Merge branch 'v3.0.0-dev' into acs-ptg-ctrl-fixes-2

2023-06-01 09:11:30 +02:00 · 2023-06-01 09:11:30 +02:00 · ffe419e1ab
commit ffe419e1ab
parent de18ebfbe0 7b38ee3ecc
19 changed files with 206 additions and 58 deletions
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -18,7 +18,7 @@ will consitute of a breaking change warranting a new major release:

 # [v2.2.0] to be released

-# [v2.1.0] to be released
+# [v3.0.0] to be released

 ## Changed

@ -43,12 +43,23 @@ will consitute of a breaking change warranting a new major release:
 - Disable missed deadlines per default. Not useful in orbit, and triggers all the time on the EM
  build after a number of subsequent runs, without any apparent reason (deadlines are not actually
  missed, thread usage displayed is nominal)
+- TM store dumpes will not be cancelled anymore if the transmitter is off. The dump can be cancelled
+  with an OFF command, and the PTME is perfectly capable of dumping without the transmitter being
+  on.
+- Transmitter state is not taken into account anymore for writing into the PTME. The PTME should
+  be perfectly capable of generating a valid CADU, even when the transmitter is not ON for any
+  reason.
+- OFF mode is ignores in TM store for determining whether a store will be written. The modes will
+  only be used to cancel a transfer.

 ## Added

 - Add the remaining system modes.
 - PLOC MPSoC flash read command working.
 - BPX battery handler is added for EM by default.
+- ACU dummy HK sets
+- IMTQ HK sets
+- IMTQ dummy now handles power switch

 ## Fixed

@ -68,6 +79,18 @@ will consitute of a breaking change warranting a new major release:
 - PLOC MPSoC special communication is now scheduled, which allows flash read and flash write
  commands to work.
 - Fixed the MPSoC flash write command.
+- Added missing ACS parameter.
+- HK TM store: The HK store dump success event was triggered for cancelled HK dumps.
+- When a PUS parsing error occured while parsing a TM store file, the dump completion procedure
+  was always executed.
+- Some smaller logic fixes in the TM store base class
+- Fixed usage of C `abs` instead of C++ `std::abs`, which results in MTQ commands not being
+  scaled correctly between 1Am² and 0.2Am².
+- TCS Heater Handler: Always trigger mode event if a heater goes `OFF` or `ON`. This event might
+  soon replace the `HEATER_WENT_ON` and `HEATER_WENT_OFF` events.
+- Prevent spam of TCS controller heater unavailability event if all heaters are in external control.
+- TCS heater switch info set contained invalid values because of a faulty `memcpy` in the TCS
+  controller. There is not crash risk but the heater states were invalid.

 # [v2.0.5] 2023-05-11

--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -9,9 +9,9 @@
 # ##############################################################################
 cmake_minimum_required(VERSION 3.13)

-set(OBSW_VERSION_MAJOR 2)
+set(OBSW_VERSION_MAJOR 3)
 set(OBSW_VERSION_MINOR 0)
-set(OBSW_VERSION_REVISION 5)
+set(OBSW_VERSION_REVISION 0)

 # set(CMAKE_VERBOSE TRUE)

@ -98,7 +98,7 @@ set(OBSW_ADD_THERMAL_TEMP_INSERTER
    ${OBSW_Q7S_EM}
    CACHE STRING "Add thermal sensor temperature inserter")
 set(OBSW_ADD_ACS_BOARD
-    1
+    ${INIT_VAL}
    CACHE STRING "Add ACS board module")
 set(OBSW_ADD_GPS_CTRL
    ${INIT_VAL}
--- a/bsp_hosted/ObjectFactory.cpp
+++ b/bsp_hosted/ObjectFactory.cpp
@ -62,6 +62,10 @@ void ObjectFactory::produce(void* args) {
  StorageManagerIF* tmStore;
  StorageManagerIF* ipcStore;
  PersistentTmStores persistentStores;
+  bool enableHkSets = false;
+#if OBSW_ENABLE_PERIODIC_HK == 1
+  enableHkSets = true;
+#endif
  auto sdcMan = new DummySdCardManager("/tmp");
  ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel, *sdcMan, &ipcStore,
                                       &tmStore, persistentStores, 120);
@ -101,7 +105,7 @@ void ObjectFactory::produce(void* args) {
 #endif

  dummy::DummyCfg cfg;
-  dummy::createDummies(cfg, *dummySwitcher, dummyGpioIF);
+  dummy::createDummies(cfg, *dummySwitcher, dummyGpioIF, enableHkSets);

  HeaterHandler* heaterHandler = nullptr;
  // new ThermalController(objects::THERMAL_CONTROLLER);
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@ -805,7 +805,7 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
  // Core task which handles the HK store and takes care of dumping it as TM using a VC directly
  auto* hkStore = new PersistentSingleTmStoreTask(
      objects::HK_STORE_AND_TM_TASK, args.ipcStore, *args.stores.hkStore, *vc,
-      persTmStore::DUMP_HK_STORE_DONE, persTmStore::DUMP_HK_STORE_DONE, *SdCardManager::instance(),
+      persTmStore::DUMP_HK_STORE_DONE, persTmStore::DUMP_HK_CANCELLED, *SdCardManager::instance(),
      PTME_LOCKED);
  hkStore->connectModeTreeParent(satsystem::com::SUBSYSTEM);

--- a/bsp_q7s/em/emObjectFactory.cpp
+++ b/bsp_q7s/em/emObjectFactory.cpp
@ -79,7 +79,7 @@ void ObjectFactory::produce(void* args) {
 #endif
  satsystem::EIVE_SYSTEM.setI2cRecoveryParams(pwrSwitcher);

-  dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF);
+  dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF, enableHkSets);

  new CoreController(objects::CORE_CONTROLLER, enableHkSets);

@ -97,10 +97,10 @@ void ObjectFactory::produce(void* args) {
  // TODO: Careful! Switching this on somehow messes with the communication with the ProASIC
  //       and will cause xsc_boot_copy commands to always boot to 0 0
  // createRadSensorComponent(gpioComIF);
-  // Still initialize chip select to avoid SPI bus issues.
-  createRadSensorChipSelect(gpioComIF);

 #if OBSW_ADD_ACS_BOARD == 1
+  // Still initialize chip select to avoid SPI bus issues.
+  createRadSensorChipSelect(gpioComIF);
  createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher, true,
                           adis1650x::Type::ADIS16507);
 #else
--- a/dummies/AcuDummy.cpp
+++ b/dummies/AcuDummy.cpp
@ -2,8 +2,11 @@

 #include <mission/power/gsDefs.h>

-AcuDummy::AcuDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
-    : DeviceHandlerBase(objectId, comif, comCookie) {}
+AcuDummy::AcuDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie, bool enableHkSets)
+    : DeviceHandlerBase(objectId, comif, comCookie),
+      coreHk(this),
+      auxHk(this),
+      enableHkSets(enableHkSets) {}

 AcuDummy::~AcuDummy() {}

@ -37,7 +40,49 @@ uint32_t AcuDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return

 ReturnValue_t AcuDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                LocalDataPoolManager &poolManager) {
+  using namespace ACU;
+  localDataPoolMap.emplace(pool::ACU_CURRENT_IN_CHANNELS, new PoolEntry<int16_t>(6));
+  localDataPoolMap.emplace(pool::ACU_VOLTAGE_IN_CHANNELS, new PoolEntry<uint16_t>(6));
+
+  localDataPoolMap.emplace(pool::ACU_VCC, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_VBAT, new PoolEntry<uint16_t>({0}));
+
  localDataPoolMap.emplace(ACU::pool::ACU_TEMPERATURES,
                           new PoolEntry<float>({10.0, 10.0, 10.0}, true));
+
+  localDataPoolMap.emplace(pool::ACU_MPPT_MODE, new PoolEntry<uint8_t>({0}));
+
+  localDataPoolMap.emplace(pool::ACU_VBOOST_IN_CHANNELS, new PoolEntry<uint16_t>(6));
+  localDataPoolMap.emplace(pool::ACU_POWER_IN_CHANNELS, new PoolEntry<uint16_t>(6));
+
+  localDataPoolMap.emplace(pool::ACU_DAC_ENABLES, new PoolEntry<uint8_t>(3));
+  localDataPoolMap.emplace(pool::ACU_DAC_RAW_CHANNELS, new PoolEntry<uint16_t>(6));
+
+  localDataPoolMap.emplace(pool::ACU_BOOTCAUSE, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_BOOTCNT, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_UPTIME, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_RESET_CAUSE, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_MPPT_TIME, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_MPPT_PERIOD, new PoolEntry<uint16_t>({0}));
+
+  localDataPoolMap.emplace(pool::ACU_DEVICES, new PoolEntry<uint8_t>(8));
+  localDataPoolMap.emplace(pool::ACU_DEVICES_STATUS, new PoolEntry<uint8_t>(8));
+
+  localDataPoolMap.emplace(pool::ACU_WDT_CNT_GND, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_WDT_GND_LEFT, new PoolEntry<uint32_t>({0}));
+
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), enableHkSets, 30.0));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(auxHk.getSid(), enableHkSets, 6000.0));
  return returnvalue::OK;
 }
+
+LocalPoolDataSetBase *AcuDummy::getDataSetHandle(sid_t sid) {
+  if (sid == coreHk.getSid()) {
+    return &coreHk;
+  } else if (sid == auxHk.getSid()) {
+    return &auxHk;
+  }
+  return nullptr;
+}
--- a/dummies/AcuDummy.h
+++ b/dummies/AcuDummy.h
@ -2,6 +2,7 @@
 #define DUMMIES_ACUDUMMY_H_

 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <mission/power/gsDefs.h>

 class AcuDummy : public DeviceHandlerBase {
 public:
@ -11,10 +12,14 @@ class AcuDummy : public DeviceHandlerBase {
  static const uint8_t SIMPLE_COMMAND_DATA = 1;
  static const uint8_t PERIODIC_REPLY_DATA = 2;

-  AcuDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  AcuDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie, bool enableHkSets);
  virtual ~AcuDummy();

 protected:
+  ACU::CoreHk coreHk;
+  ACU::AuxHk auxHk;
+  bool enableHkSets;
+
  void doStartUp() override;
  void doShutDown() override;
  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
@ -28,6 +33,7 @@ class AcuDummy : public DeviceHandlerBase {
  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 /* DUMMIES_ACUDUMMY_H_ */
--- a/dummies/ImtqDummy.cpp
+++ b/dummies/ImtqDummy.cpp
@ -2,8 +2,13 @@

 #include <mission/acs/imtqHelpers.h>

-ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
-    : DeviceHandlerBase(objectId, comif, comCookie) {}
+ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie,
+                     power::Switch_t pwrSwitcher, bool enableHkSets)
+    : DeviceHandlerBase(objectId, comif, comCookie),
+      setNoTorque(this),
+      setWithTorque(this),
+      enableHkSets(enableHkSets),
+      switcher(pwrSwitcher) {}

 ImtqDummy::~ImtqDummy() = default;

@ -11,6 +16,15 @@ void ImtqDummy::doStartUp() { setMode(MODE_NORMAL); }

 void ImtqDummy::doShutDown() { setMode(_MODE_POWER_DOWN); }

+ReturnValue_t ImtqDummy::getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) {
+  if (switcher != power::NO_SWITCH) {
+    *numberOfSwitches = 1;
+    *switches = &switcher;
+    return returnvalue::OK;
+  }
+  return DeviceHandlerBase::NO_SWITCH;
+}
+
 ReturnValue_t ImtqDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }

 ReturnValue_t ImtqDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
@ -45,5 +59,37 @@ ReturnValue_t ImtqDummy::initializeLocalDataPool(localpool::DataPool &localDataP
  localDataPoolMap.emplace(imtq::ACTUATION_RAW_STATUS, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(imtq::DIPOLES_ID, new PoolEntry<int16_t>({0, 0, 0}));
  localDataPoolMap.emplace(imtq::CURRENT_TORQUE_DURATION, new PoolEntry<uint16_t>({0}));
+
+  // ENG HK No Torque
+  localDataPoolMap.emplace(imtq::DIGITAL_VOLTAGE_MV, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(imtq::ANALOG_VOLTAGE_MV, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(imtq::DIGITAL_CURRENT, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(imtq::ANALOG_CURRENT, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(imtq::COIL_CURRENTS, &coilCurrentsMilliampsNoTorque);
+  localDataPoolMap.emplace(imtq::COIL_TEMPERATURES, &coilTempsNoTorque);
+  localDataPoolMap.emplace(imtq::MCU_TEMPERATURE, new PoolEntry<int16_t>({0}));
+
+  // ENG HK With Torque
+  localDataPoolMap.emplace(imtq::DIGITAL_VOLTAGE_MV_WT, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(imtq::ANALOG_VOLTAGE_MV_WT, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(imtq::DIGITAL_CURRENT_WT, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(imtq::ANALOG_CURRENT_WT, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(imtq::COIL_CURRENTS_WT, &coilCurrentsMilliampsWithTorque);
+  localDataPoolMap.emplace(imtq::COIL_TEMPERATURES_WT, &coilTempsWithTorque);
+  localDataPoolMap.emplace(imtq::MCU_TEMPERATURE_WT, new PoolEntry<int16_t>({0}));
+
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(setNoTorque.getSid(), enableHkSets, 30.0));
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(setWithTorque.getSid(), enableHkSets, 30.0));
  return DeviceHandlerBase::initializeLocalDataPool(localDataPoolMap, poolManager);
 }
+
+LocalPoolDataSetBase *ImtqDummy::getDataSetHandle(sid_t sid) {
+  if (sid == setNoTorque.getSid()) {
+    return &setNoTorque;
+  } else if (sid == setWithTorque.getSid()) {
+    return &setWithTorque;
+  }
+  return nullptr;
+}
--- a/dummies/ImtqDummy.h
+++ b/dummies/ImtqDummy.h
@ -3,6 +3,8 @@

 #include <fsfw/devicehandlers/DeviceHandlerBase.h>

+#include "mission/acs/imtqHelpers.h"
+
 class ImtqDummy : public DeviceHandlerBase {
 public:
  static const DeviceCommandId_t SIMPLE_COMMAND = 1;
@ -11,10 +13,35 @@ class ImtqDummy : public DeviceHandlerBase {
  static const uint8_t SIMPLE_COMMAND_DATA = 1;
  static const uint8_t PERIODIC_REPLY_DATA = 2;

-  ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie,
+            power::Switch_t pwrSwitcher, bool enableHkSets);
  ~ImtqDummy() override;

 protected:
+  ReturnValue_t getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) override;
+  imtq::HkDatasetNoTorque setNoTorque;
+  imtq::HkDatasetWithTorque setWithTorque;
+  bool enableHkSets;
+
+  PoolEntry<uint8_t> statusMode = PoolEntry<uint8_t>({0});
+  PoolEntry<uint8_t> statusError = PoolEntry<uint8_t>({0});
+  PoolEntry<uint8_t> statusConfig = PoolEntry<uint8_t>({0});
+  PoolEntry<uint32_t> statusUptime = PoolEntry<uint32_t>({0});
+
+  PoolEntry<int32_t> mgmCalEntry = PoolEntry<int32_t>(3);
+  PoolEntry<int16_t> dipolesPoolEntry = PoolEntry<int16_t>({0, 0, 0}, false);
+  PoolEntry<uint16_t> torqueDurationEntry = PoolEntry<uint16_t>({0}, false);
+  PoolEntry<float> coilCurrentsMilliampsNoTorque = PoolEntry<float>(3);
+  PoolEntry<float> coilCurrentsMilliampsWithTorque = PoolEntry<float>(3);
+  PoolEntry<int16_t> coilTempsNoTorque = PoolEntry<int16_t>(3);
+  PoolEntry<int16_t> coilTempsWithTorque = PoolEntry<int16_t>(3);
+  PoolEntry<float> mtmRawNoTorque = PoolEntry<float>(3);
+  PoolEntry<uint8_t> actStatusNoTorque = PoolEntry<uint8_t>(1);
+  PoolEntry<float> mtmRawWithTorque = PoolEntry<float>(3);
+  PoolEntry<uint8_t> actStatusWithTorque = PoolEntry<uint8_t>(1);
+
+  power::Switch_t switcher = power::NO_SWITCH;
+
  void doStartUp() override;
  void doShutDown() override;
  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
@ -28,6 +55,7 @@ class ImtqDummy : public DeviceHandlerBase {
  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 /* DUMMIES_IMTQDUMMY_H_ */
--- a/dummies/helperFactory.cpp
+++ b/dummies/helperFactory.cpp
@ -42,7 +42,8 @@
 #include "mission/system/tree/payloadModeTree.h"
 #include "mission/tcs/defs.h"

-void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpioIF) {
+void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpioIF,
+                          bool enableHkSets) {
  new ComIFDummy(objects::DUMMY_COM_IF);
  auto* comCookieDummy = new ComCookieDummy();
  if (cfg.addBpxBattDummy) {
@ -74,13 +75,15 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
  }
  auto* imtqAssy = new ImtqAssembly(objects::IMTQ_ASSY);
  imtqAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
-  auto* imtqDummy = new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  auto* imtqDummy = new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy,
+                                  power::Switches::PDU1_CH3_MGT_5V, enableHkSets);
  imtqDummy->enableThermalModule(ThermalStateCfg());
+  imtqDummy->setPowerSwitcher(&pwrSwitcher);
  imtqDummy->connectModeTreeParent(*imtqAssy);
  if (cfg.addOnlyAcuDummy) {
-    new AcuDummy(objects::ACU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    new AcuDummy(objects::ACU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy, enableHkSets);
  } else if (cfg.addPowerDummies) {
-    new AcuDummy(objects::ACU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    new AcuDummy(objects::ACU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy, enableHkSets);
    new PduDummy(objects::PDU1_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
    new PduDummy(objects::PDU2_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
    new P60DockDummy(objects::P60DOCK_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
--- a/dummies/helperFactory.h
+++ b/dummies/helperFactory.h
@ -22,6 +22,6 @@ struct DummyCfg {
  bool addCamSwitcherDummy = true;
 };

-void createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch, GpioIF* gpioIF);
+void createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch, GpioIF* gpioIF, bool enableHkSets);

 }  // namespace dummy
--- a/mission/com/TmStoreTaskBase.cpp
+++ b/mission/com/TmStoreTaskBase.cpp
@ -94,13 +94,6 @@ void TmStoreTaskBase::cancelDump(DumpContext& ctx, PersistentTmStore& store, boo
 ReturnValue_t TmStoreTaskBase::handleOneDump(PersistentTmStoreWithTmQueue& store,
                                             DumpContext& dumpContext, bool& dumpPerformed) {
  ReturnValue_t result = returnvalue::OK;
-  // The PTME might have been reset an transmitter state change, so there is no point in continuing
-  // the dump.
-  // TODO: Will be solved in a cleaner way, this is kind of a hack.
-  if (not channel.isTxOn()) {
-    cancelDump(dumpContext, store, false);
-    return returnvalue::FAILED;
-  }
  // It is assumed that the PTME will only be locked for a short period (e.g. to change datarate).
  if (not channel.isBusy() and not ptmeLocked) {
    performDump(store, dumpContext, dumpPerformed);
@ -138,25 +131,22 @@ ReturnValue_t TmStoreTaskBase::performDump(PersistentTmStoreWithTmQueue& store,
  dumpContext.ptmeBusyCounter = 0;
  tmSinkBusyCd.resetTimer();
  ReturnValue_t result = store.getNextDumpPacket(tmReader, fileHasSwapped);
-  if (result != returnvalue::OK) {
-    sif::error << "PersistentTmStore: Getting next dump packet failed" << std::endl;
-  } else if (fileHasSwapped or result == PersistentTmStore::DUMP_DONE) {
+  if (fileHasSwapped and result == PersistentTmStore::DUMP_DONE) {
    // This can happen if a file is corrupted and the next file swap completes the dump.
    dumpDoneHandler();
    return returnvalue::OK;
+  } else if (result != returnvalue::OK) {
+    sif::error << "PersistentTmStore: Getting next dump packet failed" << std::endl;
+    return result;
  }
  dumpedLen = tmReader.getFullPacketLen();
-  // Only write to VC if mode is on, but always confirm the dump.
-  // If the mode is OFF, it is assumed the PTME is not usable and is not allowed to be written
-  // (e.g. to confirm a reset or the transmitter is off anyway).
-  if (mode == MODE_ON) {
-    result = channel.write(tmReader.getFullData(), dumpedLen);
-    if (result == DirectTmSinkIF::IS_BUSY) {
-      sif::warning << "PersistentTmStore: Unexpected VC channel busy" << std::endl;
-    } else if (result != returnvalue::OK) {
-      sif::warning << "PersistentTmStore: Unexpected VC channel write failure" << std::endl;
-    }
+  result = channel.write(tmReader.getFullData(), dumpedLen);
+  if (result == DirectTmSinkIF::IS_BUSY) {
+    sif::warning << "PersistentTmStore: Unexpected VC channel busy" << std::endl;
+  } else if (result != returnvalue::OK) {
+    sif::warning << "PersistentTmStore: Unexpected VC channel write failure" << std::endl;
  }
+
  result = store.confirmDump(tmReader, fileHasSwapped);
  if ((result == PersistentTmStore::DUMP_DONE or result == returnvalue::OK)) {
    dumpPerformed = true;
--- a/mission/com/VirtualChannel.cpp
+++ b/mission/com/VirtualChannel.cpp
@ -11,23 +11,14 @@ ReturnValue_t VirtualChannel::sendNextTm(const uint8_t* data, size_t size) {
 }

 ReturnValue_t VirtualChannel::write(const uint8_t* data, size_t size) {
-  if (txOn) {
-    return ptme.writeToVc(vcId, data, size);
-  }
-  return returnvalue::OK;
+  return ptme.writeToVc(vcId, data, size);
 }

 uint8_t VirtualChannel::getVcid() const { return vcId; }

 const char* VirtualChannel::getName() const { return vcName.c_str(); }

-bool VirtualChannel::isBusy() const {
-  // Data is discarded, so channel is not busy.
-  if (not txOn) {
-    return false;
-  }
-  return ptme.isBusy(vcId);
-}
+bool VirtualChannel::isBusy() const { return ptme.isBusy(vcId); }

 void VirtualChannel::cancelTransfer() { ptme.cancelTransfer(vcId); }

--- a/mission/controller/ThermalController.cpp
+++ b/mission/controller/ThermalController.cpp
@ -175,7 +175,7 @@ void ThermalController::performControlOperation() {
  heaterHandler.getAllSwitchStates(heaterSwitchStateArray);
  {
    PoolReadGuard pg(&heaterInfo);
-    std::memcpy(heaterInfo.heaterSwitchState.value, heaterStates.data(), 8);
+    std::memcpy(heaterInfo.heaterSwitchState.value, heaterSwitchStateArray.data(), 8);
    {
      PoolReadGuard pg2(&currentVecPdu2);
      if (pg.getReadResult() == returnvalue::OK and pg2.getReadResult() == returnvalue::OK) {
@ -1631,13 +1631,18 @@ bool ThermalController::selectAndReadSensorTemp(HeaterContext& htrCtx) {
 bool ThermalController::chooseHeater(heater::Switch& switchNr, heater::Switch redSwitchNr) {
  bool heaterAvailable = true;

-  if (heaterHandler.getHealth(switchNr) != HasHealthIF::HEALTHY) {
-    if (heaterHandler.getHealth(redSwitchNr) == HasHealthIF::HEALTHY) {
+  HasHealthIF::HealthState mainHealth = heaterHandler.getHealth(switchNr);
+  HasHealthIF::HealthState redHealth = heaterHandler.getHealth(redSwitchNr);
+  if (mainHealth != HasHealthIF::HEALTHY) {
+    if (redHealth == HasHealthIF::HEALTHY) {
      switchNr = redSwitchNr;
      redSwitchNrInUse = true;
    } else {
      heaterAvailable = false;
-      triggerEvent(tcsCtrl::NO_HEALTHY_HEATER_AVAILABLE, switchNr, redSwitchNr);
+      // Special case: Ground might command/do something with the heaters, so prevent spam.
+      if (not(mainHealth == EXTERNAL_CONTROL and redHealth == EXTERNAL_CONTROL)) {
+        triggerEvent(tcsCtrl::NO_HEALTHY_HEATER_AVAILABLE, switchNr, redSwitchNr);
+      }
    }
  } else {
    redSwitchNrInUse = false;
--- a/mission/controller/acs/AcsParameters.cpp
+++ b/mission/controller/acs/AcsParameters.cpp
@ -551,6 +551,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
        case 0xB:
          parameterWrapper->setVector(nadirModeControllerParameters.quatRef);
          break;
+        case 0xB:
+          parameterWrapper->setVector(nadirModeControllerParameters.refRotRate);
+          break;
        case 0xC:
          parameterWrapper->set(nadirModeControllerParameters.timeElapsedMax);
          break;
--- a/mission/controller/acs/ActuatorCmd.cpp
+++ b/mission/controller/acs/ActuatorCmd.cpp
@ -62,7 +62,7 @@ void ActuatorCmd::cmdDipoleMtq(const double *inverseAlignment, const double maxD
  // scaling along largest element if dipole exceeds maximum
  uint8_t maxIdx = 0;
  VectorOperations<double>::maxAbsValue(dipoleMomentActuatorDouble, 3, &maxIdx);
-  double maxAbsValue = abs(dipoleMomentActuatorDouble[maxIdx]);
+  double maxAbsValue = std::abs(dipoleMomentActuatorDouble[maxIdx]);
  if (maxAbsValue > maxDipole) {
    double scalingFactor = maxDipole / maxAbsValue;
    VectorOperations<double>::mulScalar(dipoleMomentActuatorDouble, scalingFactor,
--- a/mission/tcs/HeaterHandler.cpp
+++ b/mission/tcs/HeaterHandler.cpp
@ -268,6 +268,8 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switch heaterIdx) {
        triggerEvent(GPIO_PULL_HIGH_FAILED, result);
      } else {
        triggerEvent(HEATER_WENT_ON, heaterIdx, 0);
+        EventManagerIF::triggerEvent(helper.heaters[heaterIdx].first->getObjectId(), MODE_INFO,
+                                     MODE_ON, 0);
        {
          MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
          heater.switchState = ON;
@ -324,6 +326,8 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switch heaterIdx) {
        heater.switchState = OFF;
      }
      triggerEvent(HEATER_WENT_OFF, heaterIdx, 0);
+      EventManagerIF::triggerEvent(helper.heaters[heaterIdx].first->getObjectId(), MODE_INFO,
+                                   MODE_OFF, 0);
      // When all switches are off, also main line switch will be turned off
      if (allSwitchesOff()) {
        mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
--- a/mission/tmtc/PersistentTmStore.cpp
+++ b/mission/tmtc/PersistentTmStore.cpp
@ -256,6 +256,7 @@ ReturnValue_t PersistentTmStore::getNextDumpPacket(PusTmReader& reader, bool& fi
  if (state == State::IDLE or dumpParams.pendingPacketDump) {
    return returnvalue::FAILED;
  }
+  fileHasSwapped = false;
  reader.setReadOnlyData(fileBuf.data() + dumpParams.currentSize,
                         fileBuf.size() - dumpParams.currentSize);
  // CRC check to fully ensure this is a valid TM
@ -270,7 +271,6 @@ ReturnValue_t PersistentTmStore::getNextDumpPacket(PusTmReader& reader, bool& fi
    fileHasSwapped = true;
    return loadNextDumpFile();
  }
-  fileHasSwapped = false;
  dumpParams.pendingPacketDump = true;
  return returnvalue::OK;
 }
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 6ec0ce20fa98877c9f88acb5fe9129254291344b
+Subproject commit 6182369e4f40872c5c26e59be25d5fa79339176a