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
 const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
+const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@@ -198,6 +200,7 @@ const char *POWER_STATE_MACHINE_TIMEOUT_STRING = "POWER_STATE_MACHINE_TIMEOUT";
 const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED";
 const char *CHILDREN_LOST_MODE_STRING = "CHILDREN_LOST_MODE";
 const char *GPS_FIX_CHANGE_STRING = "GPS_FIX_CHANGE";
+const char *CANT_GET_FIX_STRING = "CANT_GET_FIX";
 const char *P60_BOOT_COUNT_STRING = "P60_BOOT_COUNT";
 const char *BATT_MODE_STRING = "BATT_MODE";
 const char *BATT_MODE_CHANGED_STRING = "BATT_MODE_CHANGED";
@@ -228,11 +231,8 @@ const char *SUPV_REPLY_CRC_MISSMATCH_STRING = "SUPV_REPLY_CRC_MISSMATCH";
 const char *SUPV_UPDATE_PROGRESS_STRING = "SUPV_UPDATE_PROGRESS";
 const char *HDLC_FRAME_REMOVAL_ERROR_STRING = "HDLC_FRAME_REMOVAL_ERROR";
 const char *HDLC_CRC_ERROR_STRING = "HDLC_CRC_ERROR";
-const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
+const char *TX_ON_STRING = "TX_ON";
-const char *REBOOT_SW_STRING = "REBOOT_SW";
+const char *TX_OFF_STRING = "TX_OFF";
-const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
-const char *REBOOT_HW_STRING = "REBOOT_HW";
-const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";
 const char *MISSING_PACKET_STRING = "MISSING_PACKET";
 const char *EXPERIMENT_TIMEDOUT_STRING = "EXPERIMENT_TIMEDOUT";
 const char *MULTI_PACKET_COMMAND_DONE_STRING = "MULTI_PACKET_COMMAND_DONE";
@@ -241,6 +241,13 @@ const char *GET_CONFIGFILEVALUE_FAILED_STRING = "GET_CONFIGFILEVALUE_FAILED";
 const char *INSERT_CONFIGFILEVALUE_FAILED_STRING = "INSERT_CONFIGFILEVALUE_FAILED";
 const char *WRITE_CONFIGFILE_FAILED_STRING = "WRITE_CONFIGFILE_FAILED";
 const char *READ_CONFIGFILE_FAILED_STRING = "READ_CONFIGFILE_FAILED";
+const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
+const char *REBOOT_SW_STRING = "REBOOT_SW";
+const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
+const char *REBOOT_HW_STRING = "REBOOT_HW";
+const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";
+const char *VERSION_INFO_STRING = "VERSION_INFO";
+const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
 
 const char *translateEvents(Event event) {
   switch ((event & 0xFFFF)) {
@@ -399,6 +406,8 @@ const char *translateEvents(Event event) {
     case (8900):
       return CLOCK_SET_STRING;
     case (8901):
+      return CLOCK_DUMP_STRING;
+    case (8902):
       return CLOCK_SET_FAILURE_STRING;
     case (9100):
       return TC_DELETION_FAILED_STRING;
@@ -414,6 +423,8 @@ const char *translateEvents(Event event) {
       return SERIALIZATION_ERROR_STRING;
     case (11200):
       return SAFE_RATE_VIOLATION_STRING;
+    case (11201):
+      return SAFE_RATE_RECOVERY_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):
@@ -630,6 +641,8 @@ const char *translateEvents(Event event) {
       return CHILDREN_LOST_MODE_STRING;
     case (13100):
       return GPS_FIX_CHANGE_STRING;
+    case (13101):
+      return CANT_GET_FIX_STRING;
     case (13200):
       return P60_BOOT_COUNT_STRING;
     case (13201):
@@ -690,16 +703,10 @@ const char *translateEvents(Event event) {
       return HDLC_FRAME_REMOVAL_ERROR_STRING;
     case (13632):
       return HDLC_CRC_ERROR_STRING;
-    case (13700):
-      return ALLOC_FAILURE_STRING;
     case (13701):
-      return REBOOT_SW_STRING;
+      return TX_ON_STRING;
     case (13702):
-      return REBOOT_MECHANISM_TRIGGERED_STRING;
+      return TX_OFF_STRING;
-    case (13703):
-      return REBOOT_HW_STRING;
-    case (13704):
-      return NO_SD_CARD_ACTIVE_STRING;
     case (13800):
       return MISSING_PACKET_STRING;
     case (13801):
@@ -716,6 +723,20 @@ const char *translateEvents(Event event) {
       return WRITE_CONFIGFILE_FAILED_STRING;
     case (13905):
       return READ_CONFIGFILE_FAILED_STRING;
+    case (14000):
+      return ALLOC_FAILURE_STRING;
+    case (14001):
+      return REBOOT_SW_STRING;
+    case (14002):
+      return REBOOT_MECHANISM_TRIGGERED_STRING;
+    case (14003):
+      return REBOOT_HW_STRING;
+    case (14004):
+      return NO_SD_CARD_ACTIVE_STRING;
+    case (14005):
+      return VERSION_INFO_STRING;
+    case (14006):
+      return CURRENT_IMAGE_INFO_STRING;
     default:
       return "UNKNOWN_EVENT";
   }

linux/fsfwconfig/objects/systemObjectList.h

@@ -39,8 +39,6 @@ enum sourceObjects : uint32_t {
   FW_ADDRESS_END = TIME_STAMPER,
   PUS_SERVICE_6 = 0x51000500,
 
-  CCSDS_IP_CORE_BRIDGE = 0x73500000,
-
   /* 0x49 ('I') for Communication Interfaces **/
   ARDUINO_COM_IF = 0x49000000,
   CSP_COM_IF = 0x49050001,

linux/fsfwconfig/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 151 translations.
+ * Contains 152 translations.
- * Generated on: 2023-01-23 11:30:32
+ * Generated on: 2023-02-08 14:09:40
  */
 #include "translateObjects.h"
 
@@ -80,7 +80,7 @@ const char *RTD_12_IC15_ACU_STRING = "RTD_12_IC15_ACU";
 const char *RTD_13_IC16_PLPCDU_HEATSPREADER_STRING = "RTD_13_IC16_PLPCDU_HEATSPREADER";
 const char *RTD_14_IC17_TCS_BOARD_STRING = "RTD_14_IC17_TCS_BOARD";
 const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ";
-const char *SYRLINKS_HK_HANDLER_STRING = "SYRLINKS_HK_HANDLER";
+const char *SYRLINKS_HANDLER_STRING = "SYRLINKS_HANDLER";
 const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
 const char *GPIO_IF_STRING = "GPIO_IF";
 const char *SCEX_UART_READER_STRING = "SCEX_UART_READER";
@@ -155,6 +155,7 @@ const char *EIVE_SYSTEM_STRING = "EIVE_SYSTEM";
 const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
 const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
 const char *TCS_SUBSYSTEM_STRING = "TCS_SUBSYSTEM";
+const char *COM_SUBSYSTEM_STRING = "COM_SUBSYSTEM";
 const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
 
@@ -309,7 +310,7 @@ const char *translateObject(object_id_t object) {
     case 0x44420031:
       return RTD_15_IC18_IMTQ_STRING;
     case 0x445300A3:
-      return SYRLINKS_HK_HANDLER_STRING;
+      return SYRLINKS_HANDLER_STRING;
     case 0x49000000:
       return ARDUINO_COM_IF_STRING;
     case 0x49010005:
@@ -458,6 +459,8 @@ const char *translateObject(object_id_t object) {
       return PL_SUBSYSTEM_STRING;
     case 0x73010003:
       return TCS_SUBSYSTEM_STRING;
+    case 0x73010004:
+      return COM_SUBSYSTEM_STRING;
     case 0x73500000:
       return CCSDS_IP_CORE_BRIDGE_STRING;
     case 0xFFFFFFFF:

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -5,6 +5,7 @@
 #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 
+#include "eive/definitions.h"
 #include "mission/devices/devicedefinitions/Max31865Definitions.h"
 
 #ifndef RPI_TEST_ADIS16507
@@ -15,38 +16,17 @@
 #define RPI_TEST_GPS_HANDLER 0
 #endif
 
-ReturnValue_t pst::pstSpiRw(FixedTimeslotTaskIF *thisSequence) {
+ReturnValue_t pst::pstSpiAndSyrlinks(FixedTimeslotTaskIF *thisSequence) {
   uint32_t length = thisSequence->getPeriodMs();
-  static_cast<void>(length);
-  thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
 
-  thisSequence->addSlot(objects::RW1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+#if OBSW_ADD_SYRLINKS == 1
-  thisSequence->addSlot(objects::RW2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RW3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RW4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
+#endif
 
-  thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_WRITE);
-
-  thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::SEND_READ);
-
-  thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
-  return thisSequence->checkSequence();
-}
-
-ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
-  uint32_t length = thisSequence->getPeriodMs();
   static_cast<void>(length);
 #if OBSW_ADD_PL_PCDU == 1
   thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@@ -56,271 +36,6 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
   thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
 #endif
 
-#if OBSW_ADD_SUN_SENSORS == 1
-
-  bool addSus0 = true;
-  bool addSus1 = true;
-  bool addSus2 = true;
-  bool addSus3 = true;
-  bool addSus4 = true;
-  bool addSus5 = true;
-  bool addSus6 = true;
-  bool addSus7 = true;
-  bool addSus8 = true;
-  bool addSus9 = true;
-  bool addSus10 = true;
-  bool addSus11 = true;
-
-  if (addSus0) {
-    /* Write setup */
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-  if (addSus1) {
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-  if (addSus2) {
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-  if (addSus3) {
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-  if (addSus4) {
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-  if (addSus5) {
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-
-  if (addSus6) {
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-
-  if (addSus7) {
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-
-  if (addSus8) {
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-
-  if (addSus9) {
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-
-  if (addSus10) {
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-
-  if (addSus11) {
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-#endif /* OBSW_ADD_SUN_SENSORS == 1 */
-
 #if OBSW_ADD_RAD_SENSORS == 1
   /* Radiation sensor */
   thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@@ -330,74 +45,6 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
   thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
 #endif
 
-#if OBSW_ADD_ACS_BOARD == 1
-  bool enableAside = true;
-  bool enableBside = true;
-  if (enableAside) {
-    // A side
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.25,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
-  }
-
-  if (enableBside) {
-    // B side
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.25,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
-  }
-#endif /* OBSW_ADD_ACS_BOARD == 1 */
-
   return thisSequence->checkSequence();
 }
 
@@ -407,23 +54,6 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
   // Length of a communication cycle
   uint32_t length = thisSequence->getPeriodMs();
   static_cast<void>(length);
-#if OBSW_ADD_MGT == 1
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
-#endif
 #if OBSW_ADD_BPX_BATTERY_HANDLER == 1
   thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2,
                         DeviceHandlerIF::PERFORM_OPERATION);
@@ -481,30 +111,6 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
   return thisSequence->checkSequence();
 }
 
-ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
-  // Length of a communication cycle
-  uint32_t length = thisSequence->getPeriodMs();
-  static_cast<void>(length);
-
-#if OBSW_ADD_SYRLINKS == 1
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
-                        DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
-#endif
-
-#if OBSW_ADD_STAR_TRACKER == 1
-  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::STAR_TRACKER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::STAR_TRACKER, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::STAR_TRACKER, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::STAR_TRACKER, length * 0.8, DeviceHandlerIF::GET_READ);
-#endif
-  return thisSequence->checkSequence();
-}
-
 ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {
   uint32_t length = thisSequence->getPeriodMs();
   // PCDU handlers receives two messages and both must be handled
@@ -577,3 +183,506 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF *thisSequence) {
   }
   return returnvalue::OK;
 }
+
+ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg) {
+  /* Length of a communication cycle */
+  uint32_t length = thisSequence->getPeriodMs();
+  bool enableAside = true;
+  bool enableBside = true;
+  if (cfg.scheduleAcsBoard) {
+    if (enableAside) {
+      // A side
+      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::GET_READ);
+    }
+
+    if (enableBside) {
+      // B side
+      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::GET_READ);
+    }
+  }
+  // SUS: 16 ms
+
+  bool addSus0 = true;
+  bool addSus1 = true;
+  bool addSus2 = true;
+  bool addSus3 = true;
+  bool addSus4 = true;
+  bool addSus5 = true;
+  bool addSus6 = true;
+  bool addSus7 = true;
+  bool addSus8 = true;
+  bool addSus9 = true;
+  bool addSus10 = true;
+  bool addSus11 = true;
+
+  if (cfg.scheduleSus) {
+    if (addSus0) {
+      /* Write setup */
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+    if (addSus1) {
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+    if (addSus2) {
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+    if (addSus3) {
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+    if (addSus4) {
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+    if (addSus5) {
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+
+    if (addSus6) {
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+
+    if (addSus7) {
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+
+    if (addSus8) {
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+
+    if (addSus9) {
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
+                            DeviceHandlerIF::GET_READ);
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+
+    if (addSus10) {
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+
+    if (addSus11) {
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+  }
+
+  if (cfg.scheduleStr) {
+    thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ);
+  }
+
+  if (cfg.scheduleImtq) {
+    // This is the MTM measurement cycle
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::GET_READ);
+  }
+
+  thisSequence->addSlot(objects::ACS_CONTROLLER, length * config::acs::SCHED_BLOCK_2_PERIOD, 0);
+
+  if (cfg.scheduleImtq) {
+    // This is the torquing cycle.
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_READ);
+  }
+
+  if (cfg.scheduleRws) {
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_WRITE);
+
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_READ);
+  }
+  return returnvalue::OK;
+}

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h

@@ -31,6 +31,14 @@ class FixedTimeslotTaskIF;
  */
 namespace pst {
 
+struct AcsPstCfg {
+  bool scheduleAcsBoard = true;
+  bool scheduleImtq = true;
+  bool scheduleRws = true;
+  bool scheduleSus = true;
+  bool scheduleStr = true;
+};
+
 /**
  * @brief	This function creates the PST for all gomspace devices.
  * @details
@@ -39,11 +47,9 @@ namespace pst {
  */
 ReturnValue_t pstGompaceCan(FixedTimeslotTaskIF* thisSequence);
 
-ReturnValue_t pstUart(FixedTimeslotTaskIF* thisSequence);
+ReturnValue_t pstSpiAndSyrlinks(FixedTimeslotTaskIF* thisSequence);
 
-ReturnValue_t pstSpi(FixedTimeslotTaskIF* thisSequence);
+ReturnValue_t pstAcs(FixedTimeslotTaskIF* thisSequence, AcsPstCfg cfg);
-
-ReturnValue_t pstSpiRw(FixedTimeslotTaskIF* thisSequence);
 
 ReturnValue_t pstI2c(FixedTimeslotTaskIF* thisSequence);
 

linux/ipcore/PdecConfig.h

@@ -34,7 +34,7 @@ class PdecConfig {
 
   static const uint8_t VIRTUAL_CHANNEL = 0;
   static const uint8_t RESERVED_FIELD_A = 0;
-  static const uint16_t SPACECRAFT_ID = 0x274;
+  static const uint16_t SPACECRAFT_ID = 0x3DC;
   static const uint16_t DUMMY_BITS = 0;
   // Parameters to control the FARM for AD frames
   // Set here for future use

linux/ipcore/PdecHandler.cpp

@@ -132,6 +132,7 @@ ReturnValue_t PdecHandler::polledOperation() {
   return returnvalue::OK;
 }
 
+// See https://yurovsky.github.io/2014/10/10/linux-uio-gpio-interrupt.html for more information.
 ReturnValue_t PdecHandler::irqOperation() {
   ReturnValue_t result = returnvalue::OK;
   int fd = open(uioNames.irq, O_RDWR);
@@ -141,15 +142,17 @@ ReturnValue_t PdecHandler::irqOperation() {
     return returnvalue::FAILED;
   }
 
-  struct pollfd fds = {.fd = fd, .events = POLLIN, .revents = 0};
   // Used to unmask IRQ
   uint32_t info = 1;
   ssize_t nb = 0;
   int ret = 0;
-  // Clear interrupts with dummy read before unmasking the interrupt
+  // Clear interrupts with dummy read before unmasking the interrupt. Use a volatile to prevent
-  ret = *(registerBaseAddress + PDEC_PIR_OFFSET);
+  // read being optimized away.
+  volatile uint32_t dummy = *(registerBaseAddress + PDEC_PIR_OFFSET);
 
   while (true) {
+    // Default value to unmask IRQ on the write call.
+    info = 1;
     readCommandQueue();
     switch (state) {
       case State::INIT:
@@ -166,9 +169,12 @@ ReturnValue_t PdecHandler::irqOperation() {
         nb = write(fd, &info, sizeof(info));
         if (nb != static_cast<ssize_t>(sizeof(info))) {
           sif::error << "PdecHandler::irqOperation: Unmasking IRQ failed" << std::endl;
+          triggerEvent(WRITE_SYSCALL_ERROR_PDEC, errno);
           close(fd);
+          state = State::INIT;
+          return returnvalue::FAILED;
         }
-
+        struct pollfd fds = {.fd = fd, .events = POLLIN, .revents = 0};
         ret = poll(&fds, 1, IRQ_TIMEOUT_MS);
         if (ret == 0) {
           // No TCs for timeout period
@@ -188,18 +194,22 @@ ReturnValue_t PdecHandler::irqOperation() {
             if ((pisr & NEW_FAR_MASK) == NEW_FAR_MASK) {
               // Read FAR here
               CURRENT_FAR = readFar();
+              checkFrameAna(CURRENT_FAR);
             }
             if (lockCheckCd.hasTimedOut()) {
               checkLocks();
               lockCheckCd.resetTimer();
             }
             // Clear interrupts with dummy read
-            ret = *(registerBaseAddress + PDEC_PIR_OFFSET);
+            dummy = *(registerBaseAddress + PDEC_PIR_OFFSET);
           }
         } else {
           sif::error << "PdecHandler::irqOperation: Poll error with errno " << errno << ": "
                      << strerror(errno) << std::endl;
-          triggerEvent(POLL_ERROR_PDEC, errno);
+          triggerEvent(POLL_SYSCALL_ERROR_PDEC, errno);
+          close(fd);
+          state = State::INIT;
+          return returnvalue::FAILED;
         }
         break;
       }
@@ -210,6 +220,8 @@ ReturnValue_t PdecHandler::irqOperation() {
         break;
     }
   }
+  // To avoid compiler warning
+  static_cast<void>(dummy);
   return returnvalue::OK;
 }
 

linux/ipcore/PdecHandler.h

@@ -87,7 +87,10 @@ class PdecHandler : public SystemObject, public ExecutableObjectIF, public HasAc
   static const Event LOST_CARRIER_LOCK_PDEC = MAKE_EVENT(5, severity::INFO);
   //! [EXPORT] : [COMMENT] Lost bit lock
   static const Event LOST_BIT_LOCK_PDEC = MAKE_EVENT(6, severity::INFO);
-  static constexpr Event POLL_ERROR_PDEC = event::makeEvent(SUBSYSTEM_ID, 7, severity::MEDIUM);
+  static constexpr Event POLL_SYSCALL_ERROR_PDEC =
+      event::makeEvent(SUBSYSTEM_ID, 7, severity::MEDIUM);
+  static constexpr Event WRITE_SYSCALL_ERROR_PDEC =
+      event::makeEvent(SUBSYSTEM_ID, 8, severity::MEDIUM);
 
  private:
   static const uint8_t INTERFACE_ID = CLASS_ID::PDEC_HANDLER;

mission/CMakeLists.txt

@@ -7,3 +7,4 @@ add_subdirectory(tmtc)
 add_subdirectory(system)
 add_subdirectory(csp)
 add_subdirectory(cfdp)
+add_subdirectory(config)

mission/acsDefs.h

@@ -0,0 +1,29 @@
+#ifndef MISSION_ACSDEFS_H_
+#define MISSION_ACSDEFS_H_
+
+#include <eive/eventSubsystemIds.h>
+#include <fsfw/modes/HasModesIF.h>
+
+namespace acs {
+
+// These modes are the submodes of the ACS controller and the modes of the ACS subsystem.
+enum AcsMode {
+  OFF = HasModesIF::MODE_OFF,
+  SAFE = 10,
+  DETUMBLE = 11,
+  PTG_IDLE = 12,
+  PTG_NADIR = 13,
+  PTG_TARGET = 14,
+  PTG_TARGET_GS = 15,
+  PTG_INERTIAL = 16,
+};
+
+static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
+//!< The limits for the rotation in safe mode were violated.
+static const Event SAFE_RATE_VIOLATION = MAKE_EVENT(0, severity::MEDIUM);
+//!< The system has recovered from a safe rate rotation violation.
+static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
+
+}  // namespace acs
+
+#endif /* MISSION_ACSDEFS_H_ */

mission/comDefs.h

@@ -0,0 +1,31 @@
+#ifndef MISSION_COMDEFS_H_
+#define MISSION_COMDEFS_H_
+
+namespace com {
+
+enum class Datarate : uint8_t {
+  LOW_RATE_MODULATION_BPSK,
+  HIGH_RATE_MODULATION_0QPSK,
+  NUM_DATARATES
+};
+
+enum Submode : uint8_t {
+  RX_ONLY = 10,
+  RX_AND_TX_DEFAULT_DATARATE = 11,
+  RX_AND_TX_LOW_DATARATE = 12,
+  RX_AND_TX_HIGH_DATARATE = 13,
+  RX_AND_TX_CW = 14,
+  NUM_SUBMODES
+};
+
+enum class CcsdsSubmode : uint8_t {
+  UNSET = 0,
+  DATARATE_LOW = 1,
+  DATARATE_HIGH = 2,
+  DATARATE_DEFAULT = 3
+};
+enum class ParameterId : uint8_t { DATARATE = 0 };
+
+}  // namespace com
+
+#endif /* MISSION_COMDEFS_H_ */

mission/config/CMakeLists.txt

@@ -0,0 +1 @@
+target_sources(${LIB_EIVE_MISSION} PRIVATE comCfg.cpp torquer.cpp)

mission/config/comCfg.cpp

@@ -0,0 +1,26 @@
+#include "comCfg.h"
+
+#include <fsfw/ipc/MutexFactory.h>
+#include <fsfw/ipc/MutexGuard.h>
+
+com::Datarate DATARATE_CFG_RAW = com::Datarate::LOW_RATE_MODULATION_BPSK;
+MutexIF* DATARATE_LOCK = nullptr;
+
+MutexIF* lazyLock();
+
+com::Datarate com::getCurrentDatarate() {
+  MutexGuard mg(lazyLock());
+  return DATARATE_CFG_RAW;
+}
+
+void com::setCurrentDatarate(com::Datarate newRate) {
+  MutexGuard mg(lazyLock());
+  DATARATE_CFG_RAW = newRate;
+}
+
+MutexIF* lazyLock() {
+  if (DATARATE_LOCK == nullptr) {
+    return MutexFactory::instance()->createMutex();
+  }
+  return DATARATE_LOCK;
+}

mission/config/comCfg.h

@@ -0,0 +1,15 @@
+#ifndef MISSION_COMCFG_H_
+#define MISSION_COMCFG_H_
+
+#include <fsfw/ipc/MutexIF.h>
+
+#include "mission/comDefs.h"
+
+namespace com {
+
+com::Datarate getCurrentDatarate();
+void setCurrentDatarate(com::Datarate newRate);
+
+}  // namespace com
+
+#endif /* MISSION_COMCFG_H_ */

mission/controller/AcsController.cpp

@@ -2,7 +2,8 @@
 
 #include <fsfw/datapool/PoolReadGuard.h>
 
-#include "mission/devices/torquer.h"
+#include "mission/acsDefs.h"
+#include "mission/config/torquer.h"
 
 AcsController::AcsController(object_id_t objectId)
     : ExtendedControllerBase(objectId),
@@ -14,6 +15,7 @@ AcsController::AcsController(object_id_t objectId)
       detumble(&acsParameters),
       ptgCtrl(&acsParameters),
       detumbleCounter{0},
+      parameterHelper(this),
       mgmDataRaw(this),
       mgmDataProcessed(this),
       susDataRaw(this),
@@ -26,7 +28,25 @@ AcsController::AcsController(object_id_t objectId)
       actuatorCmdData(this) {}
 
 ReturnValue_t AcsController::handleCommandMessage(CommandMessage *message) {
-  return returnvalue::OK;
+  ReturnValue_t result = actionHelper.handleActionMessage(message);
+  if (result == returnvalue::OK) {
+    return result;
+  }
+  result = parameterHelper.handleParameterMessage(message);
+  if (result == returnvalue::OK) {
+    return result;
+  }
+  return result;
+}
+
+MessageQueueId_t AcsController::getCommandQueue() const { return commandQueue->getId(); }
+
+ReturnValue_t AcsController::getParameter(uint8_t domainId, uint8_t parameterId,
+                                          ParameterWrapper *parameterWrapper,
+                                          const ParameterWrapper *newValues,
+                                          uint16_t startAtIndex) {
+  return acsParameters.getParameter(domainId, parameterId, parameterWrapper, newValues,
+                                    startAtIndex);
 }
 
 void AcsController::performControlOperation() {
@@ -45,15 +65,17 @@ void AcsController::performControlOperation() {
     case InternalState::READY: {
       if (mode != MODE_OFF) {
         switch (submode) {
-          case SUBMODE_SAFE:
+          case acs::SAFE:
             performSafe();
             break;
-          case SUBMODE_DETUMBLE:
+          case acs::DETUMBLE:
             performDetumble();
             break;
-          case SUBMODE_PTG_TARGET:
+          case acs::PTG_IDLE:
-          case SUBMODE_PTG_NADIR:
+          case acs::PTG_TARGET:
-          case SUBMODE_PTG_INERTIAL:
+          case acs::PTG_TARGET_GS:
+          case acs::PTG_NADIR:
+          case acs::PTG_INERTIAL:
             performPointingCtrl();
             break;
         }
@@ -85,12 +107,6 @@ void AcsController::performControlOperation() {
 }
 
 void AcsController::performSafe() {
-  //	Concept: SAFE MODE WITH MEKF
-  //	-do the sensor processing, maybe is does make more sense do call this class function in
-  //	another place since we have to do it for every mode regardless of safe or not
-
-  ACS::SensorValues sensorValues;
-
   timeval now;
   Clock::getClock_timeval(&now);
 
@@ -127,10 +143,10 @@ void AcsController::performSafe() {
   {
     PoolReadGuard pg(&ctrlValData);
     if (pg.getReadResult() == returnvalue::OK) {
-      double zeroQuat[4] = {0, 0, 0, 0};
+      double unitQuat[4] = {0, 0, 0, 1};
-      std::memcpy(ctrlValData.tgtQuat.value, zeroQuat, 4 * sizeof(double));
+      std::memcpy(ctrlValData.tgtQuat.value, unitQuat, 4 * sizeof(double));
       ctrlValData.tgtQuat.setValid(false);
-      std::memcpy(ctrlValData.errQuat.value, zeroQuat, 4 * sizeof(double));
+      std::memcpy(ctrlValData.errQuat.value, unitQuat, 4 * sizeof(double));
       ctrlValData.errQuat.setValid(false);
       ctrlValData.errAng.value = errAng;
       ctrlValData.errAng.setValid(true);
@@ -151,9 +167,9 @@ void AcsController::performSafe() {
     detumbleCounter = 0;
   }
   if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
-    submode = SUBMODE_DETUMBLE;
     detumbleCounter = 0;
-    triggerEvent(SAFE_RATE_VIOLATION);
+    // Triggers detumble mode transition in subsystem
+    triggerEvent(acs::SAFE_RATE_VIOLATION);
   }
 
   {
@@ -173,13 +189,12 @@ void AcsController::performSafe() {
   //    PoolReadGuard pg(&dipoleSet);
   //    MutexGuard mg(torquer::lazyLock());
   //    torquer::NEW_ACTUATION_FLAG = true;
-  //    dipoleSet.setDipoles(cmdDipolUnits[0], cmdDipolUnits[1], cmdDipolUnits[2], torqueDuration);
+  //    dipoleSet.setDipoles(cmdDipolUnits[0], cmdDipolUnits[1], cmdDipolUnits[2],
+  //    torqueDuration);
   //  }
 }
 
 void AcsController::performDetumble() {
-  ACS::SensorValues sensorValues;
-
   timeval now;
   Clock::getClock_timeval(&now);
 
@@ -208,8 +223,9 @@ void AcsController::performDetumble() {
     detumbleCounter = 0;
   }
   if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
-    submode = SUBMODE_SAFE;
     detumbleCounter = 0;
+    // Triggers safe mode transition in subsystem
+    triggerEvent(acs::SAFE_RATE_RECOVERY);
   }
 
   int16_t cmdDipolUnitsInt[3] = {0, 0, 0};
@@ -238,8 +254,6 @@ void AcsController::performDetumble() {
 }
 
 void AcsController::performPointingCtrl() {
-  ACS::SensorValues sensorValues;
-
   timeval now;
   Clock::getClock_timeval(&now);
 
@@ -250,29 +264,146 @@ void AcsController::performPointingCtrl() {
                      &mekfData, &validMekf);
 
   double targetQuat[4] = {0, 0, 0, 0}, refSatRate[3] = {0, 0, 0};
-  guidance.targetQuatPtg(&sensorValues, &mekfData, &susDataProcessed, now, targetQuat, refSatRate);
+  double quatRef[4] = {0, 0, 0, 0};
+  uint8_t enableAntiStiction = true;
+
   double quatErrorComplete[4] = {0, 0, 0, 0}, quatError[3] = {0, 0, 0},
          deltaRate[3] = {0, 0, 0};  // ToDo: check if pointer needed
-  guidance.comparePtg(targetQuat, &mekfData, refSatRate, quatErrorComplete, quatError, deltaRate);
   double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
   guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
-  double torquePtgRws[4] = {0, 0, 0, 0}, mode = 0;
+  double torquePtgRws[4] = {0, 0, 0, 0}, rwTrqNs[4] = {0, 0, 0, 0};
-  ptgCtrl.ptgGroundstation(mode, quatError, deltaRate, *rwPseudoInv, torquePtgRws);
+  double torqueRws[4] = {0, 0, 0, 0}, torqueRwsScaled[4] = {0, 0, 0, 0};
-  double rwTrqNs[4] = {0, 0, 0, 0};
-  ptgCtrl.ptgNullspace(
-      &(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
-      &(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
-  double cmdSpeedRws[4] = {0, 0, 0, 0};  // Should be given to the actuator reaction wheel as input
-  actuatorCmd.cmdSpeedToRws(
-      &(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
-      &(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), torquePtgRws,
-      rwTrqNs, cmdSpeedRws);
   double mgtDpDes[3] = {0, 0, 0}, dipolUnits[3] = {0, 0, 0};  // Desaturation Dipol
-  ptgCtrl.ptgDesaturation(mgmDataProcessed.mgmVecTot.value, mgmDataProcessed.mgmVecTot.isValid(),
+
-                          mekfData.satRotRateMekf.value, &(sensorValues.rw1Set.currSpeed.value),
+  switch (submode) {
-                          &(sensorValues.rw2Set.currSpeed.value),
+    case acs::PTG_IDLE:
-                          &(sensorValues.rw3Set.currSpeed.value),
+      guidance.sunQuatPtg(&sensorValues, &mekfData, &susDataProcessed, &gpsDataProcessed, now,
-                          &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
+                          targetQuat, refSatRate);
+      std::memcpy(quatRef, acsParameters.targetModeControllerParameters.quatRef,
+                  4 * sizeof(double));
+      enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
+      guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError,
+                          deltaRate);
+      ptgCtrl.ptgLaw(&acsParameters.targetModeControllerParameters, quatError, deltaRate,
+                     *rwPseudoInv, torquePtgRws);
+      ptgCtrl.ptgNullspace(
+          &acsParameters.targetModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
+          &(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value),
+          &(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
+      VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
+      actuatorCmd.scalingTorqueRws(torqueRws, torqueRwsScaled);
+      ptgCtrl.ptgDesaturation(
+          &acsParameters.targetModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
+          mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
+          &(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
+          &(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
+
+      break;
+
+    case acs::PTG_TARGET:
+      guidance.targetQuatPtgThreeAxes(&sensorValues, &gpsDataProcessed, &mekfData, now, targetQuat,
+                                      refSatRate);
+      std::memcpy(quatRef, acsParameters.targetModeControllerParameters.quatRef,
+                  4 * sizeof(double));
+      enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
+      guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError,
+                          deltaRate);
+      ptgCtrl.ptgLaw(&acsParameters.targetModeControllerParameters, quatError, deltaRate,
+                     *rwPseudoInv, torquePtgRws);
+      ptgCtrl.ptgNullspace(
+          &acsParameters.targetModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
+          &(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value),
+          &(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
+      VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
+      actuatorCmd.scalingTorqueRws(torqueRws, torqueRwsScaled);
+      ptgCtrl.ptgDesaturation(
+          &acsParameters.targetModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
+          mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
+          &(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
+          &(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
+      break;
+
+    case acs::PTG_TARGET_GS:
+      guidance.targetQuatPtgGs(&sensorValues, &mekfData, &susDataProcessed, &gpsDataProcessed, now,
+                               targetQuat, refSatRate);
+      std::memcpy(quatRef, acsParameters.targetModeControllerParameters.quatRef,
+                  4 * sizeof(double));
+      enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
+      guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError,
+                          deltaRate);
+      ptgCtrl.ptgLaw(&acsParameters.targetModeControllerParameters, quatError, deltaRate,
+                     *rwPseudoInv, torquePtgRws);
+      ptgCtrl.ptgNullspace(
+          &acsParameters.targetModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
+          &(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value),
+          &(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
+      VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
+      actuatorCmd.scalingTorqueRws(torqueRws, torqueRwsScaled);
+      ptgCtrl.ptgDesaturation(
+          &acsParameters.targetModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
+          mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
+          &(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
+          &(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
+      break;
+
+    case acs::PTG_NADIR:
+      guidance.quatNadirPtgThreeAxes(&sensorValues, &gpsDataProcessed, &mekfData, now, targetQuat,
+                                     refSatRate);
+      std::memcpy(quatRef, acsParameters.nadirModeControllerParameters.quatRef, 4 * sizeof(double));
+      enableAntiStiction = acsParameters.nadirModeControllerParameters.enableAntiStiction;
+      guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError,
+                          deltaRate);
+      ptgCtrl.ptgLaw(&acsParameters.nadirModeControllerParameters, quatError, deltaRate,
+                     *rwPseudoInv, torquePtgRws);
+      ptgCtrl.ptgNullspace(
+          &acsParameters.nadirModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
+          &(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value),
+          &(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
+      VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
+      actuatorCmd.scalingTorqueRws(torqueRws, torqueRwsScaled);
+      ptgCtrl.ptgDesaturation(
+          &acsParameters.nadirModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
+          mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
+          &(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
+          &(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
+      break;
+
+    case acs::PTG_INERTIAL:
+      guidance.inertialQuatPtg(targetQuat, refSatRate);
+      std::memcpy(quatRef, acsParameters.inertialModeControllerParameters.quatRef,
+                  4 * sizeof(double));
+      enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction;
+      guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError,
+                          deltaRate);
+      ptgCtrl.ptgLaw(&acsParameters.inertialModeControllerParameters, quatError, deltaRate,
+                     *rwPseudoInv, torquePtgRws);
+      ptgCtrl.ptgNullspace(
+          &acsParameters.inertialModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
+          &(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value),
+          &(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
+      VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
+      actuatorCmd.scalingTorqueRws(torqueRws, torqueRwsScaled);
+      ptgCtrl.ptgDesaturation(
+          &acsParameters.inertialModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
+          mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
+          &(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
+          &(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
+      break;
+  }
+
+  if (enableAntiStiction) {
+    bool rwAvailable[4] = {true, true, true, true};  // WHICH INPUT SENSOR SET?
+    int32_t rwSpeed[4] = {
+        (sensorValues.rw1Set.currSpeed.value), (sensorValues.rw2Set.currSpeed.value),
+        (sensorValues.rw3Set.currSpeed.value), (sensorValues.rw4Set.currSpeed.value)};
+    ptgCtrl.rwAntistiction(rwAvailable, rwSpeed, torqueRwsScaled);
+  }
+
+  double cmdSpeedRws[4] = {0, 0, 0, 0};  // Should be given to the actuator reaction wheel as input
+  actuatorCmd.cmdSpeedToRws(&(sensorValues.rw1Set.currSpeed.value),
+                            &(sensorValues.rw2Set.currSpeed.value),
+                            &(sensorValues.rw3Set.currSpeed.value),
+                            &(sensorValues.rw4Set.currSpeed.value), torqueRwsScaled, cmdSpeedRws);
   actuatorCmd.cmdDipolMtq(mgtDpDes, dipolUnits);
 
   int16_t cmdDipolUnitsInt[3] = {0, 0, 0};
@@ -369,6 +500,8 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
   // GPS Processed
   localDataPoolMap.emplace(acsctrl::PoolIds::GC_LATITUDE, &gcLatitude);
   localDataPoolMap.emplace(acsctrl::PoolIds::GD_LONGITUDE, &gdLongitude);
+  localDataPoolMap.emplace(acsctrl::PoolIds::GPS_POSITION, &gpsPosition);
+  localDataPoolMap.emplace(acsctrl::PoolIds::GPS_VELOCITY, &gpsVelocity);
   poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), false, 5.0});
   // MEKF
   localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_MEKF, &quatMekf);
@@ -424,7 +557,7 @@ ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
       return INVALID_SUBMODE;
     }
   } else if ((mode == MODE_ON) || (mode == MODE_NORMAL)) {
-    if ((submode > 6) || (submode < 2)) {
+    if ((submode < acs::AcsMode::SAFE) or (submode > acs::AcsMode::PTG_INERTIAL)) {
       return INVALID_SUBMODE;
     } else {
       return returnvalue::OK;
@@ -484,7 +617,6 @@ void AcsController::copyMgmData() {
 }
 
 void AcsController::copySusData() {
-  ACS::SensorValues sensorValues;
   {
     PoolReadGuard pg(&sensorValues.susSets[0]);
     if (pg.getReadResult() == returnvalue::OK) {
@@ -630,3 +762,11 @@ void AcsController::copyGyrData() {
     }
   }
 }
+
+ReturnValue_t AcsController::initialize() {
+  ReturnValue_t result = parameterHelper.initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return ExtendedControllerBase::initialize();
+}

mission/controller/AcsController.h

@@ -3,6 +3,8 @@
 
 #include <fsfw/controller/ExtendedControllerBase.h>
 #include <fsfw/globalfunctions/math/VectorOperations.h>
+#include <fsfw/parameters/ParameterHelper.h>
+#include <fsfw/parameters/ReceivesParameterMessagesIF.h>
 
 #include "acs/ActuatorCmd.h"
 #include "acs/Guidance.h"
@@ -18,21 +20,16 @@
 #include "mission/devices/devicedefinitions/SusDefinitions.h"
 #include "mission/devices/devicedefinitions/imtqHandlerDefinitions.h"
 
-class AcsController : public ExtendedControllerBase {
+class AcsController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
  public:
   static constexpr dur_millis_t INIT_DELAY = 500;
 
   AcsController(object_id_t objectId);
 
-  static const Submode_t SUBMODE_SAFE = 2;
+  MessageQueueId_t getCommandQueue() const;
-  static const Submode_t SUBMODE_DETUMBLE = 3;
+  ReturnValue_t getParameter(uint8_t domainId, uint8_t parameterId,
-  static const Submode_t SUBMODE_PTG_TARGET = 4;
+                             ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
-  static const Submode_t SUBMODE_PTG_NADIR = 5;
+                             uint16_t startAtIndex) override;
-  static const Submode_t SUBMODE_PTG_INERTIAL = 6;
-
-  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
-  static const Event SAFE_RATE_VIOLATION =
-      MAKE_EVENT(0, severity::MEDIUM);  //!< The limits for the rotation in safe mode were violated.
 
  protected:
   void performSafe();
@@ -52,10 +49,13 @@ class AcsController : public ExtendedControllerBase {
 
   uint8_t detumbleCounter;
 
+  ParameterHelper parameterHelper;
+
   enum class InternalState { STARTUP, INITIAL_DELAY, READY };
 
   InternalState internalState = InternalState::STARTUP;
 
+  ReturnValue_t initialize() override;
   ReturnValue_t handleCommandMessage(CommandMessage* message) override;
   void performControlOperation() override;
 
@@ -69,6 +69,9 @@ class AcsController : public ExtendedControllerBase {
   void modeChanged(Mode_t mode, Submode_t submode);
   void announceMode(bool recursive);
 
+  /* ACS Sensor Values */
+  ACS::SensorValues sensorValues;
+
   /* ACS Datasets */
   IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER);
   // MGMs
@@ -143,6 +146,8 @@ class AcsController : public ExtendedControllerBase {
   acsctrl::GpsDataProcessed gpsDataProcessed;
   PoolEntry<double> gcLatitude = PoolEntry<double>();
   PoolEntry<double> gdLongitude = PoolEntry<double>();
+  PoolEntry<double> gpsPosition = PoolEntry<double>(3);
+  PoolEntry<double> gpsVelocity = PoolEntry<double>(3);
 
   // MEKF
   acsctrl::MekfData mekfData;

mission/controller/ThermalController.cpp

@@ -2,6 +2,7 @@
 
 #include <bsp_q7s/core/CoreDefinitions.h>
 #include <fsfw/datapool/PoolReadGuard.h>
+#include <fsfw/thermal/ThermalComponentIF.h>
 #include <fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h>
 #include <linux/devices/devicedefinitions/StarTrackerDefinitions.h>
 #include <mission/devices/devicedefinitions/BpxBatteryDefinitions.h>
@@ -14,12 +15,14 @@
 #include <mission/devices/devicedefinitions/payloadPcduDefinitions.h>
 #include <objects/systemObjectList.h>
 
-ThermalController::ThermalController(object_id_t objectId)
+ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater)
     : ExtendedControllerBase(objectId),
+      heaterHandler(heater),
       sensorTemperatures(this),
       susTemperatures(this),
       deviceTemperatures(this),
       heaterInfo(this),
+      imtqThermalSet(objects::IMTQ_HANDLER),
       max31865Set0(objects::RTD_0_IC3_PLOC_HEATSPREADER,
                    EiveMax31855::RtdCommands::EXCHANGE_SET_ID),
       max31865Set1(objects::RTD_1_IC4_PLOC_MISSIONBOARD,
@@ -56,7 +59,9 @@ ThermalController::ThermalController(object_id_t objectId)
       susSet8(objects::SUS_8_R_LOC_XBYBZB_PT_YB),
       susSet9(objects::SUS_9_R_LOC_XBYBZB_PT_YF),
       susSet10(objects::SUS_10_N_LOC_XMYBZF_PT_ZF),
-      susSet11(objects::SUS_11_R_LOC_XBYMZB_PT_ZB) {}
+      susSet11(objects::SUS_11_R_LOC_XBYMZB_PT_ZB) {
+  resetSensorsArray();
+}
 
 ReturnValue_t ThermalController::initialize() {
   auto result = ExtendedControllerBase::initialize();
@@ -105,6 +110,7 @@ void ThermalController::performControlOperation() {
     deviceTemperatures.commit();
   }
 
+<<<<<<< HEAD
   {
     PoolReadGuard pg(&heaterInfo);
     if (pg.getReadResult() == returnvalue::OK) {
@@ -116,6 +122,32 @@ void ThermalController::performControlOperation() {
       }
     }
   }
+=======
+  ctrlCameraBody();
+  ctrlAcsBoard();
+  ctrlMgt();
+  ctrlRw();
+  ctrlStr();
+  ctrlIfBoard();
+  ctrlAcsBoard();
+  ctrlObc();
+  ctrlObcIfBoard();
+  ctrlSBandTransceiver();
+  ctrlPcduP60Board();
+  ctrlPcduAcu();
+  ctrlPcduPdu();
+  ctrlPlPcduBoard();
+  ctrlPlocMissionBoard();
+  ctrlPlocProcessingBoard();
+  ctrlDac();
+
+  ctrlDro();
+  ctrlX8();
+  ctrlHpa();
+  ctrlTx();
+  ctrlMpa();
+  ctrlScexBoard();
+>>>>>>> origin/develop
 }
 
 ReturnValue_t ThermalController::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@@ -763,7 +795,7 @@ void ThermalController::copyDevices() {
 
   {
     lp_var_t<float> tempSyrlinksPowerAmplifier =
-        lp_var_t<float>(objects::SYRLINKS_HK_HANDLER, syrlinks::TEMP_POWER_AMPLIFIER);
+        lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_POWER_AMPLIFIER);
     PoolReadGuard pg(&tempSyrlinksPowerAmplifier, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read syrlinks power amplifier temperature"
@@ -778,7 +810,7 @@ void ThermalController::copyDevices() {
 
   {
     lp_var_t<float> tempSyrlinksBasebandBoard =
-        lp_var_t<float>(objects::SYRLINKS_HK_HANDLER, syrlinks::TEMP_BASEBAND_BOARD);
+        lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_BASEBAND_BOARD);
     PoolReadGuard pg(&tempSyrlinksBasebandBoard, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read syrlinks baseband board temperature"
@@ -969,3 +1001,450 @@ void ThermalController::copyDevices() {
     }
   }
 }
+
+void ThermalController::ctrlAcsBoard() {
+  // TODO: check
+  heater::Switchers switchNr = heater::HEATER_2_ACS_BRD;
+  heater::Switchers redSwitchNr = heater::HEATER_0_OBC_BRD;
+
+  // A side
+  sensors[0].first = deviceTemperatures.gyro0SideA.isValid();
+  sensors[0].second = deviceTemperatures.gyro0SideA.value;
+  sensors[1].first = deviceTemperatures.mgm0SideA.isValid();
+  sensors[1].second = deviceTemperatures.mgm0SideA.value;
+  sensors[2].first = deviceTemperatures.gyro1SideA.isValid();
+  sensors[2].second = deviceTemperatures.gyro1SideA.value;
+  sensors[3].first = sensorTemperatures.sensor_tcs_board.isValid();
+  sensors[3].second = sensorTemperatures.sensor_tcs_board.value;
+  numSensors = 4;
+  if (selectAndReadSensorTemp()) {
+    if (chooseHeater(switchNr, redSwitchNr)) {
+      ctrlHeater(switchNr, redSwitchNr, acsBoardLimits);
+    }
+    resetSensorsArray();
+    return;
+  }
+
+  // B side
+  sensors[0].first = deviceTemperatures.gyro2SideB.isValid();
+  sensors[0].second = deviceTemperatures.gyro2SideB.value;
+  sensors[1].first = deviceTemperatures.mgm2SideB.isValid();
+  sensors[1].second = deviceTemperatures.mgm2SideB.value;
+  sensors[2].first = deviceTemperatures.gyro3SideB.isValid();
+  sensors[2].second = deviceTemperatures.gyro3SideB.value;
+  sensors[3].first = sensorTemperatures.sensor_tcs_board.isValid();
+  sensors[3].second = sensorTemperatures.sensor_tcs_board.value;
+  if (selectAndReadSensorTemp()) {
+    if (chooseHeater(switchNr, redSwitchNr)) {
+      ctrlHeater(switchNr, redSwitchNr, acsBoardLimits);
+    }
+  } else {
+    if (chooseHeater(switchNr, redSwitchNr)) {
+      if (heaterHandler.checkSwitchState(switchNr)) {
+        heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
+        sif::info << "ThermalController::ctrlHeater: Heater" << switchNr << " OFF" << std::endl;
+      }
+    }
+  }
+  resetSensorsArray();
+}
+
+void ThermalController::ctrlMgt() {
+  PoolReadGuard pg(&imtqThermalSet);
+  auto heaterReq =
+      static_cast<ThermalComponentIF::StateRequest>(imtqThermalSet.heaterRequest.value);
+
+  if (heaterReq == ThermalComponentIF::STATE_REQUEST_OPERATIONAL) {
+    sensors[0].first = sensorTemperatures.sensor_magnettorquer.isValid();
+    sensors[0].second = sensorTemperatures.sensor_magnettorquer.value;
+    sensors[1].first = deviceTemperatures.mgt.isValid();
+    sensors[1].second = deviceTemperatures.mgt.value;
+    sensors[2].first = sensorTemperatures.sensor_plpcdu_heatspreader.isValid();
+    sensors[2].second = sensorTemperatures.sensor_plpcdu_heatspreader.value;
+    numSensors = 3;
+    ctrlComponentTemperature(heater::HEATER_2_ACS_BRD, heater::HEATER_3_PCDU_PDU, mgtLimits);
+  }
+}
+
+void ThermalController::ctrlRw() {
+  // TODO: better solution?
+  // RW1
+  sensors[0].first = sensorTemperatures.sensor_rw1.isValid();
+  sensors[0].second = sensorTemperatures.sensor_rw1.value;
+  sensors[1].first = deviceTemperatures.rw1.isValid();
+  sensors[1].second = deviceTemperatures.rw1.value;
+  sensors[2].first = deviceTemperatures.rw4.isValid();
+  sensors[2].second = deviceTemperatures.rw4.value;
+  sensors[3].first = sensorTemperatures.sensor_dro.isValid();
+  sensors[3].second = sensorTemperatures.sensor_dro.value;
+  numSensors = 4;
+  ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_6_DRO, rwLimits);
+
+  // RW2
+  sensors[0].first = deviceTemperatures.rw2.isValid();
+  sensors[0].second = deviceTemperatures.rw2.value;
+  sensors[1].first = deviceTemperatures.rw3.isValid();
+  sensors[1].second = deviceTemperatures.rw3.value;
+  sensors[2].first = sensorTemperatures.sensor_rw1.isValid();
+  sensors[2].second = sensorTemperatures.sensor_rw1.value;
+  sensors[3].first = sensorTemperatures.sensor_dro.isValid();
+  sensors[3].second = sensorTemperatures.sensor_dro.value;
+  numSensors = 4;
+  ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_6_DRO, rwLimits);
+
+  // RW3
+  sensors[0].first = deviceTemperatures.rw3.isValid();
+  sensors[0].second = deviceTemperatures.rw3.value;
+  sensors[1].first = deviceTemperatures.rw4.isValid();
+  sensors[1].second = deviceTemperatures.rw4.value;
+  sensors[2].first = sensorTemperatures.sensor_rw1.isValid();
+  sensors[2].second = sensorTemperatures.sensor_rw1.value;
+  sensors[3].first = sensorTemperatures.sensor_dro.isValid();
+  sensors[3].second = sensorTemperatures.sensor_dro.value;
+  numSensors = 4;
+  ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_6_DRO, rwLimits);
+
+  // RW4
+  sensors[0].first = deviceTemperatures.rw4.isValid();
+  sensors[0].second = deviceTemperatures.rw4.value;
+  sensors[1].first = deviceTemperatures.rw1.isValid();
+  sensors[1].second = deviceTemperatures.rw1.value;
+  sensors[2].first = sensorTemperatures.sensor_rw1.isValid();
+  sensors[2].second = sensorTemperatures.sensor_rw1.value;
+  sensors[3].first = sensorTemperatures.sensor_dro.isValid();
+  sensors[3].second = sensorTemperatures.sensor_dro.value;
+  numSensors = 4;
+  ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_6_DRO, rwLimits);
+}
+
+void ThermalController::ctrlStr() {
+  sensors[0].first = sensorTemperatures.sensor_startracker.isValid();
+  sensors[0].second = sensorTemperatures.sensor_startracker.value;
+  sensors[1].first = deviceTemperatures.startracker.isValid();
+  sensors[1].second = deviceTemperatures.startracker.value;
+  sensors[2].first = sensorTemperatures.sensor_dro.isValid();
+  sensors[2].second = sensorTemperatures.sensor_dro.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_5_STR, heater::HEATER_6_DRO, strLimits);
+}
+
+void ThermalController::ctrlIfBoard() {
+  sensors[0].first = sensorTemperatures.tmp1075IfBrd.isValid();
+  sensors[0].second = sensorTemperatures.tmp1075IfBrd.value;
+  sensors[1].first = sensorTemperatures.sensor_magnettorquer.isValid();
+  sensors[1].second = sensorTemperatures.sensor_magnettorquer.value;
+  sensors[2].first = deviceTemperatures.mgm2SideB.isValid();
+  sensors[2].second = deviceTemperatures.mgm2SideB.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_2_ACS_BRD, heater::HEATER_3_PCDU_PDU, ifBoardLimits);
+}
+
+void ThermalController::ctrlTcsBoard() {
+  sensors[0].first = sensorTemperatures.sensor_tcs_board.isValid();
+  sensors[0].second = sensorTemperatures.sensor_tcs_board.value;
+  sensors[1].first = sensorTemperatures.tmp1075Tcs0.isValid();
+  sensors[1].second = sensorTemperatures.tmp1075Tcs0.value;
+  sensors[2].first = sensorTemperatures.tmp1075Tcs1.isValid();
+  sensors[2].second = sensorTemperatures.tmp1075Tcs1.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_0_OBC_BRD, heater::HEATER_2_ACS_BRD, tcsBoardLimits);
+}
+
+void ThermalController::ctrlObc() {
+  sensors[0].first = deviceTemperatures.q7s.isValid();
+  sensors[0].second = deviceTemperatures.q7s.value;
+  sensors[1].first = sensorTemperatures.tmp1075Tcs1.isValid();
+  sensors[1].second = sensorTemperatures.tmp1075Tcs1.value;
+  sensors[2].first = sensorTemperatures.tmp1075Tcs0.isValid();
+  sensors[2].second = sensorTemperatures.tmp1075Tcs0.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_0_OBC_BRD, heater::HEATER_2_ACS_BRD, obcLimits);
+  if (componentAboveCutOffLimit) {
+    triggerEvent(OBC_OVERHEATING);
+  }
+}
+
+void ThermalController::ctrlObcIfBoard() {
+  sensors[0].first = deviceTemperatures.q7s.isValid();
+  sensors[0].second = deviceTemperatures.q7s.value;
+  sensors[1].first = sensorTemperatures.tmp1075Tcs0.isValid();
+  sensors[1].second = sensorTemperatures.tmp1075Tcs0.value;
+  sensors[2].first = sensorTemperatures.tmp1075Tcs1.isValid();
+  sensors[2].second = sensorTemperatures.tmp1075Tcs1.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_0_OBC_BRD, heater::HEATER_2_ACS_BRD, obcIfBoardLimits);
+}
+
+void ThermalController::ctrlSBandTransceiver() {
+  sensors[0].first = deviceTemperatures.syrlinksPowerAmplifier.isValid();
+  sensors[0].second = deviceTemperatures.syrlinksPowerAmplifier.value;
+  sensors[1].first = deviceTemperatures.syrlinksBasebandBoard.isValid();
+  sensors[1].second = deviceTemperatures.syrlinksBasebandBoard.value;
+  sensors[2].first = sensorTemperatures.sensor_4k_camera.isValid();
+  sensors[2].second = sensorTemperatures.sensor_4k_camera.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_7_S_BAND, heater::HEATER_4_CAMERA,
+                           sBandTransceiverLimits);
+  if (componentAboveCutOffLimit) {
+    triggerEvent(SYRLINKS_OVERHEATING);
+  }
+}
+void ThermalController::ctrlPcduP60Board() {
+  sensors[0].first = deviceTemperatures.temp1P60dock.isValid();
+  sensors[0].second = deviceTemperatures.temp1P60dock.value;
+  sensors[1].first = deviceTemperatures.temp2P60dock.isValid();
+  sensors[1].second = deviceTemperatures.temp2P60dock.value;
+  numSensors = 2;
+  ctrlComponentTemperature(heater::HEATER_3_PCDU_PDU, heater::HEATER_2_ACS_BRD, pcduP60BoardLimits);
+}
+
+void ThermalController::ctrlPcduAcu() {
+  heater::Switchers switchNr = heater::HEATER_3_PCDU_PDU;
+  heater::Switchers redSwitchNr = heater::HEATER_2_ACS_BRD;
+
+  if (chooseHeater(switchNr, redSwitchNr)) {
+    bool sensorTempAvailable = true;
+
+    if (deviceTemperatures.acu.value[0] != INVALID_TEMPERATURE) {
+      sensorTemp = deviceTemperatures.acu.value[0];
+    } else if (deviceTemperatures.acu.value[1] != INVALID_TEMPERATURE) {
+      sensorTemp = deviceTemperatures.acu.value[1];
+    } else if (deviceTemperatures.acu.value[2] != INVALID_TEMPERATURE) {
+      sensorTemp = deviceTemperatures.acu.value[2];
+    } else if (sensorTemperatures.sensor_acu.isValid()) {
+      sensorTemp = sensorTemperatures.sensor_acu.value;
+    } else {
+      triggerEvent(NO_VALID_SENSOR_TEMPERATURE, switchNr);
+      sensorTempAvailable = false;
+    }
+    if (sensorTempAvailable) {
+      ctrlHeater(switchNr, redSwitchNr, pcduAcuLimits);
+    }
+  }
+}
+
+void ThermalController::ctrlPcduPdu() {
+  sensors[0].first = deviceTemperatures.pdu1.isValid();
+  sensors[0].second = deviceTemperatures.pdu1.value;
+  sensors[1].first = deviceTemperatures.pdu2.isValid();
+  sensors[1].second = deviceTemperatures.pdu2.value;
+  sensors[2].first = sensorTemperatures.tmp1075Tcs0.isValid();
+  sensors[2].second = sensorTemperatures.tmp1075Tcs0.value;
+  numSensors = 2;
+  ctrlComponentTemperature(heater::HEATER_3_PCDU_PDU, heater::HEATER_2_ACS_BRD, pcduPduLimits);
+}
+
+void ThermalController::ctrlPlPcduBoard() {
+  sensors[0].first = sensorTemperatures.tmp1075PlPcdu0.isValid();
+  sensors[0].second = sensorTemperatures.tmp1075PlPcdu0.value;
+  sensors[1].first = sensorTemperatures.tmp1075PlPcdu1.isValid();
+  sensors[1].second = sensorTemperatures.tmp1075PlPcdu1.value;
+  sensors[2].first = deviceTemperatures.adcPayloadPcdu.isValid();
+  sensors[2].second = deviceTemperatures.adcPayloadPcdu.value;
+  sensors[3].first = sensorTemperatures.sensor_plpcdu_heatspreader.isValid();
+  sensors[3].second = sensorTemperatures.sensor_plpcdu_heatspreader.value;
+  numSensors = 4;
+  ctrlComponentTemperature(heater::HEATER_3_PCDU_PDU, heater::HEATER_2_ACS_BRD, plPcduBoardLimits);
+  if (componentAboveCutOffLimit) {
+    triggerEvent(PLPCDU_OVERHEATING);
+  }
+}
+
+void ThermalController::ctrlPlocMissionBoard() {
+  sensors[0].first = sensorTemperatures.sensor_ploc_heatspreader.isValid();
+  sensors[0].second = sensorTemperatures.sensor_ploc_heatspreader.value;
+  sensors[1].first = sensorTemperatures.sensor_ploc_missionboard.isValid();
+  sensors[1].second = sensorTemperatures.sensor_ploc_missionboard.value;
+  sensors[2].first = sensorTemperatures.sensor_dac_heatspreader.isValid();
+  sensors[2].second = sensorTemperatures.sensor_dac_heatspreader.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_1_PLOC_PROC_BRD, heater::HEATER_0_OBC_BRD,
+                           plocMissionBoardLimits);
+  if (componentAboveCutOffLimit) {
+    triggerEvent(PLOC_OVERHEATING);
+  }
+}
+
+void ThermalController::ctrlPlocProcessingBoard() {
+  sensors[0].first = sensorTemperatures.sensor_ploc_missionboard.isValid();
+  sensors[0].second = sensorTemperatures.sensor_ploc_missionboard.value;
+  sensors[1].first = sensorTemperatures.sensor_ploc_heatspreader.isValid();
+  sensors[1].second = sensorTemperatures.sensor_ploc_heatspreader.value;
+  sensors[2].first = sensorTemperatures.sensor_dac_heatspreader.isValid();
+  sensors[2].second = sensorTemperatures.sensor_dac_heatspreader.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_1_PLOC_PROC_BRD, heater::HEATER_0_OBC_BRD,
+                           plocProcessingBoardLimits);
+}
+
+void ThermalController::ctrlDac() {
+  sensors[0].first = sensorTemperatures.sensor_dac_heatspreader.isValid();
+  sensors[0].second = sensorTemperatures.sensor_dac_heatspreader.value;
+  sensors[1].first = sensorTemperatures.sensor_ploc_missionboard.isValid();
+  sensors[1].second = sensorTemperatures.sensor_ploc_missionboard.value;
+  sensors[2].first = sensorTemperatures.sensor_ploc_heatspreader.isValid();
+  sensors[2].second = sensorTemperatures.sensor_ploc_heatspreader.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_1_PLOC_PROC_BRD, heater::HEATER_0_OBC_BRD, dacLimits);
+}
+
+void ThermalController::ctrlCameraBody() {
+  sensors[0].first = sensorTemperatures.sensor_4k_camera.isValid();
+  sensors[0].second = sensorTemperatures.sensor_4k_camera.value;
+  sensors[1].first = sensorTemperatures.sensor_dro.isValid();
+  sensors[1].second = sensorTemperatures.sensor_dro.value;
+  sensors[2].first = sensorTemperatures.sensor_mpa.isValid();
+  sensors[2].second = sensorTemperatures.sensor_mpa.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_4_CAMERA, heater::HEATER_6_DRO, cameraLimits);
+}
+
+void ThermalController::ctrlDro() {
+  sensors[0].first = sensorTemperatures.sensor_dro.isValid();
+  sensors[0].second = sensorTemperatures.sensor_dro.value;
+  sensors[1].first = sensorTemperatures.sensor_4k_camera.isValid();
+  sensors[1].second = sensorTemperatures.sensor_4k_camera.value;
+  sensors[2].first = sensorTemperatures.sensor_mpa.isValid();
+  sensors[2].second = sensorTemperatures.sensor_mpa.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_4_CAMERA, droLimits);
+}
+
+void ThermalController::ctrlX8() {
+  sensors[0].first = sensorTemperatures.sensor_x8.isValid();
+  sensors[0].second = sensorTemperatures.sensor_x8.value;
+  sensors[1].first = sensorTemperatures.sensor_hpa.isValid();
+  sensors[1].second = sensorTemperatures.sensor_hpa.value;
+  sensors[2].first = sensorTemperatures.sensor_tx_modul.isValid();
+  sensors[2].second = sensorTemperatures.sensor_tx_modul.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_4_CAMERA, x8Limits);
+}
+
+void ThermalController::ctrlTx() {
+  sensors[0].first = sensorTemperatures.sensor_tx_modul.isValid();
+  sensors[0].second = sensorTemperatures.sensor_tx_modul.value;
+  sensors[1].first = sensorTemperatures.sensor_x8.isValid();
+  sensors[1].second = sensorTemperatures.sensor_x8.value;
+  sensors[2].first = sensorTemperatures.sensor_mpa.isValid();
+  sensors[2].second = sensorTemperatures.sensor_mpa.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_4_CAMERA, txLimits);
+}
+
+void ThermalController::ctrlMpa() {
+  sensors[0].first = sensorTemperatures.sensor_mpa.isValid();
+  sensors[0].second = sensorTemperatures.sensor_mpa.value;
+  sensors[1].first = sensorTemperatures.sensor_hpa.isValid();
+  sensors[1].second = sensorTemperatures.sensor_hpa.value;
+  sensors[2].first = sensorTemperatures.sensor_tx_modul.isValid();
+  sensors[2].second = sensorTemperatures.sensor_tx_modul.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_4_CAMERA, mpaLimits);
+}
+
+void ThermalController::ctrlHpa() {
+  sensors[0].first = sensorTemperatures.sensor_hpa.isValid();
+  sensors[0].second = sensorTemperatures.sensor_hpa.value;
+  sensors[1].first = sensorTemperatures.sensor_x8.isValid();
+  sensors[1].second = sensorTemperatures.sensor_x8.value;
+  sensors[2].first = sensorTemperatures.sensor_mpa.isValid();
+  sensors[2].second = sensorTemperatures.sensor_mpa.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_4_CAMERA, hpaLimits);
+  if (componentAboveCutOffLimit) {
+    triggerEvent(HPA_OVERHEATING);
+  }
+}
+
+void ThermalController::ctrlScexBoard() {
+  sensors[0].first = sensorTemperatures.sensor_scex.isValid();
+  sensors[0].second = sensorTemperatures.sensor_scex.value;
+  sensors[1].first = sensorTemperatures.sensor_x8.isValid();
+  sensors[1].second = sensorTemperatures.sensor_x8.value;
+  sensors[2].first = sensorTemperatures.sensor_hpa.isValid();
+  sensors[2].second = sensorTemperatures.sensor_hpa.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_5_STR, scexBoardLimits);
+}
+
+void ThermalController::ctrlHeater(heater::Switchers switchNr, heater::Switchers redSwitchNr,
+                                   struct TempLimits& tempLimit) {
+  componentAboveCutOffLimit = false;
+  // Heater off
+  if (not heaterHandler.checkSwitchState(switchNr)) {
+    if (sensorTemp < tempLimit.opLowerLimit) {
+      heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::ON);
+      sif::info << "ThermalController::ctrlHeater: Heater" << switchNr << " ON" << std::endl;
+    }
+    // Heater on
+  } else if (heaterHandler.checkSwitchState(switchNr)) {
+    if (sensorTemp >= tempLimit.opLowerLimit + TEMP_OFFSET) {
+      heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
+      sif::info << "ThermalController::ctrlHeater: Heater" << switchNr << " OFF" << std::endl;
+    }
+  } else if (not redSwitchNrInUse) {
+    if (heaterHandler.checkSwitchState(redSwitchNr)) {
+      if (sensorTemp >= tempLimit.cutOffLimit) {
+        componentAboveCutOffLimit = true;
+        heaterHandler.switchHeater(redSwitchNr, HeaterHandler::SwitchState::OFF);
+        sif::info << "ThermalController::ctrlHeater: Heater" << redSwitchNr << " OFF" << std::endl;
+      }
+    }
+  }
+}
+
+bool ThermalController::chooseHeater(heater::Switchers& switchNr, heater::Switchers redSwitchNr) {
+  bool heaterAvailable = true;
+
+  if (heaterHandler.getHealth(switchNr) != HasHealthIF::HEALTHY) {
+    if (heaterHandler.getHealth(redSwitchNr) == HasHealthIF::HEALTHY) {
+      switchNr = redSwitchNr;
+      redSwitchNrInUse = true;
+    } else {
+      heaterAvailable = false;
+      triggerEvent(NO_HEALTHY_HEATER_AVAILABLE, switchNr, redSwitchNr);
+    }
+  } else {
+    redSwitchNrInUse = false;
+  }
+  return heaterAvailable;
+}
+
+bool ThermalController::selectAndReadSensorTemp() {
+  for (unsigned i = 0; i < numSensors; i++) {
+    if (sensors[i].first and sensors[i].second != INVALID_TEMPERATURE) {
+      sensorTemp = sensors[i].second;
+      return true;
+    }
+  }
+  triggerEvent(NO_VALID_SENSOR_TEMPERATURE);
+  return false;
+}
+
+void ThermalController::ctrlComponentTemperature(heater::Switchers switchNr,
+                                                 heater::Switchers redSwitchNr,
+                                                 TempLimits& tempLimit) {
+  if (selectAndReadSensorTemp()) {
+    if (chooseHeater(switchNr, redSwitchNr)) {
+      ctrlHeater(switchNr, redSwitchNr, tempLimit);
+    }
+  } else {
+    if (chooseHeater(switchNr,
+                     redSwitchNr)) {  // TODO: muss der Heater dann wirklich abgeschalten werden?
+      if (heaterHandler.checkSwitchState(switchNr)) {
+        heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
+        sif::info << "ThermalController::ctrlHeater: Heater" << switchNr << " OFF" << std::endl;
+      }
+    }
+  }
+  resetSensorsArray();
+}
+
+void ThermalController::resetSensorsArray() {
+  //TODO: müssen auch andere Variablen resettet werden? senstemp?
+  for (auto& validValuePair : sensors) {
+    validValuePair.first = false;
+    validValuePair.second = INVALID_TEMPERATURE;
+  }
+}

mission/controller/ThermalController.h

@@ -2,6 +2,7 @@
 #define MISSION_CONTROLLER_THERMALCONTROLLER_H_
 
 #include <fsfw/controller/ExtendedControllerBase.h>
+#include <fsfw/devicehandlers/DeviceHandlerThermalSet.h>
 #include <fsfw/timemanager/Countdown.h>
 #include <mission/controller/controllerdefinitions/ThermalControllerDefinitions.h>
 #include <mission/devices/devicedefinitions/Max31865Definitions.h>
@@ -9,33 +10,70 @@
 #include <mission/devices/devicedefinitions/Tmp1075Definitions.h>
 
 #include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
+#include "mission/devices/HeaterHandler.h"
+#include <list>
+
+/**
+ * NOP Limit: Hard limit for device, usually from datasheet. Device damage is possible lif NOP limit
+ * is exceeded.
+ * OP Limit: Soft limit. Device should be switched off or TCS controller should take action if the
+ * limit is exceeded to avoid reaching NOP limit
+ */
+struct TempLimits {
+  TempLimits(float nopLowerLimit, float opLowerLimit, float cutOffLimit, float opUpperLimit,
+             float nopUpperLimit)
+      : opLowerLimit(opLowerLimit),
+        opUpperLimit(opUpperLimit),
+        cutOffLimit(cutOffLimit),
+        nopLowerLimit(nopLowerLimit),
+        nopUpperLimit(nopUpperLimit) {}
+  float opLowerLimit;
+  float opUpperLimit;
+  float cutOffLimit;
+  float nopLowerLimit;
+  float nopUpperLimit;
+};
 
 class ThermalController : public ExtendedControllerBase {
  public:
   static const uint16_t INVALID_TEMPERATURE = 999;
+  static const uint8_t NUMBER_OF_SENSORS = 16;
 
-  ThermalController(object_id_t objectId);
+  ThermalController(object_id_t objectId, HeaterHandler& heater);
 
   ReturnValue_t initialize() override;
 
  protected:
-  virtual ReturnValue_t handleCommandMessage(CommandMessage* message) override;
+  ReturnValue_t handleCommandMessage(CommandMessage* message) override;
-  virtual void performControlOperation() override;
+  void performControlOperation() override;
-  virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
-                                                LocalDataPoolManager& poolManager) override;
+                                        LocalDataPoolManager& poolManager) override;
-  virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
+  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
 
   // Mode abstract functions
-  virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                         uint32_t* msToReachTheMode) override;
+                                 uint32_t* msToReachTheMode) override;
 
  private:
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TCS_CONTROLLER;
+  static constexpr Event NO_VALID_SENSOR_TEMPERATURE = MAKE_EVENT(0, severity::MEDIUM);
+  static constexpr Event NO_HEALTHY_HEATER_AVAILABLE = MAKE_EVENT(1, severity::MEDIUM);
+  static constexpr Event SYRLINKS_OVERHEATING = MAKE_EVENT(2, severity::HIGH);
+  static constexpr Event PLOC_OVERHEATING = MAKE_EVENT(3, severity::HIGH);
+  static constexpr Event OBC_OVERHEATING = MAKE_EVENT(4, severity::HIGH);
+  static constexpr Event HPA_OVERHEATING = MAKE_EVENT(5, severity::HIGH);
+  static constexpr Event PLPCDU_OVERHEATING = MAKE_EVENT(6, severity::HIGH);
+
   static const uint32_t DELAY = 500;
 
+  static const uint32_t TEMP_OFFSET = 5;
+
   enum class InternalState { STARTUP, INITIAL_DELAY, READY };
 
   InternalState internalState = InternalState::STARTUP;
 
+  HeaterHandler& heaterHandler;
+
   thermalControllerDefinitions::SensorTemperatures sensorTemperatures;
   thermalControllerDefinitions::SusTemperatures susTemperatures;
   thermalControllerDefinitions::DeviceTemperatures deviceTemperatures;
@@ -43,23 +81,25 @@ class ThermalController : public ExtendedControllerBase {
   lp_vec_t<int16_t, 9> currentVecPdu2 =
       lp_vec_t<int16_t, 9>(gp_id_t(objects::PDU2_HANDLER, PDU::pool::PDU_CURRENTS));
 
+  DeviceHandlerThermalSet imtqThermalSet;
+
   // Temperature Sensors
-  MAX31865::Max31865Set max31865Set0;
+  MAX31865::PrimarySet max31865Set0;
-  MAX31865::Max31865Set max31865Set1;
+  MAX31865::PrimarySet max31865Set1;
-  MAX31865::Max31865Set max31865Set2;
+  MAX31865::PrimarySet max31865Set2;
-  MAX31865::Max31865Set max31865Set3;
+  MAX31865::PrimarySet max31865Set3;
-  MAX31865::Max31865Set max31865Set4;
+  MAX31865::PrimarySet max31865Set4;
-  MAX31865::Max31865Set max31865Set5;
+  MAX31865::PrimarySet max31865Set5;
-  MAX31865::Max31865Set max31865Set6;
+  MAX31865::PrimarySet max31865Set6;
-  MAX31865::Max31865Set max31865Set7;
+  MAX31865::PrimarySet max31865Set7;
-  MAX31865::Max31865Set max31865Set8;
+  MAX31865::PrimarySet max31865Set8;
-  MAX31865::Max31865Set max31865Set9;
+  MAX31865::PrimarySet max31865Set9;
-  MAX31865::Max31865Set max31865Set10;
+  MAX31865::PrimarySet max31865Set10;
-  MAX31865::Max31865Set max31865Set11;
+  MAX31865::PrimarySet max31865Set11;
-  MAX31865::Max31865Set max31865Set12;
+  MAX31865::PrimarySet max31865Set12;
-  MAX31865::Max31865Set max31865Set13;
+  MAX31865::PrimarySet max31865Set13;
-  MAX31865::Max31865Set max31865Set14;
+  MAX31865::PrimarySet max31865Set14;
-  MAX31865::Max31865Set max31865Set15;
+  MAX31865::PrimarySet max31865Set15;
 
   TMP1075::Tmp1075Dataset tmp1075SetTcs0;
   TMP1075::Tmp1075Dataset tmp1075SetTcs1;
@@ -82,9 +122,41 @@ class ThermalController : public ExtendedControllerBase {
   SUS::SusDataset susSet10;
   SUS::SusDataset susSet11;
 
+  // TempLimits
+  TempLimits acsBoardLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
+  TempLimits mgtLimits = TempLimits(-40.0, -40.0, 65.0, 70.0, 70.0);
+  TempLimits rwLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
+  TempLimits strLimits = TempLimits(-30.0, -20.0, 65.0, 70.0, 80.0);
+  TempLimits ifBoardLimits = TempLimits(-65.0, -40.0, 80.0, 85.0, 150.0);
+  TempLimits tcsBoardLimits = TempLimits(-60.0, -40.0, 80.0, 85.0, 130.0);
+  TempLimits obcLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
+  TempLimits obcIfBoardLimits = TempLimits(-65.0, -40.0, 80.0, 85.0, 125.0);
+  TempLimits sBandTransceiverLimits = TempLimits(-40.0, -25.0, 35.0, 40.0, 65.0);
+  TempLimits pcduP60BoardLimits = TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
+  TempLimits pcduAcuLimits = TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
+  TempLimits pcduPduLimits = TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
+  TempLimits plPcduBoardLimits = TempLimits(-55.0, -40.0, 80.0, 85.0, 125.0);
+  TempLimits plocMissionBoardLimits = TempLimits(-30.0, -10.0, 40.0, 45.0, 60);
+  TempLimits plocProcessingBoardLimits = TempLimits(-30.0, -10.0, 40.0, 45.0, 60.0);
+  TempLimits dacLimits = TempLimits(-65.0, -40.0, 113.0, 118.0, 150.0);
+  TempLimits cameraLimits = TempLimits(-40.0, -30.0, 60.0, 65.0, 85.0);
+  TempLimits droLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
+  TempLimits x8Limits = TempLimits(-40.0, -30.0, -75.0, 80.0, 90.0);
+  TempLimits hpaLimits = TempLimits(-40.0, -30.0, -75.0, 80.0, 90.0);
+  TempLimits txLimits = TempLimits(-40.0, -30.0, -75.0, 80.0, 90.0);
+  TempLimits mpaLimits = TempLimits(-40.0, -30.0, -75.0, 80.0, 90.0);
+  TempLimits scexBoardLimits = TempLimits(-60.0, -40.0, 80.0, 85.0, 150.0);
+
+  double sensorTemp = INVALID_TEMPERATURE;
+  bool redSwitchNrInUse = false;
+  bool componentAboveCutOffLimit = false;
+
   // Initial delay to make sure all pool variables have been initialized their owners
   Countdown initialCountdown = Countdown(DELAY);
 
+  std::array<std::pair<bool, double>, 5> sensors;
+  uint8_t numSensors = 0;
+
   PoolEntry<float> tmp1075Tcs0 = PoolEntry<float>({10.0});
   PoolEntry<float> tmp1075Tcs1 = PoolEntry<float>({10.0});
   PoolEntry<float> tmp1075PlPcdu0 = PoolEntry<float>({10.0});
@@ -94,9 +166,41 @@ class ThermalController : public ExtendedControllerBase {
   PoolEntry<int16_t> heaterCurrent = PoolEntry<int16_t>();
 
   static constexpr dur_millis_t MUTEX_TIMEOUT = 50;
+
+  void resetSensorsArray();
   void copySensors();
   void copySus();
   void copyDevices();
+
+  void ctrlComponentTemperature(heater::Switchers switchNr, heater::Switchers redSwitchNr,
+                                TempLimits& tempLimit);
+  void ctrlHeater(heater::Switchers switchNr, heater::Switchers redSwitchNr, TempLimits& tempLimit);
+  bool chooseHeater(heater::Switchers& switchNr, heater::Switchers redSwitchNr);
+  bool selectAndReadSensorTemp();
+
+  void ctrlAcsBoard();
+  void ctrlMgt();
+  void ctrlRw();
+  void ctrlStr();
+  void ctrlIfBoard();
+  void ctrlTcsBoard();
+  void ctrlObc();
+  void ctrlObcIfBoard();
+  void ctrlSBandTransceiver();
+  void ctrlPcduP60Board();
+  void ctrlPcduAcu();
+  void ctrlPcduPdu();
+  void ctrlPlPcduBoard();
+  void ctrlPlocMissionBoard();
+  void ctrlPlocProcessingBoard();
+  void ctrlDac();
+  void ctrlCameraBody();
+  void ctrlDro();
+  void ctrlX8();
+  void ctrlHpa();
+  void ctrlTx();
+  void ctrlMpa();
+  void ctrlScexBoard();
 };
 
 #endif /* MISSION_CONTROLLER_THERMALCONTROLLER_H_ */

mission/controller/acs/AcsParameters.h

@@ -12,22 +12,36 @@
 
 typedef unsigned char uint8_t;
 
-class AcsParameters /*: public HasParametersIF*/ {
+class AcsParameters : public HasParametersIF {
  public:
   AcsParameters();
   virtual ~AcsParameters();
-  /*
+
-          virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
+  ReturnValue_t getParameter(uint8_t domainId, uint8_t parameterId,
-                                  ParameterWrapper *parameterWrapper,
+                             ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
-                                  const ParameterWrapper *newValues, uint16_t startAtIndex);
+                             uint16_t startAtIndex) override;
-  */
+
   struct OnBoardParams {
-    double sampleTime = 0.1;  // [s]
+    double sampleTime = 0.4;  // [s]
   } onBoardParams;
 
   struct InertiaEIVE {
-    double inertiaMatrix[3][3] = {{1.0, 0.0, 0.0}, {0.0, 1.0, 0.0}, {0.0, 0.5, 1.0}};
+    double inertiaMatrix[3][3] = {{0.1539829, -0.0001821456, -0.0050135},
-    double inertiaMatrixInverse[3][3];
+                                  {-0.0001821456, 0.1701302, 0.0004748963},
+                                  {-0.0050135, 0.0004748963, 0.08374296}};  // 19.11.2021
+    // Possible inertia matrices
+    double inertiaMatrixDeployed[3][3] = {{0.1539829, -0.0001821456, -0.0050135},
+                                          {-0.0001821456, 0.1701302, 0.0004748963},
+                                          {-0.0050135, 0.0004748963, 0.08374296}};  // 19.11.2021
+    double inertiaMatrixUndeployed[3][3] = {{0.122485, -0.0001798426, -0.005008},
+                                            {-0.0001798426, 0.162240, 0.000475596},
+                                            {-0.005008, 0.000475596, 0.060136}};  // 19.11.2021
+    double inertiaMatrixPanel1[3][3] = {{0.13823347, -0.0001836122, -0.00501207},
+                                        {-0.0001836122, 0.16619787, 0.0083537},
+                                        {-0.00501207, 0.0083537, 0.07192588}};  // 19.11.2021
+    double inertiaMatrixPanel3[3][3] = {{0.13823487, -0.000178376, -0.005009767},
+                                        {-0.000178376, 0.166172, -0.007403},
+                                        {-0.005009767, -0.007403, 0.07195314}};
   } inertiaEIVE;
 
   struct MgmHandlingParameters {
@@ -37,37 +51,41 @@ class AcsParameters /*: public HasParametersIF*/ {
     float mgm3orientationMatrix[3][3] = {{0, 0, 1}, {0, -1, 0}, {1, 0, 0}};
     float mgm4orientationMatrix[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};
 
-    float mgm0hardIronOffset[3] = {19.89364, -29.94111, -31.07508};
+    float mgm0hardIronOffset[3] = {6.116487, 6.796264, -19.188060};
-    float mgm1hardIronOffset[3] = {10.95500, -8.053403, -33.36383};
+    float mgm1hardIronOffset[3] = {-1.077152, 2.080583, 1.974483};
-    float mgm2hardIronOffset[3] = {15.72181, -26.87090, -62.19010};
+    float mgm2hardIronOffset[3] = {-19.285857, 5.401821, -16.096297};
-    float mgm3hardIronOffset[3] = {0.0, 0.0, 0.0};
+    float mgm3hardIronOffset[3] = {-0.634033, 2.787695, 0.092036};
-    float mgm4hardIronOffset[3] = {0.0, 0.0, 0.0};
+    float mgm4hardIronOffset[3] = {2.702743, 5.236043, 0.726229};
+
+    float mgm0softIronInverse[3][3] = {{0.910192, -0.188413, -0.161522},
+                                       {-0.188413, 1.642303, -0.033184},
+                                       {-0.161522, -0.033184, 0.943904}};
+    float mgm1softIronInverse[3][3] = {{1.053508, -0.170225, -0.041678},
+                                       {-0.170225, 1.274465, -0.040231},
+                                       {-0.041678, -0.040231, 1.086352}};
+    float mgm2softIronInverse[3][3] = {{0.931086, 0.172675, -0.043084},
+                                       {0.172675, 1.541296, 0.065489},
+                                       {-0.043084, 0.065489, 1.001238}};
+    float mgm3softIronInverse[3][3] = {{1.073353, 0.177266, -0.058832},
+                                       {0.177266, 1.262156, 0.010478},
+                                       {-0.058832, 0.010478, 1.068345}};
+    float mgm4softIronInverse[3][3] = {{1.114887, -0.007534, -0.037072},
+                                       {-0.007534, 1.253879, 0.006812},
+                                       {-0.037072, 0.006812, 1.313158}};
 
-    float mgm0softIronInverse[3][3] = {{1420.727e-3, 9.352825e-3, -127.1979e-3},
-                                       {9.352825e-3, 1031.965e-3, -80.02734e-3},
-                                       {-127.1979e-3, -80.02734e-3, 934.8899e-3}};
-    float mgm1softIronInverse[3][3] = {{126.7325e-2, -4.146410e-2, -18.37963e-2},
-                                       {-4.146410e-2, 109.3310e-2, -5.246314e-2},
-                                       {-18.37963e-2, -5.246314e-2, 105.7300e-2}};
-    float mgm2softIronInverse[3][3] = {{143.0438e-2, 7.095763e-2, 15.67482e-2},
-                                       {7.095763e-2, 99.65167e-2, -6.958760e-2},
-                                       {15.67482e-2, -6.958760e-2, 94.50124e-2}};
-    float mgm3softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
-    float mgm4softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
     float mgm02variance[3] = {1, 1, 1};
     float mgm13variance[3] = {1, 1, 1};
     float mgm4variance[3] = {1, 1, 1};
-
   } mgmHandlingParameters;
 
   struct SusHandlingParameters {
-    float sus0orientationMatrix[3][3] = {{0, 0, 1}, {1, 0, 0}, {0, 1, 0}};     // FM07
+    float sus0orientationMatrix[3][3] = {{0, 0, 1}, {1, 0, 0}, {0, 1, 0}};     // FM10
     float sus1orientationMatrix[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};   // FM06
     float sus2orientationMatrix[3][3] = {{-1, 0, 0}, {0, 0, -1}, {0, -1, 0}};  // FM13
     float sus3orientationMatrix[3][3] = {{1, 0, 0}, {0, 0, 1}, {0, -1, 0}};    // FM14
     float sus4orientationMatrix[3][3] = {{0, -1, 0}, {1, 0, 0}, {0, 0, 1}};    // FM05
     float sus5orientationMatrix[3][3] = {{1, 0, 0}, {0, -1, 0}, {0, 0, -1}};   // FM02
-    float sus6orientationMatrix[3][3] = {{0, 0, 1}, {1, 0, 0}, {0, 1, 0}};     // FM10
+    float sus6orientationMatrix[3][3] = {{0, 0, 1}, {1, 0, 0}, {0, 1, 0}};     // FM07
     float sus7orientationMatrix[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};   // FM01
     float sus8orientationMatrix[3][3] = {{-1, 0, 0}, {0, 0, -1}, {0, -1, 0}};  // FM03
     float sus9orientationMatrix[3][3] = {{1, 0, 0}, {0, 0, 1}, {0, -1, 0}};    // FM11
@@ -75,61 +93,61 @@ class AcsParameters /*: public HasParametersIF*/ {
     float sus11orientationMatrix[3][3] = {{1, 0, 0}, {0, -1, 0}, {0, 0, -1}};  // FM08
 
     float sus0coeffAlpha[9][10] = {
-        {10.4400948050067, 1.38202655603079, 0.975299591736672, 0.0172133914423707,
+        {13.0465222152293, 0.0639132159808454, 2.98083557560227, -0.0773202212713293,
-         -0.0163482459492803, 0.035730152619911, 0.00021725657060767, -0.000181685375645396,
+         0.0949075412003712, 0.0503055998355815, -0.00104133434256204, 0.000633099036136146,
-         -0.000124096561459262, 0.00040790566176981},
+         0.00091428505258307, 0.000259857066722932},
-        {6.38281281805793, 1.81388255990089, 0.28679524291736, 0.0218036823758417,
+        {1.66740227859888, 1.55804368674744, 0.209274741749388, 0.0123798418560859,
-         0.010516766426651, 0.000446101708841615, 0.00020187044149361, 0.000114957457831415,
+         0.00724950517167516, -0.000577445375457582, 8.94374551545955e-05, 6.94513586221567e-05,
-         1.63114413539632e-05, -2.0187452317724e-05},
+         -1.06065583714065e-05, -1.43899892666699e-05},
-        {-29.3049094555, -0.506844002611835, 1.64911970541112, -0.0336282997119334,
+        {8.71610925597519, 1.42112818752419, -0.549859300501301, 0.0374581774684577,
-         0.053185806861685, -0.028164943139695, -0.00021098074590512, 0.000643681643489995,
+         0.0617635595955198, 0.0447491072679598, 0.00069998577106559, 0.00101018723225412,
-         -0.000249094601806692, 0.000231466668650876},
+         -4.88501228194031e-06, -0.000434861113274231},
-        {-4.76233790255328, 1.1780710601961, -0.194257188545164, 0.00471817228628384,
+        {-2.3555601314395, 1.29430213886389, 0.179499593411187, 0.00440896450927253,
-         -0.00183773644319332, -0.00570261621182479, -7.99203367291902e-05, 7.75752247926601e-05,
+         0.00352052300927628, 0.00434187143967281, -9.66615195654703e-05, 3.64923075694275e-05,
-         -9.78534772816957e-06, -4.72083745991256e-05},
+         6.09619017310129e-05, 4.23908862836885e-05},
-        {0.692159025649028, 1.11895461388667, 0.341706834956496, 0.000237989648019541,
+        {-0.858019663974047, 1.10138705956076, 0.278789852526915, -0.000199798507752607,
-         -0.000188322779563912, 0.000227310789253953, 0.000133001646828401, -0.000305810826248463,
+         0.00112092406838628, -0.00177346866231588, 0.000217816070307086, -0.000240713988238257,
-         0.00010150571088124, -0.000367705461590854},
+         0.000150795563555828, -0.000279246491927943},
-        {3.38094203317731, 1.24778838596815, 0.067807236112956, -0.00379395536123526,
+        {7.93661480471297, 1.33902098855997, -0.64010306493848, -0.00307944184518557,
-         -0.00339180589343601, -0.00188754615986649, -7.52406312245606e-05, 4.58398750278147e-05,
+         -0.00511421127083497, 0.0204008636376403, -9.50042323904954e-05, 6.01530207062221e-05,
-         6.97244631313601e-05, 2.50519145070895e-05},
+         9.13233708460098e-05, -0.000206717750924323},
-        {-7.10546287716029, 0.459472977452686, -1.12251049944014, 0.0175406972371191,
+        {16.2658124154565, 0.191301571705827, 1.02390350838635, 0.0258487436355216,
-         -0.0310525406867782, -0.0531315970690727, -0.000121107664597462, 0.000544665437051928,
+         -0.0219752092833362, 0.0236916776412211, -0.000350496453661261, -0.000123849795280597,
-         -1.78466217018177e-05, -0.00058976234038192},
+         -0.000532190902882765, 9.36018171121253e-05},
-        {1.60633684055984, 1.1975095485662, 0.180159204664965, -0.00259157601062089,
+        {-1.53023612303052, 1.29132951637076, 0.181159073530008, -0.0023490608317645,
-         -0.0038106317634397, 0.000956686555225968, 4.28416721502134e-06, 5.84532336259517e-06,
+         -0.00370741703297037, -0.000229071300377431, -1.6634455407558e-05, 1.11387154630828e-05,
-         -2.73407888222758e-05, 5.45131881032866e-06},
+         1.02609175615251e-05, -9.64717658954667e-06},
-        {43.3732235586222, 0.528096786861784, -3.41255850703983, -0.0161629934278675,
+        {-32.9918791079688, 0.093536793089853, 4.76858627395571, 0.0595845684553358,
-         0.0790998053536612, 0.0743822668655928, 0.000237176965460634, -0.000426691336904078,
+         -0.054845749101257, -0.133247382500001, -0.000688999201915199, 7.67286265747961e-05,
-         -0.000889196131314391, -0.000509766491897672}};
+         0.000868163357631254, 0.00120099606910313}};
     float sus0coeffBeta[9][10] = {
-        {1.03872648284911, -0.213507239271552, 1.43193059498181, -0.000972717820830235,
+        {12.7380220453847, -0.6087309901836, 2.60957722462363, -0.0415319939920917,
-         -0.00661046096415371, 0.00974284211491888, 2.96098456891215e-05, -8.2933115634257e-05,
+         0.0444944768824276, 0.0223231464060241, -0.000421503508733887, -9.39560038638717e-05,
-         -5.52178824394723e-06, 5.73935295303589e-05},
+         0.000821479971871302, -4.5330528329465e-05},
-        {3.42242235823356, 0.0848392511283237, 1.24574390342586, 0.00356248195980133,
+        {1.96846333975847, -0.33921438143463, 1.23957110477613, -0.00948832495296823,
-         0.00100415659893053, -0.00460120247716139, 3.84891005422427e-05, 2.70236417852327e-05,
+         0.00107211134687287, -0.00410820045700199, -9.33679611473279e-05, 3.72984782145427e-05,
-         -7.58501977656551e-05, -8.79809730730992e-05},
+         -4.04514487800062e-05, -7.6296149087237e-05},
-        {14.0092526123741, 1.03126714946215, 1.0611008563785, 0.04076462444523, 0.0114106419194518,
+        {5.7454444934481, -1.58476383793609, -0.418479494289251, -0.0985177320630941,
-         0.00746959159048058, 0.000388033225774727, -0.000124645014888926, -0.000296639947532341,
+         -0.0862179276808015, 0.0126762052037897, -0.00118207758271301, -0.000190361442918412,
-         -0.00020861690864945},
+         0.0011723869613426, 0.000122882034141316},
-        {1.3562422681189, -0.241585615891602, 1.49170424068611, 0.000179184170448335,
+        {2.11042287406433, -0.225942746245056, 1.18084080712528, -0.00103013931607172,
-         -0.00712399257616284, 0.0121433526723498, 3.29770580642447e-05, 8.78960210966787e-06,
+         -0.00675606790663387, -0.00106646109062746, 1.7708839355979e-05, -3.13642668374253e-05,
-         -6.00508568552101e-05, 0.000101583822589461},
+         -5.87601932564404e-05, -3.92033314627704e-05},
-        {-0.718855428908583, -0.344067476078684, 1.12397093701762, 0.000236505431484729,
+        {2.96049248725882, -0.286261455028255, 1.09122556181319, -0.000672369023155898,
-         -0.000406441415248947, 0.00032834991502413, 0.000359422093285086, 8.18895560425272e-05,
+         0.000574446975796023, 0.000120303729680796, 0.000292285799270644, 0.000170497873487264,
-         0.000316835483508523, 0.000151442890664899},
+         0.000259925974231328, 0.000222437797823852},
-        {-0.268764016434841, -0.275272048639511, 1.26239753050527, -0.000511224336925231,
+        {1.65218061201483, -0.19535446105784, 1.39609640918411, 0.000961524354787167,
-         0.0095628568270856, -0.00397960092451418, 1.39587366293607e-05, 1.31409051361129e-05,
+         0.00592400381724333, -0.0078500192096718, -7.02791628080906e-07, -2.07197580883822e-05,
-         -9.83662017231755e-05, 1.87078667116619e-05},
+         -4.33518182614169e-05, 4.66993119419691e-05},
-        {27.168106989145, -2.43346872338192, 1.91135512970771, 0.0553180826818016,
+        {-19.56673237415, 1.06558565338761, 0.151160448373445, -0.0252628659378108,
-         -0.0481878292619383, 0.0052773235604729, -0.000428011927975304, 0.000528018208222772,
+         0.0281230551050938, -0.0217328869907185, 0.000241309440918385, -0.000116449585258429,
-         -0.000285438191474895, -5.71327627917386e-05},
+         0.000401546410974577, -0.000147563886502726},
-        {-0.169494136517622, -0.350851545482921, 1.19922076033643, 0.0101120903675328,
+        {1.56167171538684, -0.155299366654736, 1.20084049723279, 0.00457348893890231,
-         -0.00151674465424115, 0.00548694086125656, -0.000108240000970513, 1.57202185024105e-05,
+         0.00118888040006052, 0.0029920178735941, -5.583448120596e-05, -2.34496315691865e-05,
-         -9.77555098179959e-05, 2.09624089449761e-05},
+         -5.3309466243918e-05, 6.20289310356821e-06},
-        {-32.3807957489507, 1.8271436443167, 2.51530814328123, -0.0532334586403461,
+        {1.95050549495182, -2.74909818412705, 3.80268788018641, 0.0629242254381785,
-         -0.0355980127727253, -0.0213373892796204, 0.00045506092539885, 0.000545065581027688,
+         0.0581479035315726, -0.111361283351269, -0.00047845777495158, -0.00075354297736741,
-         0.000141998709314758, 0.000101051304611037}};
+         -0.000186887396585446, 0.00119710704771344}};
     float sus1coeffAlpha[9][10] = {
         {-27.6783250420482, -0.964805032861791, -0.503974297997131, -0.0446471081874084,
          -0.048219538329297, 0.000958491361905381, -0.000290972187162876, -0.000657145721554176,
@@ -411,61 +429,61 @@ class AcsParameters /*: public HasParametersIF*/ {
          -0.0542697403292778, 0.0285360568428252, 0.000845084580479371, 0.00114184315411245,
          -0.000169538153750085, -0.000336529204350355}};
     float sus6coeffAlpha[9][10] = {
-        {13.0465222152293, 0.0639132159808454, 2.98083557560227, -0.0773202212713293,
+        {10.4400948050067, 1.38202655603079, 0.975299591736672, 0.0172133914423707,
-         0.0949075412003712, 0.0503055998355815, -0.00104133434256204, 0.000633099036136146,
+         -0.0163482459492803, 0.035730152619911, 0.00021725657060767, -0.000181685375645396,
-         0.00091428505258307, 0.000259857066722932},
+         -0.000124096561459262, 0.00040790566176981},
-        {1.66740227859888, 1.55804368674744, 0.209274741749388, 0.0123798418560859,
+        {6.38281281805793, 1.81388255990089, 0.28679524291736, 0.0218036823758417,
-         0.00724950517167516, -0.000577445375457582, 8.94374551545955e-05, 6.94513586221567e-05,
+         0.010516766426651, 0.000446101708841615, 0.00020187044149361, 0.000114957457831415,
-         -1.06065583714065e-05, -1.43899892666699e-05},
+         1.63114413539632e-05, -2.0187452317724e-05},
-        {8.71610925597519, 1.42112818752419, -0.549859300501301, 0.0374581774684577,
+        {-29.3049094555, -0.506844002611835, 1.64911970541112, -0.0336282997119334,
-         0.0617635595955198, 0.0447491072679598, 0.00069998577106559, 0.00101018723225412,
+         0.053185806861685, -0.028164943139695, -0.00021098074590512, 0.000643681643489995,
-         -4.88501228194031e-06, -0.000434861113274231},
+         -0.000249094601806692, 0.000231466668650876},
-        {-2.3555601314395, 1.29430213886389, 0.179499593411187, 0.00440896450927253,
+        {-4.76233790255328, 1.1780710601961, -0.194257188545164, 0.00471817228628384,
-         0.00352052300927628, 0.00434187143967281, -9.66615195654703e-05, 3.64923075694275e-05,
+         -0.00183773644319332, -0.00570261621182479, -7.99203367291902e-05, 7.75752247926601e-05,
-         6.09619017310129e-05, 4.23908862836885e-05},
+         -9.78534772816957e-06, -4.72083745991256e-05},
-        {-0.858019663974047, 1.10138705956076, 0.278789852526915, -0.000199798507752607,
+        {0.692159025649028, 1.11895461388667, 0.341706834956496, 0.000237989648019541,
-         0.00112092406838628, -0.00177346866231588, 0.000217816070307086, -0.000240713988238257,
+         -0.000188322779563912, 0.000227310789253953, 0.000133001646828401, -0.000305810826248463,
-         0.000150795563555828, -0.000279246491927943},
+         0.00010150571088124, -0.000367705461590854},
-        {7.93661480471297, 1.33902098855997, -0.64010306493848, -0.00307944184518557,
+        {3.38094203317731, 1.24778838596815, 0.067807236112956, -0.00379395536123526,
-         -0.00511421127083497, 0.0204008636376403, -9.50042323904954e-05, 6.01530207062221e-05,
+         -0.00339180589343601, -0.00188754615986649, -7.52406312245606e-05, 4.58398750278147e-05,
-         9.13233708460098e-05, -0.000206717750924323},
+         6.97244631313601e-05, 2.50519145070895e-05},
-        {16.2658124154565, 0.191301571705827, 1.02390350838635, 0.0258487436355216,
+        {-7.10546287716029, 0.459472977452686, -1.12251049944014, 0.0175406972371191,
-         -0.0219752092833362, 0.0236916776412211, -0.000350496453661261, -0.000123849795280597,
+         -0.0310525406867782, -0.0531315970690727, -0.000121107664597462, 0.000544665437051928,
-         -0.000532190902882765, 9.36018171121253e-05},
+         -1.78466217018177e-05, -0.00058976234038192},
-        {-1.53023612303052, 1.29132951637076, 0.181159073530008, -0.0023490608317645,
+        {1.60633684055984, 1.1975095485662, 0.180159204664965, -0.00259157601062089,
-         -0.00370741703297037, -0.000229071300377431, -1.6634455407558e-05, 1.11387154630828e-05,
+         -0.0038106317634397, 0.000956686555225968, 4.28416721502134e-06, 5.84532336259517e-06,
-         1.02609175615251e-05, -9.64717658954667e-06},
+         -2.73407888222758e-05, 5.45131881032866e-06},
-        {-32.9918791079688, 0.093536793089853, 4.76858627395571, 0.0595845684553358,
+        {43.3732235586222, 0.528096786861784, -3.41255850703983, -0.0161629934278675,
-         -0.054845749101257, -0.133247382500001, -0.000688999201915199, 7.67286265747961e-05,
+         0.0790998053536612, 0.0743822668655928, 0.000237176965460634, -0.000426691336904078,
-         0.000868163357631254, 0.00120099606910313}};
+         -0.000889196131314391, -0.000509766491897672}};
     float sus6coeffBeta[9][10] = {
-        {12.7380220453847, -0.6087309901836, 2.60957722462363, -0.0415319939920917,
+        {1.03872648284911, -0.213507239271552, 1.43193059498181, -0.000972717820830235,
-         0.0444944768824276, 0.0223231464060241, -0.000421503508733887, -9.39560038638717e-05,
+         -0.00661046096415371, 0.00974284211491888, 2.96098456891215e-05, -8.2933115634257e-05,
-         0.000821479971871302, -4.5330528329465e-05},
+         -5.52178824394723e-06, 5.73935295303589e-05},
-        {1.96846333975847, -0.33921438143463, 1.23957110477613, -0.00948832495296823,
+        {3.42242235823356, 0.0848392511283237, 1.24574390342586, 0.00356248195980133,
-         0.00107211134687287, -0.00410820045700199, -9.33679611473279e-05, 3.72984782145427e-05,
+         0.00100415659893053, -0.00460120247716139, 3.84891005422427e-05, 2.70236417852327e-05,
-         -4.04514487800062e-05, -7.6296149087237e-05},
+         -7.58501977656551e-05, -8.79809730730992e-05},
-        {5.7454444934481, -1.58476383793609, -0.418479494289251, -0.0985177320630941,
+        {14.0092526123741, 1.03126714946215, 1.0611008563785, 0.04076462444523, 0.0114106419194518,
-         -0.0862179276808015, 0.0126762052037897, -0.00118207758271301, -0.000190361442918412,
+         0.00746959159048058, 0.000388033225774727, -0.000124645014888926, -0.000296639947532341,
-         0.0011723869613426, 0.000122882034141316},
+         -0.00020861690864945},
-        {2.11042287406433, -0.225942746245056, 1.18084080712528, -0.00103013931607172,
+        {1.3562422681189, -0.241585615891602, 1.49170424068611, 0.000179184170448335,
-         -0.00675606790663387, -0.00106646109062746, 1.7708839355979e-05, -3.13642668374253e-05,
+         -0.00712399257616284, 0.0121433526723498, 3.29770580642447e-05, 8.78960210966787e-06,
-         -5.87601932564404e-05, -3.92033314627704e-05},
+         -6.00508568552101e-05, 0.000101583822589461},
-        {2.96049248725882, -0.286261455028255, 1.09122556181319, -0.000672369023155898,
+        {-0.718855428908583, -0.344067476078684, 1.12397093701762, 0.000236505431484729,
-         0.000574446975796023, 0.000120303729680796, 0.000292285799270644, 0.000170497873487264,
+         -0.000406441415248947, 0.00032834991502413, 0.000359422093285086, 8.18895560425272e-05,
-         0.000259925974231328, 0.000222437797823852},
+         0.000316835483508523, 0.000151442890664899},
-        {1.65218061201483, -0.19535446105784, 1.39609640918411, 0.000961524354787167,
+        {-0.268764016434841, -0.275272048639511, 1.26239753050527, -0.000511224336925231,
-         0.00592400381724333, -0.0078500192096718, -7.02791628080906e-07, -2.07197580883822e-05,
+         0.0095628568270856, -0.00397960092451418, 1.39587366293607e-05, 1.31409051361129e-05,
-         -4.33518182614169e-05, 4.66993119419691e-05},
+         -9.83662017231755e-05, 1.87078667116619e-05},
-        {-19.56673237415, 1.06558565338761, 0.151160448373445, -0.0252628659378108,
+        {27.168106989145, -2.43346872338192, 1.91135512970771, 0.0553180826818016,
-         0.0281230551050938, -0.0217328869907185, 0.000241309440918385, -0.000116449585258429,
+         -0.0481878292619383, 0.0052773235604729, -0.000428011927975304, 0.000528018208222772,
-         0.000401546410974577, -0.000147563886502726},
+         -0.000285438191474895, -5.71327627917386e-05},
-        {1.56167171538684, -0.155299366654736, 1.20084049723279, 0.00457348893890231,
+        {-0.169494136517622, -0.350851545482921, 1.19922076033643, 0.0101120903675328,
-         0.00118888040006052, 0.0029920178735941, -5.583448120596e-05, -2.34496315691865e-05,
+         -0.00151674465424115, 0.00548694086125656, -0.000108240000970513, 1.57202185024105e-05,
-         -5.3309466243918e-05, 6.20289310356821e-06},
+         -9.77555098179959e-05, 2.09624089449761e-05},
-        {1.95050549495182, -2.74909818412705, 3.80268788018641, 0.0629242254381785,
+        {-32.3807957489507, 1.8271436443167, 2.51530814328123, -0.0532334586403461,
-         0.0581479035315726, -0.111361283351269, -0.00047845777495158, -0.00075354297736741,
+         -0.0355980127727253, -0.0213373892796204, 0.00045506092539885, 0.000545065581027688,
-         -0.000186887396585446, 0.00119710704771344}};
+         0.000141998709314758, 0.000101051304611037}};
     float sus7coeffAlpha[9][10] = {
         {-92.1126183408754, -3.77261746189525, -4.50604668349213, -0.0909560776043523,
          -0.15646903318971, -0.0766293642415356, -0.00059452135473577, -0.00144790037129283,
@@ -746,9 +764,6 @@ class AcsParameters /*: public HasParametersIF*/ {
         {116.975421945286, -5.53022680362263, -5.61081660666997, 0.109754904982136,
          0.167666815691513, 0.163137400730063, -0.000609874123906977, -0.00205336098697513,
          -0.000889232196185857, -0.00168429567131815}};
-
-    float filterAlpha;
-    float sunThresh;
   } susHandlingParameters;
 
   struct GyrHandlingParameters {
@@ -756,110 +771,119 @@ class AcsParameters /*: public HasParametersIF*/ {
     double gyr1orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
     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}};
-    // var = sqrt(sigma), 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
+    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};
+
+    /* var = sqrt(sigma), 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 */
     float gyr02variance[3] = {pow(3.0e-3 * sqrt(2), 2),   // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
                               pow(3.0e-3 * sqrt(2), 2),   // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
                               pow(4.3e-3 * sqrt(2), 2)};  // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
     float gyr13variance[3] = {pow(11e-3, 2), pow(11e-3, 2), pow(11e-3, 2)};
-    enum PreferAdis { NO = 0, YES = 1 };
+    uint8_t preferAdis = true;
-    uint8_t preferAdis = PreferAdis::YES;
   } gyrHandlingParameters;
 
   struct RwHandlingParameters {
-    double rw0orientationMatrix[3][3];
-    double rw1orientationMatrix[3][3];
-    double rw2orientationMatrix[3][3];
-    double rw3orientationMatrix[3][3];
     double inertiaWheel = 0.000028198;
-    double maxTrq = 0.0032;  // 3.2 [mNm]
+    double maxTrq = 0.0032;             // 3.2 [mNm]
+    double stictionSpeed = 100;         // 80;          // RPM
+    double stictionReleaseSpeed = 120;  // RPM
+    double stictionTorque = 0.0006;
   } rwHandlingParameters;
 
   struct RwMatrices {
     double alignmentMatrix[3][4] = {{0.9205, 0.0000, -0.9205, 0.0000},
                                     {0.0000, -0.9205, 0.0000, 0.9205},
                                     {0.3907, 0.3907, 0.3907, 0.3907}};
-    double pseudoInverse[4][3] = {{0.4434, -0.2845, 0.3597},
+    double pseudoInverse[4][3] = {
-                                  {0.2136, -0.3317, 1.0123},
+        {0.5432, 0, 0.6398}, {0, -0.5432, 0.6398}, {-0.5432, 0, 0.6398}, {0, 0.5432, 0.6398}};
-                                  {-0.8672, -0.1406, 0.1778},
+    double without0[4][3] = {
-                                  {0.6426, 0.4794, 1.3603}};
+        {0, 0, 0}, {0.5432, -0.5432, 1.2797}, {-1.0864, 0, 0}, {0.5432, 0.5432, 1.2797}};
-    double without0[4][3];
+    double without1[4][3] = {
-    double without1[4][3];
+        {0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 1.0864, 0}};
-    double without2[4][3];
+    double without2[4][3] = {
-    double without3[4][3];
+        {1.0864, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, 0.5432, 1.2797}};
-    double nullspace[4] = {-0.7358, 0.5469, -0.3637, -0.1649};
+    double without3[4][3] = {
+        {0.5432, 0.5432, 1.2797}, {0, -1.0864, 0}, {-0.5432, 0.5432, 1.2797}, {0, 0, 0}};
+    double nullspace[4] = {-0.5000, 0.5000, -0.5000, 0.5000};
   } rwMatrices;
 
   struct SafeModeControllerParameters {
     double k_rate_mekf = 0.00059437;
     double k_align_mekf = 0.000056875;
 
-    double k_rate_no_mekf;
+    double k_rate_no_mekf = 0.00059437;
-    double k_align_no_mekf;
+    double k_align_no_mekf = 0.000056875;
-    double sunMagAngleMin;
 
-    double sunTargetDir[3] = {1, 0, 0};  // Body frame
+    double sunMagAngleMin = 5 * M_PI / 180;
-    double satRateRef[3];                // Body frame
 
+    double sunTargetDirLeop[3] = {0, .5, .5};
+    double sunTargetDir[3] = {0, 0, 1};
+
+    double satRateRef[3] = {0, 0, 0};
   } safeModeControllerParameters;
 
-  struct DetumbleCtrlParameters {
+  struct PointingLawParameters {
-    double gainD = pow(10.0, -3.3);
-
-  } detumbleCtrlParameters;
-
-  // ToDo: mutiple structs for different pointing mode controllers?
-  struct PointingModeControllerParameters {
-    double updtFlag;
-    double A_rw[3][12];
-
-    double refDirection[3] = {1, 0, 0};
-    double refRotRate[3] = {0, 0, 0};
-    double quatRef[4] = {0, 0, 0, 1};
-    bool avoidBlindStr = true;
-    double blindAvoidStart = 1.5;
-    double blindAvoidStop = 2.5;
-    double blindRotRate = 1 * M_PI / 180;
-
     double zeta = 0.3;
-    double zetaLow;
     double om = 0.3;
-    double omLow;
     double omMax = 1 * M_PI / 180;
     double qiMin = 0.1;
     double gainNullspace = 0.01;
 
     double desatMomentumRef[3] = {0, 0, 0};
     double deSatGainFactor = 1000;
-    bool desatOn = true;
+    uint8_t desatOn = true;
+    uint8_t enableAntiStiction = true;
+  } pointingLawParameters;
 
-    double omegaEarth = 0.000072921158553;
+  struct TargetModeControllerParameters : PointingLawParameters {
+    double refDirection[3] = {-1, 0, 0};  // Antenna
+    double refRotRate[3] = {0, 0, 0};     // Not used atm, do we want an option to
+    // give this as an input- currently en calculation is done
+    double quatRef[4] = {0, 0, 0, 1};
+    int8_t timeElapsedMax = 10;  // rot rate calculations
 
-  } inertialModeControllerParameters, nadirModeControllerParameters, targetModeControllerParameters;
+    // Default is Stuttgart GS
+    double latitudeTgt = 48.7495 * M_PI / 180.;   // [rad] Latitude
+    double longitudeTgt = 9.10384 * M_PI / 180.;  // [rad] Longitude
+    double altitudeTgt = 500;                     // [m]
+
+    // For one-axis control:
+    uint8_t avoidBlindStr = true;
+    double blindAvoidStart = 1.5;
+    double blindAvoidStop = 2.5;
+    double blindRotRate = 1 * M_PI / 180;
+  } targetModeControllerParameters;
+
+  struct NadirModeControllerParameters : PointingLawParameters {
+    double refDirection[3] = {-1, 0, 0};  // Antenna
+    double quatRef[4] = {0, 0, 0, 1};
+    int8_t timeElapsedMax = 10;  // rot rate calculations
+  } nadirModeControllerParameters;
+
+  struct InertialModeControllerParameters : PointingLawParameters {
+    double tgtQuat[4] = {0, 0, 0, 1};
+    double refRotRate[3] = {0, 0, 0};
+    double quatRef[4] = {0, 0, 0, 1};
+  } inertialModeControllerParameters;
 
   struct StrParameters {
     double exclusionAngle = 20 * M_PI / 180;
-    //		double strOrientationMatrix[3][3];
+    double boresightAxis[3] = {0.7593, 0.0000, -0.6508};  // geometry frame
-    double boresightAxis[3] = {0.7593, 0.0000, -0.6508};  // in body/geometry frame
   } strParameters;
 
   struct GpsParameters {
+    double timeDiffVelocityMax = 30;  //[s]
   } gpsParameters;
 
-  struct GroundStationParameters {
-    double latitudeGs = 48.7495 * M_PI / 180.;   // [rad] Latitude
-    double longitudeGs = 9.10384 * M_PI / 180.;  // [rad] Longitude
-    double altitudeGs = 500;                     // [m] Altitude
-    double earthRadiusEquat = 6378137;           // [m]
-    double earthRadiusPolar = 6356752.314;       // [m]
-  } groundStationParameters;                     // Stuttgart
-
   struct SunModelParameters {
-    enum UseSunModel { NO = 0, YES = 3 };
-    uint8_t useSunModel;
     float domega = 36000.771;
-    float omega_0 = 282.94 * M_PI / 180.;  // RAAN plus argument of perigee
+    float omega_0 = 280.46 * M_PI / 180.;  // RAAN plus argument of
-    float m_0 = 357.5256;                  // coefficients for mean anomaly
+                                           // perigee
+    float m_0 = 357.5277;                  // coefficients for mean anomaly
     float dm = 35999.049;                  // coefficients for mean anomaly
     float e = 23.4392911 * M_PI / 180.;    // angle of earth's rotation axis
     float e1 = 0.74508 * M_PI / 180.;
@@ -869,19 +893,13 @@ class AcsParameters /*: public HasParametersIF*/ {
   } sunModelParameters;
 
   struct KalmanFilterParameters {
-    uint8_t activateKalmanFilter;
-    uint8_t requestResetFlag;
-    double maxToleratedTimeBetweenKalmanFilterExecutionSteps;
-    double processNoiseOmega[3];
-    double processNoiseQuaternion[4];
-
     double sensorNoiseSTR = 0.1 * M_PI / 180;
     double sensorNoiseSS = 8 * M_PI / 180;
     double sensorNoiseMAG = 4 * M_PI / 180;
-    double sensorNoiseRMU[3];
+    double sensorNoiseGYR = 0.1 * M_PI / 180;
 
-    double sensorNoiseArwRmu;  // Angular Random Walk
+    double sensorNoiseArwGYR = 3 * 0.0043 * M_PI / sqrt(10) / 180;  // Angular Random Walk
-    double sensorNoiseBsRMU;   // Bias Stability
+    double sensorNoiseBsGYR = 3 * M_PI / 180 / 3600;                // Bias Stability
   } kalmanFilterParameters;
 
   struct MagnetorquesParameter {

mission/controller/acs/ActuatorCmd.cpp

@@ -21,26 +21,27 @@ ActuatorCmd::ActuatorCmd(AcsParameters *acsParameters_) { acsParameters = *acsPa
 
 ActuatorCmd::~ActuatorCmd() {}
 
-void ActuatorCmd::cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1,
+void ActuatorCmd::scalingTorqueRws(const double *rwTrq, double *rwTrqScaled) {
-                                const int32_t *speedRw2, const int32_t *speedRw3,
-                                const double *rwTrqIn, const double *rwTrqNS, double *rwCmdSpeed) {
-  using namespace Math;
   // Scaling the commanded torque to a maximum value
-  double torque[4] = {0, 0, 0, 0};
   double maxTrq = acsParameters.rwHandlingParameters.maxTrq;
-  VectorOperations<double>::add(rwTrqIn, rwTrqNS, torque, 4);
 
   double maxValue = 0;
   for (int i = 0; i < 4; i++) {  // size of torque, always 4 ?
-    if (abs(torque[i]) > maxValue) {
+    if (abs(rwTrq[i]) > maxValue) {
-      maxValue = abs(torque[i]);
+      maxValue = abs(rwTrq[i]);
     }
   }
 
   if (maxValue > maxTrq) {
     double scalingFactor = maxTrq / maxValue;
-    VectorOperations<double>::mulScalar(torque, scalingFactor, torque, 4);
+    VectorOperations<double>::mulScalar(rwTrq, scalingFactor, rwTrqScaled, 4);
   }
+}
+
+void ActuatorCmd::cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1,
+                                const int32_t *speedRw2, const int32_t *speedRw3,
+                                const double *rwTorque, double *rwCmdSpeed) {
+  using namespace Math;
 
   // Calculating the commanded speed in RPM for every reaction wheel
   double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
@@ -50,25 +51,26 @@ void ActuatorCmd::cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1
   double radToRpm = 60 / (2 * PI);  // factor for conversion to RPM
   //	 W_RW = Torque_RW / I_RW * delta t [rad/s]
   double factor = commandTime / inertiaWheel * radToRpm;
-  VectorOperations<double>::mulScalar(torque, factor, deltaSpeed, 4);
+  VectorOperations<double>::mulScalar(rwTorque, factor, deltaSpeed, 4);
   VectorOperations<double>::add(speedRws, deltaSpeed, rwCmdSpeed, 4);
 }
 
-void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentUnits) {
+void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentActuator) {
-  //	Convert to Unit frame
+  // Convert to actuator frame
   MatrixOperations<double>::multiply(*acsParameters.magnetorquesParameter.inverseAlignment,
-                                     dipolMoment, dipolMomentUnits, 3, 3, 1);
+                                     dipolMoment, dipolMomentActuator, 3, 3, 1);
-  //  Scaling along largest element if dipol exceeds maximum
+  // Scaling along largest element if dipol exceeds maximum
   double maxDipol = acsParameters.magnetorquesParameter.DipolMax;
   double maxValue = 0;
   for (int i = 0; i < 3; i++) {
-    if (abs(dipolMomentUnits[i]) > maxDipol) {
+    if (abs(dipolMomentActuator[i]) > maxDipol) {
-      maxValue = abs(dipolMomentUnits[i]);
+      maxValue = abs(dipolMomentActuator[i]);
     }
   }
-
   if (maxValue > maxDipol) {
     double scalingFactor = maxDipol / maxValue;
-    VectorOperations<double>::mulScalar(dipolMomentUnits, scalingFactor, dipolMomentUnits, 3);
+    VectorOperations<double>::mulScalar(dipolMomentActuator, scalingFactor, dipolMomentActuator, 3);
   }
+  // scale dipole from 1 Am^2 to 1e^-4 Am^2
+  VectorOperations<double>::mulScalar(dipolMomentActuator, 1e4, dipolMomentActuator, 3);
 }

mission/controller/acs/ActuatorCmd.h

@@ -1,10 +1,3 @@
-/*
- * ActuatorCmd.h
- *
- *  Created on: 4 Aug 2022
- *      Author: Robin Marquardt
- */
-
 #ifndef ACTUATORCMD_H_
 #define ACTUATORCMD_H_
 
@@ -18,6 +11,14 @@ class ActuatorCmd {
   ActuatorCmd(AcsParameters *acsParameters_);  // Input mode ?
   virtual ~ActuatorCmd();
 
+  /*
+   * @brief:	scalingTorqueRws()	scales the torque via maximum part in case this part is
+   * higher then the maximum torque
+   * @param:	rwTrq	 			given torque for reaction wheels
+   * 			rwTrqScaled			possible scaled torque
+   */
+  void scalingTorqueRws(const double *rwTrq, double *rwTrqScaled);
+
   /*
    * @brief:	cmdSpeedToRws()		will set the maximum possible torque for the reaction
    * wheels, also will calculate the needed revolutions per minute for the RWs, which will be given
@@ -28,16 +29,15 @@ class ActuatorCmd {
    * reaction wheel
    */
   void cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1, const int32_t *speedRw2,
-                     const int32_t *speedRw3, const double *rwTrqIn, const double *rwTrqNS,
+                     const int32_t *speedRw3, const double *rwTorque, double *rwCmdSpeed);
-                     double *rwCmdSpeed);
 
   /*
    * @brief:	cmdDipolMtq()		gives the commanded dipol moment for the magnetorques
    *
    * @param:	dipolMoment 		given dipol moment in spacecraft frame
-   * 			dipolMomentUnits	resulting dipol moment for every unit
+   * 			dipolMomentActuator	resulting dipol moment in actuator reference frame
    */
-  void cmdDipolMtq(const double *dipolMoment, double *dipolMomentUnits);
+  void cmdDipolMtq(const double *dipolMoment, double *dipolMomentActuator);
 
  protected:
  private:

mission/controller/acs/Guidance.cpp

@@ -13,6 +13,8 @@
 #include <fsfw/globalfunctions/math/VectorOperations.h>
 #include <math.h>
 
+#include <filesystem>
+
 #include "string.h"
 #include "util/CholeskyDecomposition.h"
 #include "util/MathOperations.h"
@@ -22,57 +24,53 @@ Guidance::Guidance(AcsParameters *acsParameters_) { acsParameters = *acsParamete
 Guidance::~Guidance() {}
 
 void Guidance::getTargetParamsSafe(double sunTargetSafe[3], double satRateSafe[3]) {
-  for (int i = 0; i < 3; i++) {
+  if (not std::filesystem::exists(SD_0_SKEWED_PTG_FILE) or
-    sunTargetSafe[i] = acsParameters.safeModeControllerParameters.sunTargetDir[i];
+      not std::filesystem::exists(SD_1_SKEWED_PTG_FILE)) {  // ToDo: if file does not exist anymore
-    satRateSafe[i] = acsParameters.safeModeControllerParameters.satRateRef[i];
+    std::memcpy(sunTargetSafe, acsParameters.safeModeControllerParameters.sunTargetDir,
+                3 * sizeof(double));
+  } else {
+    std::memcpy(sunTargetSafe, acsParameters.safeModeControllerParameters.sunTargetDirLeop,
+                3 * sizeof(double));
   }
-
+  std::memcpy(satRateSafe, acsParameters.safeModeControllerParameters.satRateRef,
-  //	memcpy(sunTargetSafe, acsParameters.safeModeControllerParameters.sunTargetDir, 24);
+              3 * sizeof(double));
 }
 
-void Guidance::targetQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
+void Guidance::targetQuatPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
-                             acsctrl::SusDataProcessed *susDataProcessed, timeval now,
+                                       acsctrl::SusDataProcessed *susDataProcessed,
-                             double targetQuat[4], double refSatRate[3]) {
+                                       acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now,
+                                       double targetQuat[4], double refSatRate[3]) {
   //-------------------------------------------------------------------------------------
-  //	Calculation of target quaternion to groundstation
+  //	Calculation of target quaternion to groundstation or given latitude, longitude and altitude
   //-------------------------------------------------------------------------------------
-  //	Transform longitude, latitude and altitude of groundstation to cartesian coordiantes (earth
+  //	Transform longitude, latitude and altitude to cartesian coordiantes (earth
   // fixed/centered frame)
-  double groundStationCart[3] = {0, 0, 0};
+  double targetCart[3] = {0, 0, 0};
 
-  MathOperations<double>::cartesianFromLatLongAlt(acsParameters.groundStationParameters.latitudeGs,
+  MathOperations<double>::cartesianFromLatLongAlt(
-                                                  acsParameters.groundStationParameters.longitudeGs,
+      acsParameters.targetModeControllerParameters.latitudeTgt,
-                                                  acsParameters.groundStationParameters.altitudeGs,
+      acsParameters.targetModeControllerParameters.longitudeTgt,
-                                                  groundStationCart);
+      acsParameters.targetModeControllerParameters.altitudeTgt, targetCart);
 
   //	Position of the satellite in the earth/fixed frame via GPS
   double posSatE[3] = {0, 0, 0};
-  MathOperations<double>::cartesianFromLatLongAlt(sensorValues->gpsSet.latitude.value,
+  double geodeticLatRad = (sensorValues->gpsSet.latitude.value) * PI / 180;
-                                                  sensorValues->gpsSet.longitude.value,
+  double longitudeRad = (sensorValues->gpsSet.longitude.value) * PI / 180;
+  MathOperations<double>::cartesianFromLatLongAlt(geodeticLatRad, longitudeRad,
                                                   sensorValues->gpsSet.altitude.value, posSatE);
 
   //	Target direction in the ECEF frame
   double targetDirE[3] = {0, 0, 0};
-  VectorOperations<double>::subtract(groundStationCart, posSatE, targetDirE, 3);
+  VectorOperations<double>::subtract(targetCart, posSatE, targetDirE, 3);
 
   //	Transformation between ECEF and IJK frame
   double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
   double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::dcmEJ(now, *dcmEJ);
-  MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
-  //	Derivative of dmcEJ WITHOUT PRECISSION AND NUTATION
   double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
+  MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
+
   double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  double dcmDot[3][3] = {{0, 1, 0}, {-1, 0, 0}, {0, 0, 0}};
-  double omegaEarth = acsParameters.targetModeControllerParameters.omegaEarth;
-
-  //	TEST SECTION !
-  // double dcmTEST[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  // MatrixOperations<double>::multiply(&acsParameters.magnetorquesParameter.mtq0orientationMatrix,
-  // dcmTEST, dcmTEST, 3, 3, 3);
-
-  MatrixOperations<double>::multiply(*dcmDot, *dcmEJ, *dcmEJDot, 3, 3, 3);
-  MatrixOperations<double>::multiplyScalar(*dcmEJDot, omegaEarth, *dcmEJDot, 3, 3);
   MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
 
   //	Transformation between ECEF and Body frame
@@ -111,9 +109,7 @@ void Guidance::targetQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData
   //	Calculation of reference rotation rate
   //-------------------------------------------------------------------------------------
   double velSatE[3] = {0, 0, 0};
-  velSatE[0] = 0.0;  // sensorValues->gps0Velocity[0];
+  std::memcpy(velSatE, gpsDataProcessed->gpsVelocity.value, 3 * sizeof(double));
-  velSatE[1] = 0.0;  // sensorValues->gps0Velocity[1];
-  velSatE[2] = 0.0;  // sensorValues->gps0Velocity[2];
   double velSatB[3] = {0, 0, 0}, velSatBPart1[3] = {0, 0, 0}, velSatBPart2[3] = {0, 0, 0};
   //	Velocity: v_B = dcm_BI * dcmIE * v_E + dcm_BI * DotDcm_IE * v_E
   MatrixOperations<double>::multiply(*dcmBE, velSatE, velSatBPart1, 3, 3, 1);
@@ -134,10 +130,10 @@ void Guidance::targetQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData
   //	Calculation of reference rotation rate in case of star tracker blinding
   //-------------------------------------------------------------------------------------
   if (acsParameters.targetModeControllerParameters.avoidBlindStr) {
-    double sunDirJ[3] = {0, 0, 0};
     double sunDirB[3] = {0, 0, 0};
 
     if (susDataProcessed->sunIjkModel.isValid()) {
+      double sunDirJ[3] = {0, 0, 0};
       std::memcpy(sunDirJ, susDataProcessed->sunIjkModel.value, 3 * sizeof(double));
       MatrixOperations<double>::multiply(*dcmBJ, sunDirJ, sunDirB, 3, 3, 1);
     } else {
@@ -183,14 +179,414 @@ void Guidance::targetQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData
   }
 }
 
-void Guidance::comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, double refSatRate[3],
+void Guidance::refRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],
-                          double quatErrorComplete[4], double quatError[3], double deltaRate[3]) {
+                               double *refSatRate) {
-  double quatRef[4] = {0, 0, 0, 0};
+  //-------------------------------------------------------------------------------------
-  quatRef[0] = acsParameters.targetModeControllerParameters.quatRef[0];
+  //	Calculation of reference rotation rate
-  quatRef[1] = acsParameters.targetModeControllerParameters.quatRef[1];
+  //-------------------------------------------------------------------------------------
-  quatRef[2] = acsParameters.targetModeControllerParameters.quatRef[2];
+  double timeElapsed = now.tv_sec + now.tv_usec * pow(10, -6) -
-  quatRef[3] = acsParameters.targetModeControllerParameters.quatRef[3];
+                       (timeSavedQuaternion.tv_sec +
+                        timeSavedQuaternion.tv_usec * pow((double)timeSavedQuaternion.tv_usec, -6));
+  if (timeElapsed < timeElapsedMax) {
+    double qDiff[4] = {0, 0, 0, 0};
+    VectorOperations<double>::subtract(quatInertialTarget, savedQuaternion, qDiff, 4);
+    VectorOperations<double>::mulScalar(qDiff, 1 / timeElapsed, qDiff, 4);
 
+    double tgtQuatVec[3] = {quatInertialTarget[0], quatInertialTarget[1], quatInertialTarget[2]},
+           qDiffVec[3] = {qDiff[0], qDiff[1], qDiff[2]};
+    double sum1[3] = {0, 0, 0}, sum2[3] = {0, 0, 0}, sum3[3] = {0, 0, 0}, sum[3] = {0, 0, 0};
+    VectorOperations<double>::cross(quatInertialTarget, qDiff, sum1);
+    VectorOperations<double>::mulScalar(tgtQuatVec, qDiff[3], sum2, 3);
+    VectorOperations<double>::mulScalar(qDiffVec, quatInertialTarget[3], sum3, 3);
+    VectorOperations<double>::add(sum1, sum2, sum, 3);
+    VectorOperations<double>::subtract(sum, sum3, sum, 3);
+    double omegaRefNew[3] = {0, 0, 0};
+    VectorOperations<double>::mulScalar(sum, -2, omegaRefNew, 3);
+
+    VectorOperations<double>::mulScalar(omegaRefNew, 2, refSatRate, 3);
+    VectorOperations<double>::subtract(refSatRate, omegaRefSaved, refSatRate, 3);
+    omegaRefSaved[0] = omegaRefNew[0];
+    omegaRefSaved[1] = omegaRefNew[1];
+    omegaRefSaved[2] = omegaRefNew[2];
+  } else {
+    refSatRate[0] = 0;
+    refSatRate[1] = 0;
+    refSatRate[2] = 0;
+  }
+
+  timeSavedQuaternion = now;
+  savedQuaternion[0] = quatInertialTarget[0];
+  savedQuaternion[1] = quatInertialTarget[1];
+  savedQuaternion[2] = quatInertialTarget[2];
+  savedQuaternion[3] = quatInertialTarget[3];
+}
+
+void Guidance::targetQuatPtgThreeAxes(ACS::SensorValues *sensorValues,
+                                      acsctrl::GpsDataProcessed *gpsDataProcessed,
+                                      acsctrl::MekfData *mekfData, timeval now,
+                                      double targetQuat[4], double refSatRate[3]) {
+  //-------------------------------------------------------------------------------------
+  //	Calculation of target quaternion for target pointing
+  //-------------------------------------------------------------------------------------
+  //	Transform longitude, latitude and altitude to cartesian coordiantes (earth
+  // fixed/centered frame)
+  double targetCart[3] = {0, 0, 0};
+
+  MathOperations<double>::cartesianFromLatLongAlt(
+      acsParameters.targetModeControllerParameters.latitudeTgt,
+      acsParameters.targetModeControllerParameters.longitudeTgt,
+      acsParameters.targetModeControllerParameters.altitudeTgt, targetCart);
+  //	Position of the satellite in the earth/fixed frame via GPS
+  double posSatE[3] = {0, 0, 0};
+  std::memcpy(posSatE, gpsDataProcessed->gpsPosition.value, 3 * sizeof(double));
+  double targetDirE[3] = {0, 0, 0};
+  VectorOperations<double>::subtract(targetCart, posSatE, targetDirE, 3);
+
+  //	Transformation between ECEF and IJK frame
+  double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
+  MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
+
+  double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
+
+  //	Target Direction and position vector in the inertial frame
+  double targetDirJ[3] = {0, 0, 0}, posSatJ[3] = {0, 0, 0};
+  MatrixOperations<double>::multiply(*dcmJE, targetDirE, targetDirJ, 3, 3, 1);
+  MatrixOperations<double>::multiply(*dcmJE, posSatE, posSatJ, 3, 3, 1);
+
+  // negative x-Axis aligned with target (Camera/E-band transmitter position)
+  double xAxis[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(targetDirJ, xAxis, 3);
+  VectorOperations<double>::mulScalar(xAxis, -1, xAxis, 3);
+
+  // Transform velocity into inertial frame
+  double velocityE[3];
+  std::memcpy(velocityE, gpsDataProcessed->gpsVelocity.value, 3 * sizeof(double));
+  double velocityJ[3] = {0, 0, 0}, velPart1[3] = {0, 0, 0}, velPart2[3] = {0, 0, 0};
+  MatrixOperations<double>::multiply(*dcmJE, velocityE, velPart1, 3, 3, 1);
+  MatrixOperations<double>::multiply(*dcmJEDot, posSatE, velPart2, 3, 3, 1);
+  VectorOperations<double>::add(velPart1, velPart2, velocityJ, 3);
+
+  // orbital normal vector
+  double orbitalNormalJ[3] = {0, 0, 0};
+  VectorOperations<double>::cross(posSatJ, velocityJ, orbitalNormalJ);
+  VectorOperations<double>::normalize(orbitalNormalJ, orbitalNormalJ, 3);
+
+  // y-Axis of satellite in orbit plane so that z-axis parallel to long side of picture resolution
+  double yAxis[3] = {0, 0, 0};
+  VectorOperations<double>::cross(orbitalNormalJ, xAxis, yAxis);
+  VectorOperations<double>::normalize(yAxis, yAxis, 3);
+
+  // z-Axis completes RHS
+  double zAxis[3] = {0, 0, 0};
+  VectorOperations<double>::cross(xAxis, yAxis, zAxis);
+
+  // Complete transformation matrix
+  double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
+                         {xAxis[1], yAxis[1], zAxis[1]},
+                         {xAxis[2], yAxis[2], zAxis[2]}};
+  double quatInertialTarget[4] = {0, 0, 0, 0};
+  QuaternionOperations::fromDcm(dcmTgt, quatInertialTarget);
+
+  int8_t timeElapsedMax = acsParameters.targetModeControllerParameters.timeElapsedMax;
+  refRotationRate(timeElapsedMax, now, quatInertialTarget, refSatRate);
+
+  // Transform in system relative to satellite frame
+  double quatBJ[4] = {0, 0, 0, 0};
+  std::memcpy(quatBJ, mekfData->quatMekf.value, 4 * sizeof(double));
+  QuaternionOperations::multiply(quatBJ, quatInertialTarget, targetQuat);
+}
+
+void Guidance::targetQuatPtgGs(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
+                               acsctrl::SusDataProcessed *susDataProcessed,
+                               acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now,
+                               double targetQuat[4], double refSatRate[3]) {
+  //-------------------------------------------------------------------------------------
+  //	Calculation of target quaternion for ground station pointing
+  //-------------------------------------------------------------------------------------
+  //	Transform longitude, latitude and altitude to cartesian coordiantes (earth
+  // fixed/centered frame)
+  double groundStationCart[3] = {0, 0, 0};
+
+  MathOperations<double>::cartesianFromLatLongAlt(
+      acsParameters.targetModeControllerParameters.latitudeTgt,
+      acsParameters.targetModeControllerParameters.longitudeTgt,
+      acsParameters.targetModeControllerParameters.altitudeTgt, groundStationCart);
+  //	Position of the satellite in the earth/fixed frame via GPS
+  double posSatE[3] = {0, 0, 0};
+  double geodeticLatRad = (sensorValues->gpsSet.latitude.value) * PI / 180;
+  double longitudeRad = (sensorValues->gpsSet.longitude.value) * PI / 180;
+  MathOperations<double>::cartesianFromLatLongAlt(geodeticLatRad, longitudeRad,
+                                                  sensorValues->gpsSet.altitude.value, posSatE);
+  double targetDirE[3] = {0, 0, 0};
+  VectorOperations<double>::subtract(groundStationCart, posSatE, targetDirE, 3);
+
+  //	Transformation between ECEF and IJK frame
+  double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
+  MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
+
+  double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
+
+  //	Target Direction and position vector in the inertial frame
+  double targetDirJ[3] = {0, 0, 0}, posSatJ[3] = {0, 0, 0};
+  MatrixOperations<double>::multiply(*dcmJE, targetDirE, targetDirJ, 3, 3, 1);
+  MatrixOperations<double>::multiply(*dcmJE, posSatE, posSatJ, 3, 3, 1);
+
+  // negative x-Axis aligned with target (Camera/E-band transmitter position)
+  double xAxis[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(targetDirJ, xAxis, 3);
+  VectorOperations<double>::mulScalar(xAxis, -1, xAxis, 3);
+
+  // get Sun Vector Model in ECI
+  double sunJ[3];
+  std::memcpy(sunJ, susDataProcessed->sunIjkModel.value, 3 * sizeof(double));
+  VectorOperations<double>::normalize(sunJ, sunJ, 3);
+
+  // calculate z-axis as projection of sun vector into plane defined by x-axis as normal vector
+  // z = sPerpenticular =  s - sParallel = s - (x*s)/norm(x)^2 * x
+  double xDotS = VectorOperations<double>::dot(xAxis, sunJ);
+  xDotS /= pow(VectorOperations<double>::norm(xAxis, 3), 2);
+  double sunParallel[3], zAxis[3];
+  VectorOperations<double>::mulScalar(xAxis, xDotS, sunParallel, 3);
+  VectorOperations<double>::subtract(sunJ, sunParallel, zAxis, 3);
+  VectorOperations<double>::normalize(zAxis, zAxis, 3);
+
+  // calculate y-axis
+  double yAxis[3];
+  VectorOperations<double>::cross(zAxis, xAxis, yAxis);
+  VectorOperations<double>::normalize(yAxis, yAxis, 3);
+
+  // Complete transformation matrix
+  double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
+                         {xAxis[1], yAxis[1], zAxis[1]},
+                         {xAxis[2], yAxis[2], zAxis[2]}};
+  double quatInertialTarget[4] = {0, 0, 0, 0};
+  QuaternionOperations::fromDcm(dcmTgt, quatInertialTarget);
+
+  int8_t timeElapsedMax = acsParameters.targetModeControllerParameters.timeElapsedMax;
+  refRotationRate(timeElapsedMax, now, quatInertialTarget, refSatRate);
+
+  // Transform in system relative to satellite frame
+  double quatBJ[4] = {0, 0, 0, 0};
+  std::memcpy(quatBJ, mekfData->quatMekf.value, 4 * sizeof(double));
+  QuaternionOperations::multiply(quatBJ, quatInertialTarget, targetQuat);
+}
+
+void Guidance::sunQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
+                          acsctrl::SusDataProcessed *susDataProcessed,
+                          acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now,
+                          double targetQuat[4], double refSatRate[3]) {
+  //-------------------------------------------------------------------------------------
+  //	Calculation of target quaternion to sun
+  //-------------------------------------------------------------------------------------
+  double quatBJ[4] = {0, 0, 0, 0};
+  double dcmBJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  std::memcpy(quatBJ, mekfData->quatMekf.value, 4 * sizeof(double));
+  QuaternionOperations::toDcm(quatBJ, dcmBJ);
+
+  double sunDirJ[3] = {0, 0, 0}, sunDirB[3] = {0, 0, 0};
+  if (susDataProcessed->sunIjkModel.isValid()) {
+    std::memcpy(sunDirJ, susDataProcessed->sunIjkModel.value, 3 * sizeof(double));
+    MatrixOperations<double>::multiply(*dcmBJ, sunDirJ, sunDirB, 3, 3, 1);
+  } else if (susDataProcessed->susVecTot.isValid()) {
+    std::memcpy(sunDirB, susDataProcessed->susVecTot.value, 3 * sizeof(double));
+  } else {
+    return;
+  }
+
+  //	Transformation between ECEF and IJK frame
+  double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
+  MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
+  double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
+
+  // positive z-Axis of EIVE in direction of sun
+  double zAxis[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(sunDirB, zAxis, 3);
+
+  // Assign helper vector (north pole inertial)
+  double helperVec[3] = {0, 0, 1};
+
+  //
+  double yAxis[3] = {0, 0, 0};
+  VectorOperations<double>::cross(zAxis, helperVec, yAxis);
+  VectorOperations<double>::normalize(yAxis, yAxis, 3);
+
+  //
+  double xAxis[3] = {0, 0, 0};
+  VectorOperations<double>::cross(yAxis, zAxis, xAxis);
+  VectorOperations<double>::normalize(xAxis, xAxis, 3);
+
+  // Transformation matrix to Sun, no further transforamtions, reference is already
+  // the EIVE body frame
+  double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
+                         {xAxis[1], yAxis[1], zAxis[1]},
+                         {xAxis[2], yAxis[2], zAxis[2]}};
+  double quatSun[4] = {0, 0, 0, 0};
+  QuaternionOperations::fromDcm(dcmTgt, quatSun);
+
+  targetQuat[0] = quatSun[0];
+  targetQuat[1] = quatSun[1];
+  targetQuat[2] = quatSun[2];
+  targetQuat[3] = quatSun[3];
+
+  //----------------------------------------------------------------------------
+  //	Calculation of reference rotation rate
+  //----------------------------------------------------------------------------
+  refSatRate[0] = 0;
+  refSatRate[1] = 0;
+  refSatRate[2] = 0;
+}
+
+void Guidance::quatNadirPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
+                                      timeval now, double targetQuat[4],
+                                      double refSatRate[3]) {  // old version of Nadir Pointing
+  //-------------------------------------------------------------------------------------
+  //	Calculation of target quaternion for Nadir pointing
+  //-------------------------------------------------------------------------------------
+  //	Position of the satellite in the earth/fixed frame via GPS
+  double posSatE[3] = {0, 0, 0};
+  double geodeticLatRad = (sensorValues->gpsSet.latitude.value) * PI / 180;
+  double longitudeRad = (sensorValues->gpsSet.longitude.value) * PI / 180;
+  MathOperations<double>::cartesianFromLatLongAlt(geodeticLatRad, longitudeRad,
+                                                  sensorValues->gpsSet.altitude.value, posSatE);
+  double targetDirE[3] = {0, 0, 0};
+  VectorOperations<double>::mulScalar(posSatE, -1, targetDirE, 3);
+
+  //	Transformation between ECEF and IJK frame
+  double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
+  MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
+
+  double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
+
+  //	Transformation between ECEF and Body frame
+  double dcmBJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmBE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double quatBJ[4] = {0, 0, 0, 0};
+  std::memcpy(quatBJ, mekfData->quatMekf.value, 4 * sizeof(double));
+  QuaternionOperations::toDcm(quatBJ, dcmBJ);
+  MatrixOperations<double>::multiply(*dcmBJ, *dcmJE, *dcmBE, 3, 3, 3);
+
+  //	Target Direction in the body frame
+  double targetDirB[3] = {0, 0, 0};
+  MatrixOperations<double>::multiply(*dcmBE, targetDirE, targetDirB, 3, 3, 1);
+
+  //	rotation quaternion from two vectors
+  double refDir[3] = {0, 0, 0};
+  refDir[0] = acsParameters.nadirModeControllerParameters.refDirection[0];
+  refDir[1] = acsParameters.nadirModeControllerParameters.refDirection[1];
+  refDir[2] = acsParameters.nadirModeControllerParameters.refDirection[2];
+  double noramlizedTargetDirB[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(targetDirB, noramlizedTargetDirB, 3);
+  VectorOperations<double>::normalize(refDir, refDir, 3);
+  double normTargetDirB = VectorOperations<double>::norm(noramlizedTargetDirB, 3);
+  double normRefDir = VectorOperations<double>::norm(refDir, 3);
+  double crossDir[3] = {0, 0, 0};
+  double dotDirections = VectorOperations<double>::dot(noramlizedTargetDirB, refDir);
+  VectorOperations<double>::cross(noramlizedTargetDirB, refDir, crossDir);
+  targetQuat[0] = crossDir[0];
+  targetQuat[1] = crossDir[1];
+  targetQuat[2] = crossDir[2];
+  targetQuat[3] = sqrt(pow(normTargetDirB, 2) * pow(normRefDir, 2) + dotDirections);
+  VectorOperations<double>::normalize(targetQuat, targetQuat, 4);
+
+  //-------------------------------------------------------------------------------------
+  //	Calculation of reference rotation rate
+  //-------------------------------------------------------------------------------------
+  refSatRate[0] = 0;
+  refSatRate[1] = 0;
+  refSatRate[2] = 0;
+}
+
+void Guidance::quatNadirPtgThreeAxes(ACS::SensorValues *sensorValues,
+                                     acsctrl::GpsDataProcessed *gpsDataProcessed,
+                                     acsctrl::MekfData *mekfData, timeval now, double targetQuat[4],
+                                     double refSatRate[3]) {
+  //-------------------------------------------------------------------------------------
+  //	Calculation of target quaternion for Nadir pointing
+  //-------------------------------------------------------------------------------------
+  //	Position of the satellite in the earth/fixed frame via GPS
+  double posSatE[3] = {0, 0, 0};
+  double geodeticLatRad = (sensorValues->gpsSet.latitude.value) * PI / 180;
+  double longitudeRad = (sensorValues->gpsSet.longitude.value) * PI / 180;
+  MathOperations<double>::cartesianFromLatLongAlt(geodeticLatRad, longitudeRad,
+                                                  sensorValues->gpsSet.altitude.value, posSatE);
+  double targetDirE[3] = {0, 0, 0};
+  VectorOperations<double>::mulScalar(posSatE, -1, targetDirE, 3);
+
+  //	Transformation between ECEF and IJK frame
+  double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
+  MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
+
+  double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
+
+  //	Target Direction in the body frame
+  double targetDirJ[3] = {0, 0, 0};
+  MatrixOperations<double>::multiply(*dcmJE, targetDirE, targetDirJ, 3, 3, 1);
+
+  // negative x-Axis aligned with target (Camera position)
+  double xAxis[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(targetDirJ, xAxis, 3);
+  VectorOperations<double>::mulScalar(xAxis, -1, xAxis, 3);
+
+  // z-Axis parallel to long side of picture resolution
+  double zAxis[3] = {0, 0, 0}, velocityE[3];
+  std::memcpy(velocityE, gpsDataProcessed->gpsVelocity.value, 3 * sizeof(double));
+  double velocityJ[3] = {0, 0, 0}, velPart1[3] = {0, 0, 0}, velPart2[3] = {0, 0, 0};
+  MatrixOperations<double>::multiply(*dcmJE, velocityE, velPart1, 3, 3, 1);
+  MatrixOperations<double>::multiply(*dcmJEDot, posSatE, velPart2, 3, 3, 1);
+  VectorOperations<double>::add(velPart1, velPart2, velocityJ, 3);
+  VectorOperations<double>::cross(xAxis, velocityJ, zAxis);
+  VectorOperations<double>::normalize(zAxis, zAxis, 3);
+
+  // y-Axis completes RHS
+  double yAxis[3] = {0, 0, 0};
+  VectorOperations<double>::cross(zAxis, xAxis, yAxis);
+
+  // Complete transformation matrix
+  double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
+                         {xAxis[1], yAxis[1], zAxis[1]},
+                         {xAxis[2], yAxis[2], zAxis[2]}};
+  double quatInertialTarget[4] = {0, 0, 0, 0};
+  QuaternionOperations::fromDcm(dcmTgt, quatInertialTarget);
+
+  int8_t timeElapsedMax = acsParameters.nadirModeControllerParameters.timeElapsedMax;
+  refRotationRate(timeElapsedMax, now, quatInertialTarget, refSatRate);
+
+  // Transform in system relative to satellite frame
+  double quatBJ[4] = {0, 0, 0, 0};
+  std::memcpy(quatBJ, mekfData->quatMekf.value, 4 * sizeof(double));
+  QuaternionOperations::multiply(quatBJ, quatInertialTarget, targetQuat);
+}
+
+void Guidance::inertialQuatPtg(double targetQuat[4], double refSatRate[3]) {
+  std::memcpy(targetQuat, acsParameters.inertialModeControllerParameters.tgtQuat,
+              4 * sizeof(double));
+  std::memcpy(refSatRate, acsParameters.inertialModeControllerParameters.refRotRate,
+              3 * sizeof(double));
+}
+
+void Guidance::comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, double quatRef[4],
+                          double refSatRate[3], double quatErrorComplete[4], double quatError[3],
+                          double deltaRate[3]) {
   double satRate[3] = {0, 0, 0};
   std::memcpy(satRate, mekfData->satRotRateMekf.value, 3 * sizeof(double));
   VectorOperations<double>::subtract(satRate, refSatRate, deltaRate, 3);
@@ -210,8 +606,8 @@ void Guidance::comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, dou
   quatError[1] = quatErrorComplete[1];
   quatError[2] = quatErrorComplete[2];
 
-  // target flag in matlab, importance, does look like it only gives
+  // target flag in matlab, importance, does look like it only gives feedback if pointing control is
-  //	feedback if pointing control is under 150 arcsec ??
+  // under 150 arcsec ??
 }
 
 void Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv) {
@@ -300,7 +696,7 @@ void Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *
     // 	    @note: This one takes the normal pseudoInverse of all four raction wheels valid.
     //		Does not make sense, but is implemented that way in MATLAB ?!
     //		Thought: It does not really play a role, because in case there are more then one
-    //		reaction wheel the pointing control is destined to fail.
+    //		reaction wheel invalid the pointing control is destined to fail.
     rwPseudoInv[0] = acsParameters.rwMatrices.pseudoInverse[0][0];
     rwPseudoInv[1] = acsParameters.rwMatrices.pseudoInverse[0][1];
     rwPseudoInv[2] = acsParameters.rwMatrices.pseudoInverse[0][2];

mission/controller/acs/Guidance.h

@@ -21,16 +21,49 @@ class Guidance {
 
   void getTargetParamsSafe(double sunTargetSafe[3], double satRateRef[3]);
 
-  // Function to get the target quaternion and refence rotation rate from gps position and position
+  // Function to get the target quaternion and refence rotation rate from gps position and
-  // of the ground station
+  // position of the ground station
-  void targetQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
+  void targetQuatPtgThreeAxes(ACS::SensorValues *sensorValues,
-                     acsctrl::SusDataProcessed *susDataProcessed, timeval now, double targetQuat[4],
+                              acsctrl::GpsDataProcessed *gpsDataProcessed,
-                     double refSatRate[3]);
+                              acsctrl::MekfData *mekfData, timeval now, double targetQuat[4],
+                              double refSatRate[3]);
+  void targetQuatPtgGs(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
+                       acsctrl::SusDataProcessed *susDataProcessed,
+                       acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now,
+                       double targetQuat[4], double refSatRate[3]);
+  void targetQuatPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
+                               acsctrl::SusDataProcessed *susDataProcessed,
+                               acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now,
+                               double targetQuat[4], double refSatRate[3]);
+
+  // Function to get the target quaternion and refence rotation rate for sun pointing after ground
+  // station
+  void sunQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
+                  acsctrl::SusDataProcessed *susDataProcessed,
+                  acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now, double targetQuat[4],
+                  double refSatRate[3]);
+
+  // Function to get the target quaternion and refence rotation rate from gps position for Nadir
+  // pointing
+  void quatNadirPtgThreeAxes(ACS::SensorValues *sensorValues,
+                             acsctrl::GpsDataProcessed *gpsDataProcessed,
+                             acsctrl::MekfData *mekfData, timeval now, double targetQuat[4],
+                             double refSatRate[3]);
+  void quatNadirPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
+                              timeval now, double targetQuat[4], double refSatRate[3]);
+
+  // Function to get the target quaternion and refence rotation rate from parameters for inertial
+  // pointing
+  void inertialQuatPtg(double targetQuat[4], double refSatRate[3]);
 
   // @note: compares target Quaternion and reference quaternion, also actual satellite rate and
   // desired
-  void comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, double refSatRate[3],
+  void comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, double quatRef[4],
-                  double quatErrorComplete[4], double quatError[3], double deltaRate[3]);
+                  double refSatRate[3], double quatErrorComplete[4], double quatError[3],
+                  double deltaRate[3]);
+
+  void refRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],
+                       double *refSatRate);
 
   //	@note: will give back the pseudoinverse matrix for the reaction wheel depending on the valid
   // reation wheel 	maybe can be done in "commanding.h"
@@ -39,6 +72,12 @@ class Guidance {
  private:
   AcsParameters acsParameters;
   bool strBlindAvoidFlag = false;
+  timeval timeSavedQuaternion;
+  double savedQuaternion[4] = {0, 0, 0, 0};
+  double omegaRefSaved[3] = {0, 0, 0};
+
+  static constexpr char SD_0_SKEWED_PTG_FILE[] = "/mnt/sd0/conf/deployment";
+  static constexpr char SD_1_SKEWED_PTG_FILE[] = "/mnt/sd1/conf/deployment";
 };
 
 #endif /* ACS_GUIDANCE_H_ */

mission/controller/acs/Igrf13Model.cpp

@@ -1,22 +1,19 @@
-/*
- * Igrf13Model.cpp
- *
- *  Created on: 10 Mar 2022
- *      Author: Robin Marquardt
- */
-
 #include "Igrf13Model.h"
 
-#include <fsfw/globalfunctions/constants.h>
+#include <fsfw/src/fsfw/globalfunctions/constants.h>
-#include <fsfw/globalfunctions/math/MatrixOperations.h>
+#include <fsfw/src/fsfw/globalfunctions/math/MatrixOperations.h>
-#include <fsfw/globalfunctions/math/QuaternionOperations.h>
+#include <fsfw/src/fsfw/globalfunctions/math/QuaternionOperations.h>
-#include <fsfw/globalfunctions/math/VectorOperations.h>
+#include <fsfw/src/fsfw/globalfunctions/math/VectorOperations.h>
-#include <math.h>
 #include <stdint.h>
 #include <string.h>
+#include <time.h>
+
+#include <cmath>
 
 #include "util/MathOperations.h"
 
+using namespace Math;
+
 Igrf13Model::Igrf13Model() {}
 Igrf13Model::~Igrf13Model() {}
 
@@ -25,7 +22,7 @@ void Igrf13Model::magFieldComp(const double longitude, const double gcLatitude,
                                double* magFieldModelInertial) {
   double phi = longitude, theta = gcLatitude;  // geocentric
   /* Here is the co-latitude needed*/
-  theta -= 90 * Math::PI / 180;
+  theta -= 90 * PI / 180;
   theta *= (-1);
 
   double rE = 6371200.0;  // radius earth [m]
@@ -43,7 +40,7 @@ void Igrf13Model::magFieldComp(const double longitude, const double gcLatitude,
         /* Calculation of Legendre Polynoms (normalised) */
         if (n == m) {
           P2 = sin(theta) * P11;
-          dP2 = sin(theta) * dP11 - cos(theta) * P11;
+          dP2 = sin(theta) * dP11 + cos(theta) * P11;
           P11 = P2;
           P10 = P11;
           P20 = 0;
@@ -70,11 +67,11 @@ void Igrf13Model::magFieldComp(const double longitude, const double gcLatitude,
         magFieldModel[0] +=
             pow(rE / (altitude + rE), (n + 2)) * (n + 1) *
             ((updatedG[m][n - 1] * cos(m * phi) + updatedH[m][n - 1] * sin(m * phi)) * P2);
-        /* gradient of scalar potential towards phi */
+        /* gradient of scalar potential towards theta */
         magFieldModel[1] +=
             pow(rE / (altitude + rE), (n + 2)) *
             ((updatedG[m][n - 1] * cos(m * phi) + updatedH[m][n - 1] * sin(m * phi)) * dP2);
-        /* gradient of scalar potential towards theta */
+        /* gradient of scalar potential towards phi */
         magFieldModel[2] +=
             pow(rE / (altitude + rE), (n + 2)) *
             ((-updatedG[m][n - 1] * sin(m * phi) + updatedH[m][n - 1] * cos(m * phi)) * P2 * m);
@@ -85,31 +82,30 @@ void Igrf13Model::magFieldComp(const double longitude, const double gcLatitude,
   magFieldModel[1] *= -1;
   magFieldModel[2] *= (-1 / sin(theta));
 
-  /* Next step: transform into inertial KOS (IJK)*/
-  // Julean Centuries
-  double JD2000Floor = 0;
   double JD2000 = MathOperations<double>::convertUnixToJD2000(timeOfMagMeasurement);
-  JD2000Floor = floor(JD2000);
+  double UT1 = JD2000 / 36525.;
-  double JC2000 = JD2000Floor / 36525;
-
-  double gst = 100.4606184 + 36000.77005361 * JC2000 + 0.00038793 * pow(JC2000, 2) -
-               0.000000026 * pow(JC2000, 3);  // greenwich sidereal time
-  gst *= PI / 180;                            // convert to radians
-  double sec =
-      (JD2000 - JD2000Floor) * 86400;  // Seconds on this day (Universal time) // FROM GPS ?
-  double omega0 = 0.00007292115;       // mean angular velocity earth [rad/s]
-  gst += omega0 * sec;
 
+  double gst =
+      280.46061837 + 360.98564736629 * JD2000 + 0.0003875 * pow(UT1, 2) - 2.6e-8 * pow(UT1, 3);
+  gst = std::fmod(gst, 360.);
+  gst *= PI / 180.;
   double lst = gst + longitude;  // local sidereal time [rad]
 
-  magFieldModelInertial[0] = magFieldModel[0] * cos(theta) +
+  magFieldModelInertial[0] =
-                             magFieldModel[1] * sin(theta) * cos(lst) - magFieldModel[1] * sin(lst);
+      (magFieldModel[0] * cos(gcLatitude) + magFieldModel[1] * sin(gcLatitude)) * cos(lst) -
-  magFieldModelInertial[1] = magFieldModel[0] * cos(theta) +
+      magFieldModel[2] * sin(lst);
-                             magFieldModel[1] * sin(theta) * sin(lst) + magFieldModel[1] * cos(lst);
+  magFieldModelInertial[1] =
-  magFieldModelInertial[2] = magFieldModel[0] * sin(theta) + magFieldModel[1] * cos(lst);
+      (magFieldModel[0] * cos(gcLatitude) + magFieldModel[1] * sin(gcLatitude)) * sin(lst) +
+      magFieldModel[2] * cos(lst);
+  magFieldModelInertial[2] =
+      magFieldModel[0] * sin(gcLatitude) - magFieldModel[1] * cos(gcLatitude);
 
   double normVecMagFieldInert[3] = {0, 0, 0};
   VectorOperations<double>::normalize(magFieldModelInertial, normVecMagFieldInert, 3);
+
+  magFieldModel[0] = 0;
+  magFieldModel[1] = 0;
+  magFieldModel[2] = 0;
 }
 
 void Igrf13Model::updateCoeffGH(timeval timeOfMagMeasurement) {
@@ -123,3 +119,34 @@ void Igrf13Model::updateCoeffGH(timeval timeOfMagMeasurement) {
     }
   }
 }
+
+void Igrf13Model::schmidtNormalization() {
+  double kronDelta = 0;
+  schmidtFactors[0][0] = 1;
+  for (int n = 1; n <= igrfOrder; n++) {
+    if (n == 1) {
+      schmidtFactors[0][n - 1] = 1;
+    } else {
+      schmidtFactors[0][n - 1] = schmidtFactors[0][n - 2] * (2 * n - 1) / n;
+    }
+    for (int m = 1; m <= igrfOrder; m++) {
+      if (m == 1) {
+        kronDelta = 1;
+      } else {
+        kronDelta = 0;
+      }
+      schmidtFactors[m][n - 1] =
+          schmidtFactors[m - 1][n - 1] * sqrt((n - m + 1) * (kronDelta + 1) / (n + m));
+    }
+  }
+
+  for (int i = 0; i <= igrfOrder; i++) {
+    for (int j = 0; j <= (igrfOrder - 1); j++) {
+      coeffG[i][j] = schmidtFactors[i][j] * coeffG[i][j];
+      coeffH[i][j] = schmidtFactors[i][j] * coeffH[i][j];
+
+      svG[i][j] = schmidtFactors[i][j] * svG[i][j];
+      svH[i][j] = schmidtFactors[i][j] * svH[i][j];
+    }
+  }
+}

mission/controller/acs/Igrf13Model.h

@@ -43,14 +43,15 @@ class Igrf13Model /*:public HasParametersIF*/ {
    * - timeOfMagMeasurement: time of actual measurement [s]
    *
    * Outputs:
-   * - magFieldModelInertial: Magnetic Field Vector in IJK KOS [nT]*/
+   * - magFieldModelInertial: Magnetic Field Vector in IJK RF [nT]*/
 
   // Coefficient wary over year, could be updated sometimes.
   void updateCoeffGH(timeval timeOfMagMeasurement);  // Secular variation (SV)
   double magFieldModel[3];
+  void schmidtNormalization();
 
  private:
-  const double coeffG[14][13] = {
+  double coeffG[14][13] = {
       {-29404.8, -2499.6, 1363.2, 903.0, -234.3, 66.0, 80.6, 23.7, 5.0, -1.9, 3.0, -2.0, 0.1},
       {-1450.9, 2982.0, -2381.2, 809.5, 363.2, 65.5, -76.7, 9.7, 8.4, -6.2, -1.4, -0.1, -0.9},
       {0.0, 1677.0, 1236.2, 86.3, 187.8, 72.9, -8.2, -17.6, 2.9, -0.1, -2.5, 0.5, 0.5},
@@ -66,7 +67,7 @@ class Igrf13Model /*:public HasParametersIF*/ {
       {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.3, -0.5},
       {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.4}};  // [m][n] in nT
 
-  const double coeffH[14][13] = {
+  double coeffH[14][13] = {
       {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0},
       {4652.5, -2991.6, -82.1, 281.9, 47.7, -19.1, -51.5, 8.4, -23.4, 3.4, 0.0, -1.2, -0.9},
       {0.0, -734.6, 241.9, -158.4, 208.3, 25.1, -16.9, -15.3, 11.0, -0.2, 2.5, 0.5, 0.6},
@@ -82,7 +83,7 @@ class Igrf13Model /*:public HasParametersIF*/ {
       {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5, -0.4},
       {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.6}};  // [m][n] in nT
 
-  const double svG[14][13] = {
+  double svG[14][13] = {
       {5.7, -11.0, 2.2, -1.2, -0.3, -0.5, -0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
       {7.4, -7.0, -5.9, -1.6, 0.5, -0.3, -0.2, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0},
       {0.0, -2.1, 3.1, -5.9, -0.6, 0.4, 0.0, -0.1, 0.0, 0.0, 0.0, 0.0, 0.0},
@@ -98,7 +99,7 @@ class Igrf13Model /*:public HasParametersIF*/ {
       {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
       {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}};  // [m][n] in nT
 
-  const double svH[14][13] = {
+  double svH[14][13] = {
       {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
       {-25.9, -30.2, 6.0, -0.1, 0.0, 0.0, 0.6, -0.2, 0.0, 0.0, 0.0, 0.0, 0.0},
       {0.0, -22.4, -1.1, 6.5, 2.5, -1.6, 0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0},
@@ -114,6 +115,16 @@ class Igrf13Model /*:public HasParametersIF*/ {
       {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
       {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}};  // [m][n] in nT
 
+  double schmidtFactors[14][13] = {
+      {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
+      {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
+      {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
+      {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
+      {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
+      {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
+      {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}};
+  ;
+
   double updatedG[14][13];
   double updatedH[14][13];
   static const int igrfOrder = 13;  // degree of truncation

mission/controller/acs/MultiplicativeKalmanFilter.cpp

@@ -1,10 +1,3 @@
-/*
- * MultiplicativeKalmanFilter.cpp
- *
- *  Created on: 4 Feb 2022
- *      Author: rooob
- */
-
 #include "MultiplicativeKalmanFilter.h"
 
 #include <fsfw/datapool/PoolReadGuard.h>
@@ -14,6 +7,8 @@
 #include <stdio.h>
 #include <string.h>
 
+#include <cmath>
+
 #include "util/CholeskyDecomposition.h"
 #include "util/MathOperations.h"
 
@@ -29,7 +24,7 @@ MultiplicativeKalmanFilter::~MultiplicativeKalmanFilter() {}
 
 void MultiplicativeKalmanFilter::loadAcsParameters(AcsParameters *acsParameters_) {
   inertiaEIVE = &(acsParameters_->inertiaEIVE);
-  kalmanFilterParameters = &(acsParameters_->kalmanFilterParameters); /*Sensor noises also here*/
+  kalmanFilterParameters = &(acsParameters_->kalmanFilterParameters);
 }
 
 void MultiplicativeKalmanFilter::reset() {}
@@ -41,14 +36,11 @@ void MultiplicativeKalmanFilter::init(
   // check for valid mag/sun
   if (validMagField_ && validSS && validSSModel && validMagModel) {
     validInit = true;
-    // AcsParameters mekfEstParams;
-    // loadAcsParameters(&mekfEstParams);
     //  QUEST ALGO -----------------------------------------------------------------------
     double sigmaSun = 0, sigmaMag = 0, sigmaGyro = 0;
     sigmaSun = kalmanFilterParameters->sensorNoiseSS;
     sigmaMag = kalmanFilterParameters->sensorNoiseMAG;
-
+    sigmaGyro = kalmanFilterParameters->sensorNoiseGYR;
-    sigmaGyro = 0.1 * 3.141 / 180;  // acs parameters
 
     double normMagB[3] = {0, 0, 0}, normSunB[3] = {0, 0, 0}, normMagJ[3] = {0, 0, 0},
            normSunJ[3] = {0, 0, 0};
@@ -136,7 +128,6 @@ void MultiplicativeKalmanFilter::init(
            matrixMag[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
            matrixSunMag[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
            matrixMagSun[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-    /* vector*transpose(vector)*/
     MatrixOperations<double>::multiply(sunEstB, sunEstB, *matrixSun, 3, 1, 3);
     MatrixOperations<double>::multiply(magEstB, magEstB, *matrixMag, 3, 1, 3);
     MatrixOperations<double>::multiply(sunEstB, magEstB, *matrixSunMag, 3, 1, 3);
@@ -199,8 +190,6 @@ void MultiplicativeKalmanFilter::init(
     initialCovarianceMatrix[5][3] = initGyroCov[2][0];
     initialCovarianceMatrix[5][4] = initGyroCov[2][1];
     initialCovarianceMatrix[5][5] = initGyroCov[2][2];
-    // initialCovarianceMatrix[][] = {{0,0,0,0,0,0},{0,0,0,0,0,0},{0,0,0,0,0,0},
-    //{0,0,0,0,0,0},{0,0,0,0,0,0},{0,0,0,0,0,0}};
   } else {
     // no initialisation possible, no valid measurements
     validInit = false;
@@ -208,14 +197,15 @@ void MultiplicativeKalmanFilter::init(
 }
 
 // --------------- MEKF DISCRETE TIME STEP -------------------------------
-ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
+ReturnValue_t MultiplicativeKalmanFilter::mekfEst(const double *quaternionSTR, const bool validSTR_,
-    const double *quaternionSTR, const bool validSTR_, const double *rateGYRs_,
+                                                  const double *rateGYRs_, const bool validGYRs_,
-    const bool validGYRs_, const double *magneticField_, const bool validMagField_,
+                                                  const double *magneticField_,
-    const double *sunDir_, const bool validSS, const double *sunDirJ, const bool validSSModel,
+                                                  const bool validMagField_, const double *sunDir_,
-    const double *magFieldJ, const bool validMagModel, acsctrl::MekfData *mekfData) {
+                                                  const bool validSS, const double *sunDirJ,
+                                                  const bool validSSModel, const double *magFieldJ,
+                                                  const bool validMagModel, double sampleTime,
+                                                  acsctrl::MekfData *mekfData) {
   // Check for GYR Measurements
-  // AcsParameters mekfEstParams;
-  // loadAcsParameters(&mekfEstParams);
   int MDF = 0;  // Matrix Dimension Factor
   if (!validGYRs_) {
     {
@@ -960,10 +950,8 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
   biasGYR[2] = updatedGyroBias[2];
 
   /* ----------- PROPAGATION ----------*/
-  // double sigmaU = kalmanFilterParameters->sensorNoiseBsGYR;
+  double sigmaU = kalmanFilterParameters->sensorNoiseBsGYR;
-  // double sigmaV = kalmanFilterParameters->sensorNoiseArwGYR;
+  double sigmaV = kalmanFilterParameters->sensorNoiseArwGYR;
-  double sigmaU = 3 * 3.141 / 180 / 3600;
-  double sigmaV = 3 * 0.0043 * 3.141 / sqrt(10) / 180;
 
   double discTimeMatrix[6][6] = {{-1, 0, 0, 0, 0, 0}, {0, -1, 0, 0, 0, 0}, {0, 0, -1, 0, 0, 0},
                                  {0, 0, 0, 1, 0, 0},  {0, 0, 0, 0, 1, 0},  {0, 0, 0, 0, 0, 1}};
@@ -977,170 +965,135 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
   // Discrete Process Noise Covariance Q
   double discProcessNoiseCov[6][6] = {{0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0},
                                       {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}};
-  double covQ1[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
+  double covQ11[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
-         covQ2[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
+         covQ12[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
-         covQ3[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
+         covQ22[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
-         transCovQ2[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+         covQ12trans[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  if (normRotEst * sampleTime < 3.141 / 10) {
+  if (normRotEst * sampleTime < M_PI / 10) {
-    double fact1 = sampleTime * pow(sigmaV, 2) + pow(sampleTime, 3) * pow(sigmaU, 2 / 3);
+    double fact11 = pow(sigmaV, 2) * sampleTime + 1. / 3. * pow(sigmaU, 2) * pow(sampleTime, 3);
-    MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact1, *covQ1, 3, 3);
+    MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact11, *covQ11, 3, 3);
-    double fact2 = -(0.5 * pow(sampleTime, 2) * pow(sigmaU, 2));
-    MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact2, *covQ2, 3, 3);
-    MatrixOperations<double>::transpose(*covQ2, *transCovQ2, 3);
-    double fact3 = sampleTime * pow(sigmaU, 2);
-    MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact3, *covQ3, 3, 3);
 
-    discProcessNoiseCov[0][0] = covQ1[0][0];
+    double fact12 = -(1. / 2. * pow(sigmaU, 2) * pow(sampleTime, 2));
-    discProcessNoiseCov[0][1] = covQ1[0][1];
+    MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact12, *covQ12, 3, 3);
-    discProcessNoiseCov[0][2] = covQ1[0][2];
+    std::memcpy(*covQ12trans, *covQ12, 3 * 3 * sizeof(double));
-    discProcessNoiseCov[0][3] = covQ2[0][0];
+
-    discProcessNoiseCov[0][4] = covQ2[0][1];
+    double fact22 = pow(sigmaU, 2) * sampleTime;
-    discProcessNoiseCov[0][5] = covQ2[0][2];
+    MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact22, *covQ22, 3, 3);
-    discProcessNoiseCov[1][0] = covQ1[1][0];
-    discProcessNoiseCov[1][1] = covQ1[1][1];
-    discProcessNoiseCov[1][2] = covQ1[1][2];
-    discProcessNoiseCov[1][3] = covQ2[1][0];
-    discProcessNoiseCov[1][4] = covQ2[1][1];
-    discProcessNoiseCov[1][5] = covQ2[1][2];
-    discProcessNoiseCov[2][0] = covQ1[2][0];
-    discProcessNoiseCov[2][1] = covQ1[2][1];
-    discProcessNoiseCov[2][2] = covQ1[2][2];
-    discProcessNoiseCov[2][3] = covQ2[2][0];
-    discProcessNoiseCov[2][4] = covQ2[2][1];
-    discProcessNoiseCov[2][5] = covQ2[2][2];
-    discProcessNoiseCov[3][0] = transCovQ2[0][0];
-    discProcessNoiseCov[3][1] = transCovQ2[0][1];
-    discProcessNoiseCov[3][2] = transCovQ2[0][2];
-    discProcessNoiseCov[3][3] = covQ3[0][0];
-    discProcessNoiseCov[3][4] = covQ3[0][1];
-    discProcessNoiseCov[3][5] = covQ3[0][2];
-    discProcessNoiseCov[4][0] = transCovQ2[1][0];
-    discProcessNoiseCov[4][1] = transCovQ2[1][1];
-    discProcessNoiseCov[4][2] = transCovQ2[1][2];
-    discProcessNoiseCov[4][3] = covQ3[1][0];
-    discProcessNoiseCov[4][4] = covQ3[1][1];
-    discProcessNoiseCov[4][5] = covQ3[1][2];
-    discProcessNoiseCov[5][0] = transCovQ2[2][0];
-    discProcessNoiseCov[5][1] = transCovQ2[2][1];
-    discProcessNoiseCov[5][2] = transCovQ2[2][2];
-    discProcessNoiseCov[5][3] = covQ3[2][0];
-    discProcessNoiseCov[5][4] = covQ3[2][1];
-    discProcessNoiseCov[5][5] = covQ3[2][2];
   } else {
-    // double fact1 = sampleTime*pow(sigmaV,2);
+    double fact22 = pow(sigmaU, 2) * sampleTime;
-    double covQ11[3][3], covQ12[3][3], covQ13[3][3];
+    MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact22, *covQ22, 3, 3);
-    // MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact1, *covQ1, 3, 3);
-    double fact1 = (2 * normRotEst + sampleTime - 2 * sin(normRotEst * sampleTime) -
-                    pow(normRotEst, 3) / 3 * pow(sampleTime, 3)) /
-                   pow(normRotEst, 5);
-    MatrixOperations<double>::multiply(*crossRotEst, *crossRotEst, *covQ11, 3, 3, 3);
-    MatrixOperations<double>::multiplyScalar(*covQ11, fact1, *covQ11, 3, 3);
-    double fact2 = pow(sampleTime, 3);
-    MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact2, *covQ12, 3, 3);
-    MatrixOperations<double>::subtract(*covQ12, *covQ11, *covQ11, 3, 3);
-    double fact3 = sampleTime * pow(sigmaV, 2);
-    MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact3, *covQ13, 3, 3);
-    MatrixOperations<double>::add(*covQ13, *covQ11, *covQ1, 3, 3);
 
-    double covQ21[3][3], covQ22[3][3], covQ23[3][3];
+    double covQ12_0[3][3], covQ12_1[3][3], covQ12_2[3][3], covQ12_01[3][3];
-    double fact4 =
+    double fact12_0 = (normRotEst * sampleTime - sin(normRotEst * sampleTime) / pow(normRotEst, 3));
-        (0.5 * pow(normRotEst, 2) * pow(sampleTime, 2) + cos(normRotEst * sampleTime) - 1) /
+    MatrixOperations<double>::multiplyScalar(*crossRotEst, fact12_0, *covQ12_0, 3, 3);
+    double fact12_1 = 1. / 2. * pow(sampleTime, 2);
+    MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact12_1, *covQ12_1, 3, 3);
+    double fact12_2 =
+        (1. / 2. * pow(normRotEst, 2) * pow(sampleTime, 2) + cos(normRotEst * sampleTime) - 1) /
         pow(normRotEst, 4);
-    MatrixOperations<double>::multiply(*crossRotEst, *crossRotEst, *covQ21, 3, 3, 3);
+    MatrixOperations<double>::multiply(*crossRotEst, *crossRotEst, *covQ12_2, 3, 3, 3);
-    MatrixOperations<double>::multiplyScalar(*covQ21, fact4, *covQ21, 3, 3);
+    MatrixOperations<double>::multiplyScalar(*covQ12_2, fact12_2, *covQ12_2, 3, 3);
-    double fact5 = 0.5 * pow(sampleTime, 2);
+    MatrixOperations<double>::subtract(*covQ12_0, *covQ12_1, *covQ12_01, 3, 3);
-    MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact5, *covQ22, 3, 3);
+    MatrixOperations<double>::subtract(*covQ12_01, *covQ12_2, *covQ12, 3, 3);
-    MatrixOperations<double>::add(*covQ22, *covQ21, *covQ21, 3, 3);
+    MatrixOperations<double>::multiplyScalar(*covQ12, pow(sigmaU, 2), *covQ12, 3, 3);
-    double fact6 = normRotEst * sampleTime - sin(normRotEst * sampleTime) / pow(normRotEst, 3);
+    MatrixOperations<double>::transpose(*covQ12, *covQ12trans, 3);
-    MatrixOperations<double>::multiplyScalar(*crossRotEst, fact6, *covQ23, 3, 3);
-    MatrixOperations<double>::subtract(*covQ23, *covQ21, *covQ21, 3, 3);
-    double fact7 = pow(sigmaU, 2);
-    MatrixOperations<double>::multiplyScalar(*covQ21, fact7, *covQ2, 3, 3);
 
-    MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact7, *covQ3, 3, 3);
+    double covQ11_0[3][3], covQ11_1[3][3], covQ11_2[3][3], covQ11_12[3][3];
-
+    double fact11_0 = pow(sigmaV, 2) * sampleTime;
-    discProcessNoiseCov[0][0] = covQ1[0][0];
+    MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact11_0, *covQ11_0, 3, 3);
-    discProcessNoiseCov[0][1] = covQ1[0][1];
+    double fact11_1 = 1. / 3. * pow(sampleTime, 3);
-    discProcessNoiseCov[0][2] = covQ1[0][2];
+    MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact11_1, *covQ11_1, 3, 3);
-    discProcessNoiseCov[0][3] = covQ2[0][0];
+    double fact11_2 = (2 * normRotEst * sampleTime - 2 * sin(normRotEst * sampleTime) -
-    discProcessNoiseCov[0][4] = covQ2[0][1];
+                       1. / 3. * pow(normRotEst, 3) * pow(sampleTime, 3)) /
-    discProcessNoiseCov[0][5] = covQ2[0][2];
+                      pow(normRotEst, 5);
-    discProcessNoiseCov[1][0] = covQ1[1][0];
+    MatrixOperations<double>::multiply(*crossRotEst, *crossRotEst, *covQ11_2, 3, 3, 3);
-    discProcessNoiseCov[1][1] = covQ1[1][1];
+    MatrixOperations<double>::multiplyScalar(*covQ11_2, fact11_2, *covQ11_2, 3, 3);
-    discProcessNoiseCov[1][2] = covQ1[1][2];
+    MatrixOperations<double>::subtract(*covQ11_1, *covQ11_2, *covQ11_12, 3, 3);
-    discProcessNoiseCov[1][3] = covQ2[1][0];
+    MatrixOperations<double>::multiplyScalar(*covQ11_12, pow(sigmaU, 2), *covQ11_12, 3, 3);
-    discProcessNoiseCov[1][4] = covQ2[1][1];
+    MatrixOperations<double>::add(*covQ11_0, *covQ11_12, *covQ11, 3, 3);
-    discProcessNoiseCov[1][5] = covQ2[1][2];
-    discProcessNoiseCov[2][0] = covQ1[2][0];
-    discProcessNoiseCov[2][1] = covQ1[2][1];
-    discProcessNoiseCov[2][2] = covQ1[2][2];
-    discProcessNoiseCov[2][3] = covQ2[2][0];
-    discProcessNoiseCov[2][4] = covQ2[2][1];
-    discProcessNoiseCov[2][5] = covQ2[2][2];
-    discProcessNoiseCov[3][0] = covQ2[0][0];
-    discProcessNoiseCov[3][1] = covQ2[0][1];
-    discProcessNoiseCov[3][2] = covQ2[0][2];
-    discProcessNoiseCov[3][3] = covQ3[0][0];
-    discProcessNoiseCov[3][4] = covQ3[0][1];
-    discProcessNoiseCov[3][5] = covQ3[0][2];
-    discProcessNoiseCov[4][0] = covQ2[1][0];
-    discProcessNoiseCov[4][1] = covQ2[1][1];
-    discProcessNoiseCov[4][2] = covQ2[1][2];
-    discProcessNoiseCov[4][3] = covQ3[1][0];
-    discProcessNoiseCov[4][4] = covQ3[1][1];
-    discProcessNoiseCov[4][5] = covQ3[1][2];
-    discProcessNoiseCov[5][0] = covQ2[2][0];
-    discProcessNoiseCov[5][1] = covQ2[2][1];
-    discProcessNoiseCov[5][2] = covQ2[2][2];
-    discProcessNoiseCov[5][3] = covQ3[2][0];
-    discProcessNoiseCov[5][4] = covQ3[2][1];
-    discProcessNoiseCov[5][5] = covQ3[2][2];
   }
+  discProcessNoiseCov[0][0] = covQ11[0][0];
+  discProcessNoiseCov[0][1] = covQ11[0][1];
+  discProcessNoiseCov[0][2] = covQ11[0][2];
+  discProcessNoiseCov[0][3] = covQ12[0][0];
+  discProcessNoiseCov[0][4] = covQ12[0][1];
+  discProcessNoiseCov[0][5] = covQ12[0][2];
+  discProcessNoiseCov[1][0] = covQ11[1][0];
+  discProcessNoiseCov[1][1] = covQ11[1][1];
+  discProcessNoiseCov[1][2] = covQ11[1][2];
+  discProcessNoiseCov[1][3] = covQ12[1][0];
+  discProcessNoiseCov[1][4] = covQ12[1][1];
+  discProcessNoiseCov[1][5] = covQ12[1][2];
+  discProcessNoiseCov[2][0] = covQ11[2][0];
+  discProcessNoiseCov[2][1] = covQ11[2][1];
+  discProcessNoiseCov[2][2] = covQ11[2][2];
+  discProcessNoiseCov[2][3] = covQ12[2][0];
+  discProcessNoiseCov[2][4] = covQ12[2][1];
+  discProcessNoiseCov[2][5] = covQ12[2][2];
+  discProcessNoiseCov[3][0] = covQ12trans[0][0];
+  discProcessNoiseCov[3][1] = covQ12trans[0][1];
+  discProcessNoiseCov[3][2] = covQ12trans[0][2];
+  discProcessNoiseCov[3][3] = covQ22[0][0];
+  discProcessNoiseCov[3][4] = covQ22[0][1];
+  discProcessNoiseCov[3][5] = covQ22[0][2];
+  discProcessNoiseCov[4][0] = covQ12trans[1][0];
+  discProcessNoiseCov[4][1] = covQ12trans[1][1];
+  discProcessNoiseCov[4][2] = covQ12trans[1][2];
+  discProcessNoiseCov[4][3] = covQ22[1][0];
+  discProcessNoiseCov[4][4] = covQ22[1][1];
+  discProcessNoiseCov[4][5] = covQ22[1][2];
+  discProcessNoiseCov[5][0] = covQ12trans[2][0];
+  discProcessNoiseCov[5][1] = covQ12trans[2][1];
+  discProcessNoiseCov[5][2] = covQ12trans[2][2];
+  discProcessNoiseCov[5][3] = covQ22[2][0];
+  discProcessNoiseCov[5][4] = covQ22[2][1];
+  discProcessNoiseCov[5][5] = covQ22[2][2];
 
   // State Transition Matrix phi
-  double phi1[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
+  double phi11[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
-         phi2[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
+         phi12[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
          phi[6][6] = {{0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0},
                       {0, 0, 0, 1, 0, 0}, {0, 0, 0, 0, 1, 0}, {0, 0, 0, 0, 0, 1}};
-  double phi11[3][3], phi12[3][3];
+  double phi11_1[3][3], phi11_2[3][3], phi11_01[3][3];
-  double fact1 = sin(normRotEst * sampleTime);
+  double fact11_1 = sin(normRotEst * sampleTime) / normRotEst;
-  MatrixOperations<double>::multiplyScalar(*crossRotEst, fact1, *phi11, 3, 3);
+  MatrixOperations<double>::multiplyScalar(*crossRotEst, fact11_1, *phi11_1, 3, 3);
-  double fact2 = (1 - cos(normRotEst * sampleTime)) / pow(normRotEst, 2);
+  double fact11_2 = (1 - cos(normRotEst * sampleTime)) / pow(normRotEst, 2);
-  MatrixOperations<double>::multiply(*crossRotEst, *crossRotEst, *phi12, 3, 3, 3);
+  MatrixOperations<double>::multiply(*crossRotEst, *crossRotEst, *phi11_2, 3, 3, 3);
-  MatrixOperations<double>::multiplyScalar(*phi12, fact2, *phi12, 3, 3);
+  MatrixOperations<double>::multiplyScalar(*phi11_2, fact11_2, *phi11_2, 3, 3);
-  MatrixOperations<double>::subtract(*identityMatrix3, *phi11, *phi11, 3, 3);
+  MatrixOperations<double>::subtract(*identityMatrix3, *phi11_1, *phi11_01, 3, 3);
-  MatrixOperations<double>::add(*phi11, *phi12, *phi1, 3, 3);
+  MatrixOperations<double>::add(*phi11_01, *phi11_2, *phi11, 3, 3);
 
-  double phi21[3][3], phi22[3][3];
+  double phi12_0[3][3], phi12_1[3][3], phi12_2[3][3], phi12_01[3][3];
-  MatrixOperations<double>::multiplyScalar(*crossRotEst, fact2, *phi21, 3, 3);
+  double fact12_0 = fact11_2;
-  MatrixOperations<double>::multiplyScalar(*identityMatrix3, sampleTime, *phi22, 3, 3);
+  MatrixOperations<double>::multiplyScalar(*crossRotEst, fact12_0, *phi12_0, 3, 3);
-  MatrixOperations<double>::subtract(*phi21, *phi22, *phi21, 3, 3);
+  MatrixOperations<double>::multiplyScalar(*identityMatrix3, sampleTime, *phi12_1, 3, 3);
-  double fact3 = (normRotEst * sampleTime - sin(normRotEst * sampleTime) / pow(normRotEst, 3));
+  double fact12_2 = (normRotEst * sampleTime - sin(normRotEst * sampleTime) / pow(normRotEst, 3));
-  MatrixOperations<double>::multiply(*crossRotEst, *crossRotEst, *phi22, 3, 3, 3);
+  MatrixOperations<double>::multiply(*crossRotEst, *crossRotEst, *phi12_2, 3, 3, 3);
-  MatrixOperations<double>::multiplyScalar(*phi22, fact3, *phi22, 3, 3);
+  MatrixOperations<double>::multiplyScalar(*phi12_2, fact12_2, *phi12_2, 3, 3);
-  MatrixOperations<double>::subtract(*phi21, *phi22, *phi2, 3, 3);
+  MatrixOperations<double>::subtract(*phi12_0, *phi12_1, *phi12_01, 3, 3);
+  MatrixOperations<double>::subtract(*phi12_01, *phi12_2, *phi12, 3, 3);
 
-  phi[0][0] = phi1[0][0];
+  phi[0][0] = phi11[0][0];
-  phi[0][1] = phi1[0][1];
+  phi[0][1] = phi11[0][1];
-  phi[0][2] = phi1[0][2];
+  phi[0][2] = phi11[0][2];
-  phi[0][3] = phi2[0][0];
+  phi[0][3] = phi12[0][0];
-  phi[0][4] = phi2[0][1];
+  phi[0][4] = phi12[0][1];
-  phi[0][5] = phi2[0][2];
+  phi[0][5] = phi12[0][2];
-  phi[1][0] = phi1[1][0];
+  phi[1][0] = phi11[1][0];
-  phi[1][1] = phi1[1][1];
+  phi[1][1] = phi11[1][1];
-  phi[1][2] = phi1[1][2];
+  phi[1][2] = phi11[1][2];
-  phi[1][3] = phi2[1][0];
+  phi[1][3] = phi12[1][0];
-  phi[1][4] = phi2[1][1];
+  phi[1][4] = phi12[1][1];
-  phi[1][5] = phi2[1][2];
+  phi[1][5] = phi12[1][2];
-  phi[2][0] = phi1[2][0];
+  phi[2][0] = phi11[2][0];
-  phi[2][1] = phi1[2][1];
+  phi[2][1] = phi11[2][1];
-  phi[2][2] = phi1[2][2];
+  phi[2][2] = phi11[2][2];
-  phi[2][3] = phi2[2][0];
+  phi[2][3] = phi12[2][0];
-  phi[2][4] = phi2[2][1];
+  phi[2][4] = phi12[2][1];
-  phi[2][5] = phi2[2][2];
+  phi[2][5] = phi12[2][2];
 
   // Propagated Quaternion
-  double rotSin[3] = {0, 0, 0}, omega1[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double rotSin[3] = {0, 0, 0}, rotCosMat[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
   double rotCos = cos(0.5 * normRotEst * sampleTime);
   double sinFac = sin(0.5 * normRotEst * sampleTime) / normRotEst;
   VectorOperations<double>::mulScalar(rotRateEst, sinFac, rotSin, 3);
@@ -1148,25 +1101,26 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
   double skewSin[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
   MathOperations<double>::skewMatrix(rotSin, *skewSin);
 
-  MatrixOperations<double>::multiplyScalar(*identityMatrix3, rotCos, *omega1, 3, 3);
+  MatrixOperations<double>::multiplyScalar(*identityMatrix3, rotCos, *rotCosMat, 3, 3);
-  MatrixOperations<double>::subtract(*omega1, *skewSin, *omega1, 3, 3);
+  double subMatUL[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  double omega[4][4] = {{omega1[0][0], omega1[0][1], omega1[0][2], rotSin[0]},
+  MatrixOperations<double>::subtract(*rotCosMat, *skewSin, *subMatUL, 3, 3);
-                        {omega1[1][0], omega1[1][1], omega1[1][2], rotSin[1]},
+  double omega[4][4] = {{subMatUL[0][0], subMatUL[0][1], subMatUL[0][2], rotSin[0]},
-                        {omega1[2][0], omega1[2][1], omega1[2][2], rotSin[2]},
+                        {subMatUL[1][0], subMatUL[1][1], subMatUL[1][2], rotSin[1]},
+                        {subMatUL[2][0], subMatUL[2][1], subMatUL[2][2], rotSin[2]},
                         {-rotSin[0], -rotSin[1], -rotSin[2], rotCos}};
   MatrixOperations<double>::multiply(*omega, quatBJ, propagatedQuaternion, 4, 4, 1);
 
   // Update Covariance Matrix
-  double cov1[6][6], cov2[6][6], transDiscTimeMatrix[6][6], transPhi[6][6];
+  double cov0[6][6], cov1[6][6], transPhi[6][6], transDiscTimeMatrix[6][6];
+  MatrixOperations<double>::transpose(*phi, *transPhi, 6);
+  MatrixOperations<double>::multiply(*covMatPlus, *transPhi, *cov0, 6, 6, 6);
+  MatrixOperations<double>::multiply(*phi, *cov0, *cov0, 6, 6, 6);
+
   MatrixOperations<double>::transpose(*discTimeMatrix, *transDiscTimeMatrix, 6);
   MatrixOperations<double>::multiply(*discProcessNoiseCov, *transDiscTimeMatrix, *cov1, 6, 6, 6);
   MatrixOperations<double>::multiply(*discTimeMatrix, *cov1, *cov1, 6, 6, 6);
 
-  MatrixOperations<double>::transpose(*phi, *transPhi, 6);
+  MatrixOperations<double>::add(*cov0, *cov1, *initialCovarianceMatrix, 6, 6);
-  MatrixOperations<double>::multiply(*covMatPlus, *transPhi, *cov2, 6, 6, 6);
-  MatrixOperations<double>::multiply(*phi, *cov2, *cov2, 6, 6, 6);
-
-  MatrixOperations<double>::add(*cov2, *cov1, *initialCovarianceMatrix, 6, 6);
   validMekf = true;
 
   // Discrete Time Step

mission/controller/acs/MultiplicativeKalmanFilter.h

@@ -20,7 +20,7 @@
 
 #include "../controllerdefinitions/AcsCtrlDefinitions.h"
 #include "AcsParameters.h"
-#include "config/classIds.h"
+#include "eive/resultClassIds.h"
 
 class MultiplicativeKalmanFilter {
  public:
@@ -61,17 +61,13 @@ class MultiplicativeKalmanFilter {
                         const bool validGYRs_, const double *magneticField_,
                         const bool validMagField_, const double *sunDir_, const bool validSS,
                         const double *sunDirJ, const bool validSSModel, const double *magFieldJ,
-                        const bool validMagModel, acsctrl::MekfData *mekfData);
+                        const bool validMagModel, double sampleTime, acsctrl::MekfData *mekfData);
 
-  // Declaration of Events (like init) and memberships
-  // static const uint8_t INTERFACE_ID = CLASS_ID::MEKF; //CLASS IDS ND
-  // (/config/returnvalues/classIDs.h) static const Event RESET  =
-  // MAKE_EVENT(1,severity::INFO);//typedef uint32_t Event (Event.h), should be
   // resetting Mekf
-  static const uint8_t INTERFACE_ID = CLASS_ID::KALMAN;
+  static constexpr uint8_t IF_KAL_ID = CLASS_ID::ACS_KALMAN;
-  static const ReturnValue_t KALMAN_NO_GYR_MEAS = MAKE_RETURN_CODE(0x01);
+  static constexpr ReturnValue_t KALMAN_NO_GYR_MEAS = returnvalue::makeCode(IF_KAL_ID, 1);
-  static const ReturnValue_t KALMAN_NO_MODEL = MAKE_RETURN_CODE(0x02);
+  static constexpr ReturnValue_t KALMAN_NO_MODEL = returnvalue::makeCode(IF_KAL_ID, 2);
-  static const ReturnValue_t KALMAN_INVERSION_FAILED = MAKE_RETURN_CODE(0x03);
+  static constexpr ReturnValue_t KALMAN_INVERSION_FAILED = returnvalue::makeCode(IF_KAL_ID, 3);
 
  private:
   /*Parameters*/
@@ -79,7 +75,6 @@ class MultiplicativeKalmanFilter {
   AcsParameters::KalmanFilterParameters *kalmanFilterParameters;
   double quaternion_STR_SB[4];
   bool validInit;
-  double sampleTime = 0.1;
 
   /*States*/
   double initialQuaternion[4];          /*after reset?QUEST*/

mission/controller/acs/Navigation.cpp

@@ -39,7 +39,7 @@ void Navigation::useMekf(ACS::SensorValues *sensorValues,
         mgmDataProcessed->mgmVecTot.isValid(), susDataProcessed->susVecTot.value,
         susDataProcessed->susVecTot.isValid(), susDataProcessed->sunIjkModel.value,
         susDataProcessed->sunIjkModel.isValid(), mgmDataProcessed->magIgrfModel.value,
-        mgmDataProcessed->magIgrfModel.isValid(),
+        mgmDataProcessed->magIgrfModel.isValid(), acsParameters.onBoardParams.sampleTime,
         mekfData);  // VALIDS FOR QUAT AND RATE ??
   } else {
     multiplicativeKalmanFilter.init(

mission/controller/acs/SensorProcessing.cpp

@@ -1,3 +1,10 @@
+/*
+ * SensorProcessing.cpp
+ *
+ *  Created on: 7 Mar 2022
+ *      Author: Robin Marquardt
+ */
+
 #include "SensorProcessing.h"
 
 #include <fsfw/datapool/PoolReadGuard.h>
@@ -14,8 +21,7 @@
 
 using namespace Math;
 
-SensorProcessing::SensorProcessing(AcsParameters *acsParameters_)
+SensorProcessing::SensorProcessing(AcsParameters *acsParameters_) {}
-    : savedMgmVecTot{0, 0, 0}, validMagField(false), validGcLatitude(false) {}
 
 SensorProcessing::~SensorProcessing() {}
 
@@ -27,19 +33,35 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
                                   acsctrl::GpsDataProcessed *gpsDataProcessed,
                                   const double gpsAltitude, bool gpsValid,
                                   acsctrl::MgmDataProcessed *mgmDataProcessed) {
+  // ---------------- IGRF- 13 Implementation here ------------------------------------------------
+  double magIgrfModel[3] = {0.0, 0.0, 0.0};
+  if (gpsValid) {
+    // Should be existing class object which will be called and modified here.
+    Igrf13Model igrf13;
+    // So the line above should not be done here. Update: Can be done here as long updated coffs
+    //		stored in acsParameters ?
+    igrf13.schmidtNormalization();
+    igrf13.updateCoeffGH(timeOfMgmMeasurement);
+    // maybe put a condition here, to only update after a full day, this
+    // class function has around 700 steps to perform
+    igrf13.magFieldComp(gpsDataProcessed->gdLongitude.value, gpsDataProcessed->gcLatitude.value,
+                        gpsAltitude, timeOfMgmMeasurement, magIgrfModel);
+  }
   if (!mgm0valid && !mgm1valid && !mgm2valid && !mgm3valid && !mgm4valid) {
     {
       PoolReadGuard pg(mgmDataProcessed);
       if (pg.getReadResult() == returnvalue::OK) {
-        std::memcpy(mgmDataProcessed->mgm0vec.value, zeroVector, 3 * sizeof(float));
+        float zeroVec[3] = {0.0, 0.0, 0.0};
-        std::memcpy(mgmDataProcessed->mgm1vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgm0vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(mgmDataProcessed->mgm2vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgm1vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(mgmDataProcessed->mgm3vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgm2vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(mgmDataProcessed->mgm4vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgm3vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(mgmDataProcessed->mgmVecTot.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgm4vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(mgmDataProcessed->mgmVecTotDerivative.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgmVecTot.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(mgmDataProcessed->magIgrfModel.value, zeroVector, 3 * sizeof(double));
+        std::memcpy(mgmDataProcessed->mgmVecTotDerivative.value, zeroVec, 3 * sizeof(float));
         mgmDataProcessed->setValidity(false, true);
+        std::memcpy(mgmDataProcessed->magIgrfModel.value, magIgrfModel, 3 * sizeof(double));
+        mgmDataProcessed->magIgrfModel.setValid(gpsValid);
       }
     }
     return;
@@ -47,71 +69,72 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
   float mgm0ValueNoBias[3] = {0, 0, 0}, mgm1ValueNoBias[3] = {0, 0, 0},
         mgm2ValueNoBias[3] = {0, 0, 0}, mgm3ValueNoBias[3] = {0, 0, 0},
         mgm4ValueNoBias[3] = {0, 0, 0};
-  float mgm0ValueCalib[3] = {0, 0, 0}, mgm1ValueCalib[3] = {0, 0, 0}, mgm2ValueCalib[3] = {0, 0, 0},
-        mgm3ValueCalib[3] = {0, 0, 0}, mgm4ValueCalib[3] = {0, 0, 0};
   float mgm0ValueBody[3] = {0, 0, 0}, mgm1ValueBody[3] = {0, 0, 0}, mgm2ValueBody[3] = {0, 0, 0},
         mgm3ValueBody[3] = {0, 0, 0}, mgm4ValueBody[3] = {0, 0, 0};
+  float mgm0ValueCalib[3] = {0, 0, 0}, mgm1ValueCalib[3] = {0, 0, 0}, mgm2ValueCalib[3] = {0, 0, 0},
+        mgm3ValueCalib[3] = {0, 0, 0}, mgm4ValueCalib[3] = {0, 0, 0};
   float sensorFusionNumerator[3] = {0, 0, 0}, sensorFusionDenominator[3] = {0, 0, 0};
 
   if (mgm0valid) {
-    VectorOperations<float>::subtract(mgm0Value, mgmParameters->mgm0hardIronOffset, mgm0ValueNoBias,
+    MatrixOperations<float>::multiply(mgmParameters->mgm0orientationMatrix[0], mgm0Value,
-                                      3);
+                                      mgm0ValueBody, 3, 3, 1);
+    VectorOperations<float>::subtract(mgm0ValueBody, mgmParameters->mgm0hardIronOffset,
+                                      mgm0ValueNoBias, 3);
     MatrixOperations<float>::multiply(mgmParameters->mgm0softIronInverse[0], mgm0ValueNoBias,
                                       mgm0ValueCalib, 3, 3, 1);
-    MatrixOperations<float>::multiply(mgmParameters->mgm0orientationMatrix[0], mgm0ValueCalib,
-                                      mgm0ValueBody, 3, 3, 1);
     for (uint8_t i = 0; i < 3; i++) {
-      sensorFusionNumerator[i] += mgm0ValueBody[i] / mgmParameters->mgm02variance[i];
+      sensorFusionNumerator[i] += mgm0ValueCalib[i] / mgmParameters->mgm02variance[i];
       sensorFusionDenominator[i] += 1 / mgmParameters->mgm02variance[i];
     }
   }
   if (mgm1valid) {
-    VectorOperations<float>::subtract(mgm1Value, mgmParameters->mgm1hardIronOffset, mgm1ValueNoBias,
+    MatrixOperations<float>::multiply(mgmParameters->mgm1orientationMatrix[0], mgm1Value,
-                                      3);
+                                      mgm1ValueBody, 3, 3, 1);
+    VectorOperations<float>::subtract(mgm1ValueBody, mgmParameters->mgm1hardIronOffset,
+                                      mgm1ValueNoBias, 3);
     MatrixOperations<float>::multiply(mgmParameters->mgm1softIronInverse[0], mgm1ValueNoBias,
                                       mgm1ValueCalib, 3, 3, 1);
-    MatrixOperations<float>::multiply(mgmParameters->mgm1orientationMatrix[0], mgm1ValueCalib,
-                                      mgm1ValueBody, 3, 3, 1);
     for (uint8_t i = 0; i < 3; i++) {
-      sensorFusionNumerator[i] += mgm1ValueBody[i] / mgmParameters->mgm13variance[i];
+      sensorFusionNumerator[i] += mgm1ValueCalib[i] / mgmParameters->mgm13variance[i];
       sensorFusionDenominator[i] += 1 / mgmParameters->mgm13variance[i];
     }
   }
   if (mgm2valid) {
-    VectorOperations<float>::subtract(mgm2Value, mgmParameters->mgm2hardIronOffset, mgm2ValueNoBias,
+    MatrixOperations<float>::multiply(mgmParameters->mgm2orientationMatrix[0], mgm2Value,
-                                      3);
+                                      mgm2ValueBody, 3, 3, 1);
+    VectorOperations<float>::subtract(mgm2ValueBody, mgmParameters->mgm2hardIronOffset,
+                                      mgm2ValueNoBias, 3);
     MatrixOperations<float>::multiply(mgmParameters->mgm2softIronInverse[0], mgm2ValueNoBias,
                                       mgm2ValueCalib, 3, 3, 1);
-    MatrixOperations<float>::multiply(mgmParameters->mgm2orientationMatrix[0], mgm2ValueCalib,
-                                      mgm2ValueBody, 3, 3, 1);
     for (uint8_t i = 0; i < 3; i++) {
-      sensorFusionNumerator[i] += mgm2ValueBody[i] / mgmParameters->mgm02variance[i];
+      sensorFusionNumerator[i] += mgm2ValueCalib[i] / mgmParameters->mgm02variance[i];
       sensorFusionDenominator[i] += 1 / mgmParameters->mgm02variance[i];
     }
   }
   if (mgm3valid) {
-    VectorOperations<float>::subtract(mgm3Value, mgmParameters->mgm3hardIronOffset, mgm3ValueNoBias,
+    MatrixOperations<float>::multiply(mgmParameters->mgm3orientationMatrix[0], mgm3Value,
-                                      3);
+                                      mgm3ValueBody, 3, 3, 1);
+    VectorOperations<float>::subtract(mgm3ValueBody, mgmParameters->mgm3hardIronOffset,
+                                      mgm3ValueNoBias, 3);
     MatrixOperations<float>::multiply(mgmParameters->mgm3softIronInverse[0], mgm3ValueNoBias,
                                       mgm3ValueCalib, 3, 3, 1);
-    MatrixOperations<float>::multiply(mgmParameters->mgm3orientationMatrix[0], mgm3ValueCalib,
-                                      mgm3ValueBody, 3, 3, 1);
     for (uint8_t i = 0; i < 3; i++) {
-      sensorFusionNumerator[i] += mgm3ValueBody[i] / mgmParameters->mgm13variance[i];
+      sensorFusionNumerator[i] += mgm3ValueCalib[i] / mgmParameters->mgm13variance[i];
       sensorFusionDenominator[i] += 1 / mgmParameters->mgm13variance[i];
     }
   }
   if (mgm4valid) {
-    float mgm4ValueNT[3];
+    float mgm4ValueUT[3];
-    VectorOperations<float>::mulScalar(mgm4Value, 1e-3, mgm4ValueNT, 3);  // uT to nT
+    VectorOperations<float>::mulScalar(mgm4Value, 1e-3, mgm4ValueUT, 3);  // nT to uT
-    VectorOperations<float>::subtract(mgm4ValueNT, mgmParameters->mgm4hardIronOffset,
+    MatrixOperations<float>::multiply(mgmParameters->mgm4orientationMatrix[0], mgm4ValueUT,
+                                      mgm4ValueBody, 3, 3, 1);
+    VectorOperations<float>::subtract(mgm4ValueBody, mgmParameters->mgm4hardIronOffset,
                                       mgm4ValueNoBias, 3);
     MatrixOperations<float>::multiply(mgmParameters->mgm4softIronInverse[0], mgm4ValueNoBias,
                                       mgm4ValueCalib, 3, 3, 1);
-    MatrixOperations<float>::multiply(mgmParameters->mgm4orientationMatrix[0], mgm4ValueCalib,
+
-                                      mgm4ValueBody, 3, 3, 1);
     for (uint8_t i = 0; i < 3; i++) {
-      sensorFusionNumerator[i] += mgm4ValueBody[i] / mgmParameters->mgm4variance[i];
+      sensorFusionNumerator[i] += mgm4ValueCalib[i] / mgmParameters->mgm4variance[i];
       sensorFusionDenominator[i] += 1 / mgmParameters->mgm4variance[i];
     }
   }
@@ -128,35 +151,23 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
     for (uint8_t i = 0; i < 3; i++) {
       mgmVecTotDerivative[i] = (mgmVecTot[i] - savedMgmVecTot[i]) / timeDiff;
       savedMgmVecTot[i] = mgmVecTot[i];
+      mgmVecTotDerivativeValid = true;
     }
   }
   timeOfSavedMagFieldEst = timeOfMgmMeasurement;
 
-  // ---------------- IGRF- 13 Implementation here ------------------------------------------------
-  double magIgrfModel[3] = {0.0, 0.0, 0.0};
-  if (gpsValid) {
-    // Should be existing class object which will be called and modified here.
-    Igrf13Model igrf13;
-    // So the line above should not be done here. Update: Can be done here as long updated coffs
-    //		stored in acsParameters ?
-    igrf13.updateCoeffGH(timeOfMgmMeasurement);
-    // maybe put a condition here, to only update after a full day, this
-    // class function has around 700 steps to perform
-    igrf13.magFieldComp(gpsDataProcessed->gdLongitude.value, gpsDataProcessed->gcLatitude.value,
-                        gpsAltitude, timeOfMgmMeasurement, magIgrfModel);
-  }
   {
     PoolReadGuard pg(mgmDataProcessed);
     if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(mgmDataProcessed->mgm0vec.value, mgm0ValueBody, 3 * sizeof(float));
+      std::memcpy(mgmDataProcessed->mgm0vec.value, mgm0ValueCalib, 3 * sizeof(float));
       mgmDataProcessed->mgm0vec.setValid(mgm0valid);
-      std::memcpy(mgmDataProcessed->mgm1vec.value, mgm1ValueBody, 3 * sizeof(float));
+      std::memcpy(mgmDataProcessed->mgm1vec.value, mgm1ValueCalib, 3 * sizeof(float));
       mgmDataProcessed->mgm1vec.setValid(mgm1valid);
-      std::memcpy(mgmDataProcessed->mgm2vec.value, mgm2ValueBody, 3 * sizeof(float));
+      std::memcpy(mgmDataProcessed->mgm2vec.value, mgm2ValueCalib, 3 * sizeof(float));
       mgmDataProcessed->mgm2vec.setValid(mgm2valid);
-      std::memcpy(mgmDataProcessed->mgm3vec.value, mgm3ValueBody, 3 * sizeof(float));
+      std::memcpy(mgmDataProcessed->mgm3vec.value, mgm3ValueCalib, 3 * sizeof(float));
       mgmDataProcessed->mgm3vec.setValid(mgm3valid);
-      std::memcpy(mgmDataProcessed->mgm4vec.value, mgm4ValueBody, 3 * sizeof(float));
+      std::memcpy(mgmDataProcessed->mgm4vec.value, mgm4ValueCalib, 3 * sizeof(float));
       mgmDataProcessed->mgm4vec.setValid(mgm4valid);
       std::memcpy(mgmDataProcessed->mgmVecTot.value, mgmVecTot, 3 * sizeof(double));
       mgmDataProcessed->mgmVecTot.setValid(true);
@@ -180,6 +191,25 @@ void SensorProcessing::processSus(
     timeval timeOfSusMeasurement, const AcsParameters::SusHandlingParameters *susParameters,
     const AcsParameters::SunModelParameters *sunModelParameters,
     acsctrl::SusDataProcessed *susDataProcessed) {
+  /* -------- Sun Model Direction (IJK frame) ------- */
+  double JD2000 = MathOperations<double>::convertUnixToJD2000(timeOfSusMeasurement);
+
+  // Julean Centuries
+  double sunIjkModel[3] = {0.0, 0.0, 0.0};
+  double JC2000 = JD2000 / 36525.;
+
+  double meanLongitude =
+      sunModelParameters->omega_0 + (sunModelParameters->domega * JC2000) * PI / 180.;
+  double meanAnomaly = (sunModelParameters->m_0 + sunModelParameters->dm * JC2000) * PI / 180.;
+
+  double eclipticLongitude = meanLongitude + sunModelParameters->p1 * sin(meanAnomaly) +
+                             sunModelParameters->p2 * sin(2 * meanAnomaly);
+
+  double epsilon = sunModelParameters->e - (sunModelParameters->e1) * JC2000;
+
+  sunIjkModel[0] = cos(eclipticLongitude);
+  sunIjkModel[1] = sin(eclipticLongitude) * cos(epsilon);
+  sunIjkModel[2] = sin(eclipticLongitude) * sin(epsilon);
   if (sus0valid) {
     sus0valid = susConverter.checkSunSensorData(sus0Value);
   }
@@ -222,22 +252,24 @@ void SensorProcessing::processSus(
     {
       PoolReadGuard pg(susDataProcessed);
       if (pg.getReadResult() == returnvalue::OK) {
-        std::memcpy(susDataProcessed->sus0vec.value, zeroVector, 3 * sizeof(float));
+        float zeroVec[3] = {0.0, 0.0, 0.0};
-        std::memcpy(susDataProcessed->sus1vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus0vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus2vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus1vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus3vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus2vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus4vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus3vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus5vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus4vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus6vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus5vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus7vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus6vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus8vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus7vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus9vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus8vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus10vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus9vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus11vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus10vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->susVecTot.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus11vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->susVecTotDerivative.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->susVecTot.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sunIjkModel.value, zeroVector, 3 * sizeof(double));
+        std::memcpy(susDataProcessed->susVecTotDerivative.value, zeroVec, 3 * sizeof(float));
         susDataProcessed->setValidity(false, true);
+        std::memcpy(susDataProcessed->sunIjkModel.value, sunIjkModel, 3 * sizeof(double));
+        susDataProcessed->sunIjkModel.setValid(true);
       }
     }
     return;
@@ -256,16 +288,6 @@ void SensorProcessing::processSus(
                                              susParameters->sus0coeffBeta),
         sus0VecBody, 3, 3, 1);
   }
-  {
-    PoolReadGuard pg(susDataProcessed);
-    if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(susDataProcessed->sus0vec.value, sus0VecBody, 3 * sizeof(float));
-      susDataProcessed->sus0vec.setValid(sus0valid);
-      if (!sus0valid) {
-        std::memcpy(susDataProcessed->sus0vec.value, zeroVector, 3 * sizeof(float));
-      }
-    }
-  }
   if (sus1valid) {
     MatrixOperations<float>::multiply(
         susParameters->sus1orientationMatrix[0],
@@ -273,16 +295,6 @@ void SensorProcessing::processSus(
                                              susParameters->sus1coeffBeta),
         sus1VecBody, 3, 3, 1);
   }
-  {
-    PoolReadGuard pg(susDataProcessed);
-    if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(susDataProcessed->sus1vec.value, sus1VecBody, 3 * sizeof(float));
-      susDataProcessed->sus1vec.setValid(sus1valid);
-      if (!sus1valid) {
-        std::memcpy(susDataProcessed->sus1vec.value, zeroVector, 3 * sizeof(float));
-      }
-    }
-  }
   if (sus2valid) {
     MatrixOperations<float>::multiply(
         susParameters->sus2orientationMatrix[0],
@@ -387,30 +399,10 @@ void SensorProcessing::processSus(
     for (uint8_t i = 0; i < 3; i++) {
       susVecTotDerivative[i] = (susVecTot[i] - savedSusVecTot[i]) / timeDiff;
       savedSusVecTot[i] = susVecTot[i];
+      susVecTotDerivativeValid = true;
     }
   }
   timeOfSavedSusDirEst = timeOfSusMeasurement;
-
-  /* -------- Sun Model Direction (IJK frame) ------- */
-  // if (useSunModel) eventuell
-  double JD2000 = MathOperations<double>::convertUnixToJD2000(timeOfSusMeasurement);
-
-  // Julean Centuries
-  double sunIjkModel[3] = {0.0, 0.0, 0.0};
-  double JC2000 = JD2000 / 36525;
-
-  double meanLongitude =
-      (sunModelParameters->omega_0 + (sunModelParameters->domega) * JC2000) * PI / 180;
-  double meanAnomaly = (sunModelParameters->m_0 + sunModelParameters->dm * JC2000) * PI / 180.;
-
-  double eclipticLongitude = meanLongitude + sunModelParameters->p1 * sin(meanAnomaly) +
-                             sunModelParameters->p2 * sin(2 * meanAnomaly);
-
-  double epsilon = sunModelParameters->e - (sunModelParameters->e1) * JC2000;
-
-  sunIjkModel[0] = cos(eclipticLongitude);
-  sunIjkModel[1] = sin(eclipticLongitude) * cos(epsilon);
-  sunIjkModel[2] = sin(eclipticLongitude) * sin(epsilon);
   {
     PoolReadGuard pg(susDataProcessed);
     if (pg.getReadResult() == returnvalue::OK) {
@@ -467,6 +459,7 @@ void SensorProcessing::processGyr(
     {
       PoolReadGuard pg(gyrDataProcessed);
       if (pg.getReadResult() == returnvalue::OK) {
+        double zeroVector[3] = {0.0, 0.0, 0.0};
         std::memcpy(gyrDataProcessed->gyr0vec.value, zeroVector, 3 * sizeof(double));
         std::memcpy(gyrDataProcessed->gyr1vec.value, zeroVector, 3 * sizeof(double));
         std::memcpy(gyrDataProcessed->gyr2vec.value, zeroVector, 3 * sizeof(double));
@@ -486,6 +479,8 @@ void SensorProcessing::processGyr(
     const double gyr0Value[3] = {gyr0axXvalue, gyr0axYvalue, gyr0axZvalue};
     MatrixOperations<double>::multiply(gyrParameters->gyr0orientationMatrix[0], gyr0Value,
                                        gyr0ValueBody, 3, 3, 1);
+    VectorOperations<double>::subtract(gyr0ValueBody, gyrParameters->gyr0bias, gyr0ValueBody, 3);
+    VectorOperations<double>::mulScalar(gyr0ValueBody, M_PI / 180, gyr0ValueBody, 3);
     for (uint8_t i = 0; i < 3; i++) {
       sensorFusionNumerator[i] += gyr0ValueBody[i] / gyrParameters->gyr02variance[i];
       sensorFusionDenominator[i] += 1 / gyrParameters->gyr02variance[i];
@@ -495,6 +490,8 @@ void SensorProcessing::processGyr(
     const double gyr1Value[3] = {gyr1axXvalue, gyr1axYvalue, gyr1axZvalue};
     MatrixOperations<double>::multiply(gyrParameters->gyr1orientationMatrix[0], gyr1Value,
                                        gyr1ValueBody, 3, 3, 1);
+    VectorOperations<double>::subtract(gyr1ValueBody, gyrParameters->gyr1bias, gyr1ValueBody, 3);
+    VectorOperations<double>::mulScalar(gyr1ValueBody, M_PI / 180, gyr1ValueBody, 3);
     for (uint8_t i = 0; i < 3; i++) {
       sensorFusionNumerator[i] += gyr1ValueBody[i] / gyrParameters->gyr13variance[i];
       sensorFusionDenominator[i] += 1 / gyrParameters->gyr13variance[i];
@@ -504,6 +501,8 @@ void SensorProcessing::processGyr(
     const double gyr2Value[3] = {gyr2axXvalue, gyr2axYvalue, gyr2axZvalue};
     MatrixOperations<double>::multiply(gyrParameters->gyr2orientationMatrix[0], gyr2Value,
                                        gyr2ValueBody, 3, 3, 1);
+    VectorOperations<double>::subtract(gyr2ValueBody, gyrParameters->gyr2bias, gyr2ValueBody, 3);
+    VectorOperations<double>::mulScalar(gyr2ValueBody, M_PI / 180, gyr2ValueBody, 3);
     for (uint8_t i = 0; i < 3; i++) {
       sensorFusionNumerator[i] += gyr2ValueBody[i] / gyrParameters->gyr02variance[i];
       sensorFusionDenominator[i] += 1 / gyrParameters->gyr02variance[i];
@@ -513,6 +512,8 @@ void SensorProcessing::processGyr(
     const double gyr3Value[3] = {gyr3axXvalue, gyr3axYvalue, gyr3axZvalue};
     MatrixOperations<double>::multiply(gyrParameters->gyr3orientationMatrix[0], gyr3Value,
                                        gyr3ValueBody, 3, 3, 1);
+    VectorOperations<double>::subtract(gyr3ValueBody, gyrParameters->gyr3bias, gyr3ValueBody, 3);
+    VectorOperations<double>::mulScalar(gyr3ValueBody, M_PI / 180, gyr3ValueBody, 3);
     for (uint8_t i = 0; i < 3; i++) {
       sensorFusionNumerator[i] += gyr3ValueBody[i] / gyrParameters->gyr13variance[i];
       sensorFusionDenominator[i] += 1 / gyrParameters->gyr13variance[i];
@@ -523,7 +524,7 @@ void SensorProcessing::processGyr(
   // take ADIS measurements, if both avail
   // if just one ADIS measurement avail, perform sensor fusion
   double gyrVecTot[3] = {0.0, 0.0, 0.0};
-  if ((gyr0valid && gyr2valid) && gyrParameters->preferAdis == gyrParameters->PreferAdis::YES) {
+  if ((gyr0valid && gyr2valid) && gyrParameters->preferAdis == true) {
     double gyr02ValuesSum[3];
     VectorOperations<double>::add(gyr0ValueBody, gyr2ValueBody, gyr02ValuesSum, 3);
     VectorOperations<double>::mulScalar(gyr02ValuesSum, .5, gyrVecTot, 3);
@@ -550,30 +551,45 @@ void SensorProcessing::processGyr(
   }
 }
 
-void SensorProcessing::processGps(const double gps0latitude, const double gps0longitude,
+void SensorProcessing::processGps(const double gpsLatitude, const double gpsLongitude,
+                                  const double gpsAltitude, const double gpsUnixSeconds,
                                   const bool validGps,
+                                  const AcsParameters::GpsParameters *gpsParameters,
                                   acsctrl::GpsDataProcessed *gpsDataProcessed) {
   // name to convert not process
-  double gdLongitude, gcLatitude;
+  double gdLongitude = 0, gcLatitude = 0, posSatE[3] = {0, 0, 0}, gpsVelocityE[3] = {0, 0, 0};
   if (validGps) {
     // Transforming from Degree to Radians and calculation geocentric lattitude from geodetic
-    gdLongitude = gps0longitude * PI / 180;
+    gdLongitude = gpsLongitude * PI / 180.;
-    double latitudeRad = gps0latitude * PI / 180;
+    double latitudeRad = gpsLatitude * PI / 180.;
     double eccentricityWgs84 = 0.0818195;
     double factor = 1 - pow(eccentricityWgs84, 2);
     gcLatitude = atan(factor * tan(latitudeRad));
-    // validGcLatitude = true;
+
+    // Calculation of the satellite velocity in earth fixed frame
+    double posSatE[3] = {0, 0, 0}, deltaDistance[3] = {0, 0, 0}, gpsVelocityE[3] = {0, 0, 0};
+    MathOperations<double>::cartesianFromLatLongAlt(latitudeRad, gdLongitude, gpsAltitude, posSatE);
+    if (validSavedPosSatE &&
+        (gpsUnixSeconds - timeOfSavedPosSatE) < (gpsParameters->timeDiffVelocityMax)) {
+      VectorOperations<double>::subtract(posSatE, savedPosSatE, deltaDistance, 3);
+      double timeDiffGpsMeas = gpsUnixSeconds - timeOfSavedPosSatE;
+      VectorOperations<double>::mulScalar(deltaDistance, 1. / timeDiffGpsMeas, gpsVelocityE, 3);
+    }
+    savedPosSatE[0] = posSatE[0];
+    savedPosSatE[1] = posSatE[1];
+    savedPosSatE[2] = posSatE[2];
+
+    timeOfSavedPosSatE = gpsUnixSeconds;
+    validSavedPosSatE = true;
   }
   {
     PoolReadGuard pg(gpsDataProcessed);
     if (pg.getReadResult() == returnvalue::OK) {
       gpsDataProcessed->gdLongitude.value = gdLongitude;
       gpsDataProcessed->gcLatitude.value = gcLatitude;
-      gpsDataProcessed->setValidity(validGps, validGps);
+      std::memcpy(gpsDataProcessed->gpsPosition.value, posSatE, 3 * sizeof(double));
-      if (!validGps) {
+      std::memcpy(gpsDataProcessed->gpsVelocity.value, gpsVelocityE, 3 * sizeof(double));
-        gpsDataProcessed->gdLongitude.value = 0.0;
+      gpsDataProcessed->setValidity(validGps, true);
-        gpsDataProcessed->gcLatitude.value = 0.0;
-      }
     }
   }
 }
@@ -585,10 +601,12 @@ void SensorProcessing::process(timeval now, ACS::SensorValues *sensorValues,
                                acsctrl::GpsDataProcessed *gpsDataProcessed,
                                const AcsParameters *acsParameters) {
   sensorValues->update();
-  processGps(sensorValues->gpsSet.latitude.value, sensorValues->gpsSet.longitude.value,
+  processGps(
-             (sensorValues->gpsSet.latitude.isValid() && sensorValues->gpsSet.longitude.isValid() &&
+      sensorValues->gpsSet.latitude.value, sensorValues->gpsSet.longitude.value,
-              sensorValues->gpsSet.altitude.isValid()),
+      sensorValues->gpsSet.altitude.value, sensorValues->gpsSet.unixSeconds.value,
-             gpsDataProcessed);
+      (sensorValues->gpsSet.latitude.isValid() && sensorValues->gpsSet.longitude.isValid() &&
+       sensorValues->gpsSet.altitude.isValid() && sensorValues->gpsSet.unixSeconds.isValid()),
+      &acsParameters->gpsParameters, gpsDataProcessed);
 
   processMgm(sensorValues->mgm0Lis3Set.fieldStrengths.value,
              sensorValues->mgm0Lis3Set.fieldStrengths.isValid(),

mission/controller/acs/SensorProcessing.h

@@ -1,5 +1,5 @@
 /*******************************
- *	EIVE Flight Software Framework (FSFW)
+ *	EIVE Flight Software
  * (c) 2022 IRS, Uni Stuttgart
  *******************************/
 #ifndef SENSORPROCESSING_H_
@@ -13,7 +13,7 @@
 #include "AcsParameters.h"
 #include "SensorValues.h"
 #include "SusConverter.h"
-#include "config/classIds.h"
+#include "eive/resultClassIds.h"
 
 class SensorProcessing {
  public:
@@ -65,17 +65,20 @@ class SensorProcessing {
 
   void processStr();
 
-  void processGps(const double gps0latitude, const double gps0longitude, const bool validGps,
+  void processGps(const double gpsLatitude, const double gpsLongitude, const double gpsAltitude,
+                  const double gpsUnixSeconds, const bool validGps,
+                  const AcsParameters::GpsParameters *gpsParameters,
                   acsctrl::GpsDataProcessed *gpsDataProcessed);
 
-  double savedMgmVecTot[3];
+  double savedMgmVecTot[3] = {0.0, 0.0, 0.0};
   timeval timeOfSavedMagFieldEst;
-  double savedSusVecTot[3];
+  double savedSusVecTot[3] = {0.0, 0.0, 0.0};
   timeval timeOfSavedSusDirEst;
-  bool validMagField;
+  bool validMagField = false;
-  bool validGcLatitude;
 
-  const float zeroVector[3] = {0.0, 0.0, 0.0};
+  double savedPosSatE[3] = {0.0, 0.0, 0.0};
+  double timeOfSavedPosSatE = 0.0;
+  bool validSavedPosSatE = false;
 
   SusConverter susConverter;
   AcsParameters acsParameters;

mission/controller/acs/SensorValues.cpp

@@ -20,61 +20,112 @@ SensorValues::SensorValues() {}
 SensorValues::~SensorValues() {}
 
 ReturnValue_t SensorValues::updateMgm() {
-  ReturnValue_t result;
+  std::vector<ReturnValue_t> results;
-  PoolReadGuard pgMgm0(&mgm0Lis3Set), pgMgm1(&mgm1Rm3100Set), pgMgm2(&mgm2Lis3Set),
-      pgMgm3(&mgm3Rm3100Set), pgImtq(&imtqMgmSet);
 
-  result = (pgMgm0.getReadResult() || pgMgm1.getReadResult() || pgMgm2.getReadResult() ||
+  {
-            pgMgm3.getReadResult() || pgImtq.getReadResult());
+    PoolReadGuard pgMgm(&mgm0Lis3Set);
-  return result;
+    results.push_back(pgMgm.getReadResult());
+  }
+  {
+    PoolReadGuard pgMgm(&mgm1Rm3100Set);
+    results.push_back(pgMgm.getReadResult());
+  }
+  {
+    PoolReadGuard pgMgm(&mgm2Lis3Set);
+    results.push_back(pgMgm.getReadResult());
+  }
+  {
+    PoolReadGuard pgMgm(&mgm3Rm3100Set);
+    results.push_back(pgMgm.getReadResult());
+  }
+  {
+    PoolReadGuard pgMgm(&imtqMgmSet);
+    results.push_back(pgMgm.getReadResult());
+  }
+  for (const auto& result : results) {
+    if (result != returnvalue::OK) {
+      return result;
+    }
+  }
+  return returnvalue::OK;
 }
 
 ReturnValue_t SensorValues::updateSus() {
-  ReturnValue_t result;
+  std::vector<ReturnValue_t> results;
-  PoolReadGuard pgSus0(&susSets[0]), pgSus1(&susSets[1]), pgSus2(&susSets[2]), pgSus3(&susSets[3]),
+  for (auto& susSet : susSets) {
-      pgSus4(&susSets[4]), pgSus5(&susSets[5]), pgSus6(&susSets[6]), pgSus7(&susSets[7]),
+    {
-      pgSus8(&susSets[8]), pgSus9(&susSets[9]), pgSus10(&susSets[10]), pgSus11(&susSets[11]);
+      PoolReadGuard pgSus(&susSet);
-
+      results.push_back(pgSus.getReadResult());
-  result = (pgSus0.getReadResult() || pgSus1.getReadResult() || pgSus2.getReadResult() ||
+    }
-            pgSus3.getReadResult() || pgSus4.getReadResult() || pgSus5.getReadResult() ||
+  }
-            pgSus6.getReadResult() || pgSus7.getReadResult() || pgSus8.getReadResult() ||
+  for (const auto& result : results) {
-            pgSus9.getReadResult() || pgSus10.getReadResult() || pgSus11.getReadResult());
+    if (result != returnvalue::OK) {
-  return result;
+      return result;
+    }
+  }
+  return returnvalue::OK;
 }
 
 ReturnValue_t SensorValues::updateGyr() {
-  ReturnValue_t result;
+  std::vector<ReturnValue_t> results;
-  PoolReadGuard pgGyr0(&gyr0AdisSet), pgGyr1(&gyr1L3gSet), pgGyr2(&gyr2AdisSet),
+  {
-      pgGyr3(&gyr3L3gSet);
+    PoolReadGuard pgGyr(&gyr0AdisSet);
-
+    results.push_back(pgGyr.getReadResult());
-  result = (pgGyr0.getReadResult() || pgGyr1.getReadResult() || pgGyr2.getReadResult() ||
+  }
-            pgGyr3.getReadResult());
+  {
-  return result;
+    PoolReadGuard pgGyr(&gyr1L3gSet);
+    results.push_back(pgGyr.getReadResult());
+  }
+  {
+    PoolReadGuard pgGyr(&gyr2AdisSet);
+    results.push_back(pgGyr.getReadResult());
+  }
+  {
+    PoolReadGuard pgGyr(&gyr3L3gSet);
+    results.push_back(pgGyr.getReadResult());
+  }
+  for (const auto& result : results) {
+    if (result != returnvalue::OK) {
+      return result;
+    }
+  }
+  return returnvalue::OK;
 }
 
 ReturnValue_t SensorValues::updateStr() {
-  ReturnValue_t result;
   PoolReadGuard pgStr(&strSet);
-
+  return pgStr.getReadResult();
-  result = pgStr.getReadResult();
-  return result;
 }
 
 ReturnValue_t SensorValues::updateGps() {
-  ReturnValue_t result;
   PoolReadGuard pgGps(&gpsSet);
-
+  return pgGps.getReadResult();
-  result = pgGps.getReadResult();
-  return result;
 }
 
 ReturnValue_t SensorValues::updateRw() {
-  ReturnValue_t result;
+  std::vector<ReturnValue_t> results;
-  PoolReadGuard pgRw1(&rw1Set), pgRw2(&rw2Set), pgRw3(&rw3Set), pgRw4(&rw4Set);
+  {
-
+    PoolReadGuard pgRw(&rw1Set);
-  result = (pgRw1.getReadResult() || pgRw2.getReadResult() || pgRw3.getReadResult() ||
+    results.push_back(pgRw.getReadResult());
-            pgRw4.getReadResult());
+  }
-  return result;
+  {
+    PoolReadGuard pgRw(&rw2Set);
+    results.push_back(pgRw.getReadResult());
+  }
+  {
+    PoolReadGuard pgRw(&rw3Set);
+    results.push_back(pgRw.getReadResult());
+  }
+  {
+    PoolReadGuard pgRw(&rw4Set);
+    results.push_back(pgRw.getReadResult());
+  }
+  for (const auto& result : results) {
+    if (result != returnvalue::OK) {
+      return result;
+    }
+  }
+  return returnvalue::OK;
 }
 
 ReturnValue_t SensorValues::update() {

mission/controller/acs/SensorValues.h

@@ -1,12 +1,12 @@
 #ifndef SENSORVALUES_H_
 #define SENSORVALUES_H_
 
+#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
 #include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
 #include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
 #include "mission/devices/devicedefinitions/GPSDefinitions.h"
 #include "mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h"
-#include "mission/devices/devicedefinitions/GyroL3GD20Definitions.h"
 #include "mission/devices/devicedefinitions/RwDefinitions.h"
 #include "mission/devices/devicedefinitions/SusDefinitions.h"
 #include "mission/devices/devicedefinitions/imtqHandlerDefinitions.h"

mission/controller/acs/config/classIds.h

@@ -1,18 +0,0 @@
-#ifndef ACS_CONFIG_CLASSIDS_H_
-#define ACS_CONFIG_CLASSIDS_H_
-
-#include <common/config/eive/resultClassIds.h>
-#include <fsfw/returnvalues/FwClassIds.h>
-
-namespace CLASS_ID {
-enum eiveclassIds : uint8_t {
-  EIVE_CLASS_ID_START = COMMON_CLASS_ID_END,
-  KALMAN,
-  SAFE,
-  PTG,
-  DETUMBLE,
-  EIVE_CLASS_ID_END  // [EXPORT] : [END]
-};
-}
-
-#endif /* ACS_CONFIG_CLASSIDS_H_ */

mission/controller/acs/control/Detumble.cpp

@@ -22,7 +22,7 @@ Detumble::Detumble(AcsParameters *acsParameters_) { loadAcsParameters(acsParamet
 Detumble::~Detumble() {}
 
 void Detumble::loadAcsParameters(AcsParameters *acsParameters_) {
-  detumbleCtrlParameters = &(acsParameters_->detumbleCtrlParameters);
+  detumbleParameter = &(acsParameters_->detumbleParameter);
   magnetorquesParameter = &(acsParameters_->magnetorquesParameter);
 }
 
@@ -31,7 +31,7 @@ ReturnValue_t Detumble::bDotLaw(const double *magRate, const bool magRateValid,
   if (!magRateValid || !magFieldValid) {
     return DETUMBLE_NO_SENSORDATA;
   }
-  double gain = detumbleCtrlParameters->gainD;
+  double gain = detumbleParameter->gainD;
   double factor = -gain / pow(VectorOperations<double>::norm(magField, 3), 2);
   VectorOperations<double>::mulScalar(magRate, factor, magMom, 3);
   return returnvalue::OK;
@@ -50,3 +50,15 @@ ReturnValue_t Detumble::bangbangLaw(const double *magRate, const bool magRateVal
 
   return returnvalue::OK;
 }
+
+ReturnValue_t Detumble::bDotLawGyro(const double *satRate, const bool *satRateValid,
+                                    const double *magField, const bool *magFieldValid,
+                                    double *magMom) {
+  if (!satRateValid || !magFieldValid) {
+    return DETUMBLE_NO_SENSORDATA;
+  }
+  double gain = detumbleParameter->gainD;
+  double factor = -gain / pow(VectorOperations<double>::norm(magField, 3), 2);
+  VectorOperations<double>::mulScalar(satRate, factor, magMom, 3);
+  return returnvalue::OK;
+}

mission/controller/acs/control/Detumble.h

@@ -1,10 +1,3 @@
-/*
- * Detumble.h
- *
- *  Created on: 17 Aug 2022
- *      Author: Robin Marquardt
- */
-
 #ifndef ACS_CONTROL_DETUMBLE_H_
 #define ACS_CONTROL_DETUMBLE_H_
 
@@ -15,17 +8,17 @@
 
 #include "../AcsParameters.h"
 #include "../SensorValues.h"
-#include "../config/classIds.h"
+#include "eive/resultClassIds.h"
 
 class Detumble {
  public:
   Detumble(AcsParameters *acsParameters_);
   virtual ~Detumble();
 
-  static const uint8_t INTERFACE_ID = CLASS_ID::DETUMBLE;
+  static const uint8_t INTERFACE_ID = CLASS_ID::ACS_DETUMBLE;
   static const ReturnValue_t DETUMBLE_NO_SENSORDATA = MAKE_RETURN_CODE(0x01);
 
-  /* @brief: Load AcsParameters für this class
+  /* @brief: Load AcsParameters for this class
    * @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
    */
   void loadAcsParameters(AcsParameters *acsParameters_);
@@ -35,8 +28,13 @@ class Detumble {
 
   ReturnValue_t bangbangLaw(const double *magRate, const bool magRateValid, double *magMom);
 
+  ReturnValue_t bangbangLaw(const double *magRate, const bool *magRateValid, double *magMom);
+
+  ReturnValue_t bDotLawGyro(const double *satRate, const bool *satRateValid, const double *magField,
+                            const bool *magFieldValid, double *magMom);
+
  private:
-  AcsParameters::DetumbleCtrlParameters *detumbleCtrlParameters;
+  AcsParameters::DetumbleParameter *detumbleParameter;
   AcsParameters::MagnetorquesParameter *magnetorquesParameter;
 };
 

mission/controller/acs/control/PtgCtrl.cpp

@@ -21,21 +21,21 @@ PtgCtrl::PtgCtrl(AcsParameters *acsParameters_) { loadAcsParameters(acsParameter
 PtgCtrl::~PtgCtrl() {}
 
 void PtgCtrl::loadAcsParameters(AcsParameters *acsParameters_) {
-  pointingModeControllerParameters = &(acsParameters_->targetModeControllerParameters);
   inertiaEIVE = &(acsParameters_->inertiaEIVE);
   rwHandlingParameters = &(acsParameters_->rwHandlingParameters);
   rwMatrices = &(acsParameters_->rwMatrices);
 }
 
-void PtgCtrl::ptgGroundstation(const double mode, const double *qError, const double *deltaRate,
+void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters,
-                               const double *rwPseudoInv, double *torqueRws) {
+                     const double *qError, const double *deltaRate, const double *rwPseudoInv,
+                     double *torqueRws) {
   //------------------------------------------------------------------------------------------------
   // Compute gain matrix K and P matrix
   //------------------------------------------------------------------------------------------------
-  double om = pointingModeControllerParameters->om;
+  double om = pointingLawParameters->om;
-  double zeta = pointingModeControllerParameters->zeta;
+  double zeta = pointingLawParameters->zeta;
-  double qErrorMin = pointingModeControllerParameters->qiMin;
+  double qErrorMin = pointingLawParameters->qiMin;
-  double omMax = pointingModeControllerParameters->omMax;
+  double omMax = pointingLawParameters->omMax;
 
   double cInt = 2 * om * zeta;
   double kInt = 2 * pow(om, 2);
@@ -104,12 +104,14 @@ void PtgCtrl::ptgGroundstation(const double mode, const double *qError, const do
   double torque[3] = {0, 0, 0};
   VectorOperations<double>::add(torqueRate, torqueQuat, torque, 3);
   MatrixOperations<double>::multiply(rwPseudoInv, torque, torqueRws, 4, 3, 1);
+  VectorOperations<double>::mulScalar(torqueRws, -1, torqueRws, 4);
 }
 
-void PtgCtrl::ptgDesaturation(double *magFieldEst, bool magFieldEstValid, double *satRate,
+void PtgCtrl::ptgDesaturation(AcsParameters::PointingLawParameters *pointingLawParameters,
+                              double *magFieldEst, bool magFieldEstValid, double *satRate,
                               int32_t *speedRw0, int32_t *speedRw1, int32_t *speedRw2,
                               int32_t *speedRw3, double *mgtDpDes) {
-  if (!(magFieldEstValid) || !(pointingModeControllerParameters->desatOn)) {
+  if (!(magFieldEstValid) || !(pointingLawParameters->desatOn)) {
     mgtDpDes[0] = 0;
     mgtDpDes[1] = 0;
     mgtDpDes[2] = 0;
@@ -127,17 +129,18 @@ void PtgCtrl::ptgDesaturation(double *magFieldEst, bool magFieldEstValid, double
   VectorOperations<double>::add(momentumSat, momentumRw, momentumTotal, 3);
   //	calculating momentum error
   double deltaMomentum[3] = {0, 0, 0};
-  VectorOperations<double>::subtract(
+  VectorOperations<double>::subtract(momentumTotal, pointingLawParameters->desatMomentumRef,
-      momentumTotal, pointingModeControllerParameters->desatMomentumRef, deltaMomentum, 3);
+                                     deltaMomentum, 3);
   //	resulting magnetic dipole command
   double crossMomentumMagField[3] = {0, 0, 0};
   VectorOperations<double>::cross(deltaMomentum, magFieldEst, crossMomentumMagField);
   double normMag = VectorOperations<double>::norm(magFieldEst, 3), factor = 0;
-  factor = (pointingModeControllerParameters->deSatGainFactor) / normMag;
+  factor = (pointingLawParameters->deSatGainFactor) / normMag;
   VectorOperations<double>::mulScalar(crossMomentumMagField, factor, mgtDpDes, 3);
 }
 
-void PtgCtrl::ptgNullspace(const int32_t *speedRw0, const int32_t *speedRw1,
+void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters,
+                           const int32_t *speedRw0, const int32_t *speedRw1,
                            const int32_t *speedRw2, const int32_t *speedRw3, double *rwTrqNs) {
   double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
   double wheelMomentum[4] = {0, 0, 0, 0};
@@ -149,7 +152,7 @@ void PtgCtrl::ptgNullspace(const int32_t *speedRw0, const int32_t *speedRw1,
   VectorOperations<double>::subtract(speedRws, rpmOffset, diffRwSpeed, 4);
   VectorOperations<double>::mulScalar(diffRwSpeed, rwHandlingParameters->inertiaWheel,
                                       wheelMomentum, 4);
-  double gainNs = pointingModeControllerParameters->gainNullspace;
+  double gainNs = pointingLawParameters->gainNullspace;
   double nullSpaceMatrix[4][4] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
   MathOperations<double>::vecTransposeVecMatrix(rwMatrices->nullspace, rwMatrices->nullspace,
                                                 *nullSpaceMatrix, 4);
@@ -157,3 +160,32 @@ void PtgCtrl::ptgNullspace(const int32_t *speedRw0, const int32_t *speedRw1,
   VectorOperations<double>::mulScalar(rwTrqNs, gainNs, rwTrqNs, 4);
   VectorOperations<double>::mulScalar(rwTrqNs, -1, rwTrqNs, 4);
 }
+
+void PtgCtrl::rwAntistiction(const bool *rwAvailable, const int32_t *omegaRw,
+                             double *torqueCommand) {
+  for (uint8_t i = 0; i < 4; i++) {
+    if (rwAvailable[i]) {
+      if (torqueMemory[i] != 0) {
+        if ((omegaRw[i] * torqueMemory[i]) > rwHandlingParameters->stictionReleaseSpeed) {
+          torqueMemory[i] = 0;
+        } else {
+          torqueCommand[i] = torqueMemory[i] * rwHandlingParameters->stictionTorque;
+        }
+      } else {
+        if ((omegaRw[i] < rwHandlingParameters->stictionSpeed) &&
+            (omegaRw[i] > -rwHandlingParameters->stictionSpeed)) {
+          if (omegaRw[i] < omegaMemory[i]) {
+            torqueMemory[i] = -1;
+          } else {
+            torqueMemory[i] = 1;
+          }
+
+          torqueCommand[i] = torqueMemory[i] * rwHandlingParameters->stictionTorque;
+        }
+      }
+    } else {
+      torqueMemory[i] = 0;
+    }
+    omegaMemory[i] = omegaRw[i];
+  }
+}

mission/controller/acs/control/PtgCtrl.h

@@ -20,7 +20,7 @@
 
 #include "../AcsParameters.h"
 #include "../SensorValues.h"
-#include "../config/classIds.h"
+#include "eive/resultClassIds.h"
 
 class PtgCtrl {
  public:
@@ -30,10 +30,10 @@ class PtgCtrl {
   PtgCtrl(AcsParameters *acsParameters_);
   virtual ~PtgCtrl();
 
-  static const uint8_t INTERFACE_ID = CLASS_ID::PTG;
+  static const uint8_t INTERFACE_ID = CLASS_ID::ACS_PTG;
   static const ReturnValue_t PTGCTRL_MEKF_INPUT_INVALID = MAKE_RETURN_CODE(0x01);
 
-  /* @brief: Load AcsParameters für this class
+  /* @brief: Load AcsParameters for this class
    * @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
    */
   void loadAcsParameters(AcsParameters *acsParameters_);
@@ -41,21 +41,32 @@ class PtgCtrl {
   /* @brief: Calculates the needed torque for the pointing control mechanism
    * @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
    */
-  void ptgGroundstation(const double mode, const double *qError, const double *deltaRate,
+  void ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters, const double *qError,
-                        const double *rwPseudoInv, double *torqueRws);
+              const double *deltaRate, const double *rwPseudoInv, double *torqueRws);
 
-  void ptgDesaturation(double *magFieldEst, bool magFieldEstValid, double *satRate,
+  void ptgDesaturation(AcsParameters::PointingLawParameters *pointingLawParameters,
+                       double *magFieldEst, bool magFieldEstValid, double *satRate,
                        int32_t *speedRw0, int32_t *speedRw1, int32_t *speedRw2, int32_t *speedRw3,
                        double *mgtDpDes);
 
-  void ptgNullspace(const int32_t *speedRw0, const int32_t *speedRw1, const int32_t *speedRw2,
+  void ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters,
+                    const int32_t *speedRw0, const int32_t *speedRw1, const int32_t *speedRw2,
                     const int32_t *speedRw3, double *rwTrqNs);
 
+  /* @brief: Commands the stiction torque in case wheel speed is to low
+   * @param: rwAvailable 	Boolean Flag for all reaction wheels
+   * 		 omegaRw		current wheel speed of reaction wheels
+   * 		 torqueCommand  modified torque after antistiction
+   */
+  void rwAntistiction(const bool *rwAvailable, const int32_t *omegaRw, double *torqueCommand);
+
  private:
-  AcsParameters::PointingModeControllerParameters *pointingModeControllerParameters;
   AcsParameters::RwHandlingParameters *rwHandlingParameters;
   AcsParameters::InertiaEIVE *inertiaEIVE;
   AcsParameters::RwMatrices *rwMatrices;
+
+  double torqueMemory[4] = {0, 0, 0, 0};
+  double omegaMemory[4] = {0, 0, 0, 0};
 };
 
 #endif /* ACS_CONTROL_PTGCTRL_H_ */

mission/controller/acs/control/SafeCtrl.cpp

@@ -87,7 +87,7 @@ ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool quatBJValid,
   return returnvalue::OK;
 }
 
-// Will be the version in worst case scenario in event of no working MEKF (nor RMUs)
+// Will be the version in worst case scenario in event of no working MEKF (nor GYRs)
 void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, double *sunRateB,
                           bool sunRateBValid, double *magFieldB, bool magFieldBValid,
                           double *magRateB, bool magRateBValid, double *sunDirRef,
@@ -127,20 +127,17 @@ void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, doubl
   VectorOperations<double>::mulScalar(estSatRate, 0.5, estSatRate, 3);
 
   /* Only valid if angle between sun direction and magnetic field direction
-     is sufficiently large */
+   * is sufficiently large */
-
+  double angleSunMag = acos(cosAngleSunMag);
-  double sinAngle = 0;
+  if (angleSunMag < safeModeControllerParameters->sunMagAngleMin) {
-  sinAngle = sin(acos(cos(cosAngleSunMag)));
-
-  if (!(sinAngle > sin(safeModeControllerParameters->sunMagAngleMin * M_PI / 180))) {
     return;
   }
 
-  //    Rate for Torque Calculation
+  // Rate for Torque Calculation
   double diffRate[3] = {0, 0, 0}; /* ADD TO MONITORING */
   VectorOperations<double>::subtract(estSatRate, satRateRef, diffRate, 3);
 
-  //    Torque Align calculation
+  // Torque Align calculation
   double kRateNoMekf = 0, kAlignNoMekf = 0;
   kRateNoMekf = safeModeControllerParameters->k_rate_no_mekf;
   kAlignNoMekf = safeModeControllerParameters->k_align_no_mekf;

mission/controller/acs/control/SafeCtrl.h

@@ -1,10 +1,3 @@
-/*
- * safeCtrl.h
- *
- *  Created on: 19 Apr 2022
- *      Author: rooob
- */
-
 #ifndef SAFECTRL_H_
 #define SAFECTRL_H_
 
@@ -14,14 +7,14 @@
 
 #include "../AcsParameters.h"
 #include "../SensorValues.h"
-#include "../config/classIds.h"
+#include "eive/resultClassIds.h"
 
 class SafeCtrl {
  public:
   SafeCtrl(AcsParameters *acsParameters_);
   virtual ~SafeCtrl();
 
-  static const uint8_t INTERFACE_ID = CLASS_ID::SAFE;
+  static const uint8_t INTERFACE_ID = CLASS_ID::ACS_SAFE;
   static const ReturnValue_t SAFECTRL_MEKF_INPUT_INVALID = MAKE_RETURN_CODE(0x01);
 
   void loadAcsParameters(AcsParameters *acsParameters_);

mission/controller/acs/util/MathOperations.h

@@ -96,8 +96,16 @@ class MathOperations {
 
   static void cartesianFromLatLongAlt(const T1 lat, const T1 longi, const T1 alt,
                                       T2 *cartesianOutput) {
-    double radiusPolar = 6378137;
+    /* @brief:  cartesianFromLatLongAlt() - calculates cartesian coordinates in ECEF from latitude,
-    double radiusEqua = 6356752.314;
+     * 								longitude and altitude
+     * @param:  lat   				geodetic latitude [rad]
+     * 			longi 				longitude [rad]
+     * 			alt					altitude [m]
+     * 			cartesianOutput 	Cartesian Coordinates in ECEF (3x1)
+     * @source: Fundamentals of Spacecraft Attitude Determination and Control, P.34ff
+     * 			Landis Markley and John L. Crassidis*/
+    double radiusPolar = 6356752.314;
+    double radiusEqua = 6378137;
 
     double eccentricity = sqrt(1 - pow(radiusPolar, 2) / pow(radiusEqua, 2));
     double auxRadius = radiusEqua / sqrt(1 - pow(eccentricity, 2) * pow(sin(lat), 2));
@@ -106,13 +114,13 @@ class MathOperations {
     cartesianOutput[1] = (auxRadius + alt) * cos(lat) * sin(longi);
     cartesianOutput[2] = ((1 - pow(eccentricity, 2)) * auxRadius + alt) * sin(lat);
   }
-
+  static void dcmEJ(timeval time, T1 *outputDcmEJ, T1 *outputDotDcmEJ) {
-  /* @brief:  dcmEJ() - calculates the transformation matrix between ECEF and ECI frame
+    /* @brief:  dcmEJ() - calculates the transformation matrix between ECEF and ECI frame
-   * @param:  time   			Current time
+     * @param:  time   			Current time
-   * 			outputDcmEJ 	Transformation matrix from ECI (J) to ECEF (E) [3][3]
+     * 			outputDcmEJ 	Transformation matrix from ECI (J) to ECEF (E) [3][3]
-   * @source: Fundamentals of Spacecraft Attitude Determination and Control, P.32ff
+     * 			outputDotDcmEJ	Derivative of transformation matrix [3][3]
-   * 			Landis Markley and John L. Crassidis*/
+     * @source: Fundamentals of Spacecraft Attitude Determination and Control, P.32ff
-  static void dcmEJ(timeval time, T1 *outputDcmEJ) {
+     * 			Landis Markley and John L. Crassidis*/
     double JD2000Floor = 0;
     double JD2000 = convertUnixToJD2000(time);
     // Getting Julian Century from Day start : JD (Y,M,D,0,0,0)
@@ -143,6 +151,16 @@ class MathOperations {
     outputDcmEJ[6] = 0;
     outputDcmEJ[7] = 0;
     outputDcmEJ[8] = 1;
+
+    //	Derivative of dmcEJ WITHOUT PRECISSION AND NUTATION
+    double dcmEJCalc[3][3] = {{outputDcmEJ[0], outputDcmEJ[1], outputDcmEJ[2]},
+                              {outputDcmEJ[3], outputDcmEJ[4], outputDcmEJ[5]},
+                              {outputDcmEJ[6], outputDcmEJ[7], outputDcmEJ[8]}};
+    double dcmDot[3][3] = {{0, 1, 0}, {-1, 0, 0}, {0, 0, 0}};
+    double omegaEarth = 0.000072921158553;
+    double dotDcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+    MatrixOperations<double>::multiply(*dcmDot, *dcmEJCalc, *dotDcmEJ, 3, 3, 3);
+    MatrixOperations<double>::multiplyScalar(*dotDcmEJ, omegaEarth, outputDotDcmEJ, 3, 3);
   }
 
   /* @brief:  ecfToEciWithNutPre() - calculates the transformation matrix between ECEF and ECI frame
@@ -215,7 +233,7 @@ class MathOperations {
     precession[2][2] = cos(theta2);
 
     //-------------------------------------------------------------------------------------
-    //		Calculation of Transformation from earth Nutation size
+    //		Calculation of Transformation from earth Nutation N
     //-------------------------------------------------------------------------------------
     double nutation[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
     //      lunar asc node
@@ -230,7 +248,6 @@ class MathOperations {
 
     //        % true obliquity of the ecliptic eps p.71 (simplified)
     double e = 23.43929111 * PI / 180 - 46.8150 / 3600 * JC2000TT * PI / 180;
-    ;
 
     nutation[0][0] = cos(dp);
     nutation[1][0] = cos(e + de) * sin(dp);
@@ -260,10 +277,9 @@ class MathOperations {
 
     MatrixOperations<double>::multiply(*nutationPrecession, *thetaDot, outputDotDcmEJ, 3, 3, 3);
   }
-
   static void inverseMatrixDimThree(const T1 *matrix, T1 *output) {
     int i, j;
-    double determinant;
+    double determinant = 0;
     double mat[3][3] = {{matrix[0], matrix[1], matrix[2]},
                         {matrix[3], matrix[4], matrix[5]},
                         {matrix[6], matrix[7], matrix[8]}};
@@ -272,8 +288,8 @@ class MathOperations {
       determinant = determinant + (mat[0][i] * (mat[1][(i + 1) % 3] * mat[2][(i + 2) % 3] -
                                                 mat[1][(i + 2) % 3] * mat[2][(i + 1) % 3]));
     }
-    //		cout<<"\size\ndeterminant: "<<determinant;
+    //		cout<<"\n\ndeterminant: "<<determinant;
-    //		cout<<"\size\nInverse of matrix is: \size";
+    //		cout<<"\n\nInverse of matrix is: \n";
     for (i = 0; i < 3; i++) {
       for (j = 0; j < 3; j++) {
         output[i * 3 + j] = ((mat[(j + 1) % 3][(i + 1) % 3] * mat[(j + 2) % 3][(i + 2) % 3]) -

mission/controller/controllerdefinitions/AcsControllerDefinitions.h

@@ -1,14 +0,0 @@
-#ifndef MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_
-#define MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_
-
-#include <fsfw/modes/HasModesIF.h>
-
-namespace acs {
-
-enum CtrlModes { OFF = HasModesIF::MODE_OFF, SAFE = 1, DETUMBLE = 2, IDLE = 3, TARGET_PT = 4 };
-
-static constexpr Submode_t IDLE_CHARGE = 1;
-
-}  // namespace acs
-
-#endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_ */