Merge pull request 'prep v8.2.0' (#907 ) from prep-release into main

Reviewed-on: #907
prep v8.2.0
2024-06-26 15:49:20 +02:00 · 2024-06-26 15:45:20 +02:00 · 2024-06-26 15:36:31 +02:00 · 2024-06-26 13:34:14 +02:00 · 2024-06-26 13:30:34 +02:00 · 2024-06-25 13:45:03 +02:00
48 changed files with 773 additions and 388 deletions
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -16,8 +16,84 @@ will consitute of a breaking change warranting a new major release:

 # [unreleased]

+# [v8.2.0] 2024-06-26
+
+## Changed
+
+- STR quaternions are now used by the `MEKF` by default
+- Changed nominal `SUS Assembly` side to `B Side`.
+- Changed source for state machine of detumbling to SUS and MGM only.
+- Changed `FusedRotRateData` dataset to always display rotation rate from SUS and MGM.
+- Solution from `QUEST` will be set to invalid if sun vector and magnetic field vector are too close
+  to each other.
+- Changed collection intervals of dataset collection
+  - `GPS Controller`: `GPS Set` to 60s
+  - `MTQ Handler`: `HK with Torque`, `HK without Torque` to 60s
+  - `RW Handler`: `Status Set` to 30s
+  - `STR Handler`: `Solution Set` to 30s
+  - `ACS Controller`: `MGM Sensor`, `MGM Processed`, `SUS Sensor`, `SUS Processed`, `GYR Sensor`,
+    `GPS Processed` to 60s
+  - `ACS Controller` at or below `IDLE`: `CTRL Values`, `ACT Commands`, `Attitude Estimation`,
+    `Fused Rotation Rate` to 30s
+  - `ACS Controller` above `IDLE`: `CTRL Values`, `ACT Commands`, `Attitude Estimation`,
+    `Fused Rotation Rate` to 10s
+
+## Fixed
+
+- Added null termination for PLOC MPSoC image taking command which could possibly lead to
+  default target filenames.
+
+# [v8.1.1] 2024-06-05
+
+## Added
+
+- PLOC SUPV MPSoC update re-try logic for the `WRITE_MEMORY` command. These packets form  > 98%
+  of all packets required for a software update, but the update mechanism is not tolerant against
+  occasional glitches on the RS485 communication to the PLOC SUPV. A simple re-try mechanism which
+  tries to re-attempt packet handling up to three times for those packets is introduced.
+
+# [v8.1.0] 2024-05-29
+
+## Fixed
+
+- Small fix for transition failure handling of the MPSoC when the `START_MPSOC` action command
+  to the supervisor fails.
+- Fixed inits of arrays within the `MEKF` not being zeros.
+- Important bugfix for PLOC SUPV: The SUPV previously was able to steal packets from the special
+  communication helper, for example during software updates.
+- Corrected sigma of STR for `MEKF`.
+
+## Added
+
+- Added new command to cancel the PLOC SUPV special communication helper.
+
+# [v8.0.0] 2024-05-13
+
+- `eive-tmtc` v7.0.0
+
+## Fixed
+
+- Fixed calculation for target rotation rate during pointing modes.
+- Possible fix for MPSoC file read algorithm.
+
+## Changed
+
+- Reworked MPSoC handler to be compatible to new MPSoC software image and use
+  new device handler base class. This should increase the reliability of the communication
+  significantly.
+- MPSoC device modes IDLE, SNAPSHOT and REPLAY are now modelled using submodes.
+- Commanding a submode the device is already in will not result in a completion failure
+  anymore.
+
+## Added
+
+- Added `VERIFY_BOOT` command for MPSoC.
+- New command for MPSoC to store camera image in chunks.
+
 # [v7.8.1] 2024-04-11

+## Fixed
+
 - Reverted fix for wrong order in quaternion multiplication for computation of the error quaternion.

 # [v7.8.0] 2024-04-10
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -10,7 +10,7 @@
 cmake_minimum_required(VERSION 3.13)

 set(OBSW_VERSION_MAJOR 8)
-set(OBSW_VERSION_MINOR 0)
+set(OBSW_VERSION_MINOR 2)
 set(OBSW_VERSION_REVISION 0)

 # set(CMAKE_VERBOSE TRUE)
--- a/bsp_hosted/fsfwconfig/events/translateEvents.cpp
+++ b/bsp_hosted/fsfwconfig/events/translateEvents.cpp
@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 324 translations.
+ * @brief    Auto-generated event translation file. Contains 325 translations.
 * @details
- * Generated on: 2024-04-17 11:22:10
+ * Generated on: 2024-05-06 13:47:38
 */
 #include "translateEvents.h"

@@ -142,6 +142,7 @@ const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUEN
 const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
 const char *SUPV_NOT_ON_STRING = "SUPV_NOT_ON";
 const char *SUPV_REPLY_TIMEOUT_STRING = "SUPV_REPLY_TIMEOUT";
+const char *CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING = "CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE";
 const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
 const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
 const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
@@ -606,6 +607,8 @@ const char *translateEvents(Event event) {
      return SUPV_NOT_ON_STRING;
    case (11608):
      return SUPV_REPLY_TIMEOUT_STRING;
+    case (11609):
+      return CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING;
    case (11701):
      return SELF_TEST_I2C_FAILURE_STRING;
    case (11702):
--- a/bsp_hosted/fsfwconfig/objects/translateObjects.cpp
+++ b/bsp_hosted/fsfwconfig/objects/translateObjects.cpp
@@ -2,7 +2,7 @@
 * @brief  Auto-generated object translation file.
 * @details
 * Contains 176 translations.
- * Generated on: 2024-04-17 11:22:10
+ * Generated on: 2024-05-06 13:47:38
 */
 #include "translateObjects.h"

--- a/bsp_q7s/objectFactory.cpp
+++ b/bsp_q7s/objectFactory.cpp
@@ -65,6 +65,7 @@
 #include "linux/payload/PlocMpsocSpecialComHelper.h"
 #include "linux/payload/SerialConfig.h"
 #include "mission/config/configfile.h"
+#include "mission/power/defs.h"
 #include "mission/system/acs/AcsBoardFdir.h"
 #include "mission/system/acs/AcsSubsystem.h"
 #include "mission/system/acs/RwAssembly.h"
@@ -72,7 +73,7 @@
 #include "mission/system/acs/acsModeTree.h"
 #include "mission/system/com/SyrlinksFdir.h"
 #include "mission/system/com/comModeTree.h"
-#include "mission/system/payloadModeTree.h"
+#include "mission/system/payload/payloadModeTree.h"
 #include "mission/system/power/GomspacePowerFdir.h"
 #include "mission/system/tcs/RtdFdir.h"
 #include "mission/system/tcs/TcsBoardAssembly.h"
@@ -635,9 +636,9 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
  auto specialComHelper =
      new PlocMpsocSpecialComHelper(objects::PLOC_MPSOC_HELPER, *mpsocCommunication);
  DhbConfig dhbConf(objects::PLOC_MPSOC_HANDLER);
-  auto* mpsocHandler = new FreshMpsocHandler(dhbConf, *mpsocCommunication, *specialComHelper,
-                                             Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF),
-                                             objects::PLOC_SUPERVISOR_HANDLER);
+  auto* mpsocHandler = new FreshMpsocHandler(
+      dhbConf, *mpsocCommunication, *specialComHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF),
+      objects::PLOC_SUPERVISOR_HANDLER, pwrSwitcher, power::PDU2_CH8_PAYLOAD_CAMERA);
  mpsocHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
 #endif /* OBSW_ADD_PLOC_MPSOC == 1 */
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
--- a/dummies/helperFactory.cpp
+++ b/dummies/helperFactory.cpp
@@ -40,7 +40,7 @@
 #include "mission/genericFactory.h"
 #include "mission/system/acs/acsModeTree.h"
 #include "mission/system/com/comModeTree.h"
-#include "mission/system/payloadModeTree.h"
+#include "mission/system/payload/payloadModeTree.h"
 #include "mission/system/tcs/tcsModeTree.h"
 #include "mission/tcs/defs.h"

--- a/2
+++ b/2
--- a/generators/bsp_hosted_events.csv
+++ b/generators/bsp_hosted_events.csv
@@ -135,7 +135,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11605;0x2d55;MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/payload/plocMpsocHelpers.h
 11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux/payload/plocMpsocHelpers.h
 11607;0x2d57;SUPV_NOT_ON;LOW;SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for ON transition.;linux/payload/plocMpsocHelpers.h
-11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;No description;linux/payload/plocMpsocHelpers.h
+11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;SUPV reply timeout.;linux/payload/plocMpsocHelpers.h
+11609;0x2d59;CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE;LOW;Camera must be commanded on first.;linux/payload/plocMpsocHelpers.h
 11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
 11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
 11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
--- a/generators/bsp_q7s_events.csv
+++ b/generators/bsp_q7s_events.csv
@@ -135,7 +135,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11605;0x2d55;MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/payload/plocMpsocHelpers.h
 11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux/payload/plocMpsocHelpers.h
 11607;0x2d57;SUPV_NOT_ON;LOW;SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for ON transition.;linux/payload/plocMpsocHelpers.h
-11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;No description;linux/payload/plocMpsocHelpers.h
+11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;SUPV reply timeout.;linux/payload/plocMpsocHelpers.h
+11609;0x2d59;CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE;LOW;Camera must be commanded on first.;linux/payload/plocMpsocHelpers.h
 11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
 11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
 11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
--- a/generators/events/translateEvents.cpp
+++ b/generators/events/translateEvents.cpp
@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 324 translations.
+ * @brief    Auto-generated event translation file. Contains 325 translations.
 * @details
- * Generated on: 2024-04-17 11:22:10
+ * Generated on: 2024-05-06 13:47:38
 */
 #include "translateEvents.h"

@@ -142,6 +142,7 @@ const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUEN
 const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
 const char *SUPV_NOT_ON_STRING = "SUPV_NOT_ON";
 const char *SUPV_REPLY_TIMEOUT_STRING = "SUPV_REPLY_TIMEOUT";
+const char *CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING = "CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE";
 const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
 const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
 const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
@@ -606,6 +607,8 @@ const char *translateEvents(Event event) {
      return SUPV_NOT_ON_STRING;
    case (11608):
      return SUPV_REPLY_TIMEOUT_STRING;
+    case (11609):
+      return CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING;
    case (11701):
      return SELF_TEST_I2C_FAILURE_STRING;
    case (11702):
--- a/generators/objects/translateObjects.cpp
+++ b/generators/objects/translateObjects.cpp
@@ -2,7 +2,7 @@
 * @brief  Auto-generated object translation file.
 * @details
 * Contains 180 translations.
- * Generated on: 2024-04-17 11:22:10
+ * Generated on: 2024-05-06 13:47:38
 */
 #include "translateObjects.h"

--- a/linux/ObjectFactory.cpp
+++ b/linux/ObjectFactory.cpp
@@ -26,7 +26,7 @@
 #include "devConf.h"
 #include "devices/gpioIds.h"
 #include "mission/system/acs/acsModeTree.h"
-#include "mission/system/payloadModeTree.h"
+#include "mission/system/payload/payloadModeTree.h"
 #include "mission/system/power/epsModeTree.h"

 void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF,
--- a/linux/acs/GpsHyperionLinuxController.cpp
+++ b/linux/acs/GpsHyperionLinuxController.cpp
@@ -100,7 +100,7 @@ ReturnValue_t GpsHyperionLinuxController::initializeLocalDataPool(
  localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
  localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>());
  localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
-  poolManager.subscribeForRegularPeriodicPacket({gpsSet.getSid(), enableHkSets, 30.0});
+  poolManager.subscribeForRegularPeriodicPacket({gpsSet.getSid(), enableHkSets, 60.0});
  localDataPoolMap.emplace(GpsHyperion::SKYVIEW_UNIX_SECONDS, new PoolEntry<double>());
  localDataPoolMap.emplace(GpsHyperion::PRN_ID, new PoolEntry<int16_t>());
  localDataPoolMap.emplace(GpsHyperion::AZIMUTH, new PoolEntry<int16_t>());
--- a/linux/fsfwconfig/events/translateEvents.cpp
+++ b/linux/fsfwconfig/events/translateEvents.cpp
@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 324 translations.
+ * @brief    Auto-generated event translation file. Contains 325 translations.
 * @details
- * Generated on: 2024-04-17 11:22:10
+ * Generated on: 2024-05-06 13:47:38
 */
 #include "translateEvents.h"

@@ -142,6 +142,7 @@ const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUEN
 const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
 const char *SUPV_NOT_ON_STRING = "SUPV_NOT_ON";
 const char *SUPV_REPLY_TIMEOUT_STRING = "SUPV_REPLY_TIMEOUT";
+const char *CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING = "CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE";
 const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
 const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
 const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
@@ -606,6 +607,8 @@ const char *translateEvents(Event event) {
      return SUPV_NOT_ON_STRING;
    case (11608):
      return SUPV_REPLY_TIMEOUT_STRING;
+    case (11609):
+      return CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING;
    case (11701):
      return SELF_TEST_I2C_FAILURE_STRING;
    case (11702):
--- a/linux/fsfwconfig/objects/translateObjects.cpp
+++ b/linux/fsfwconfig/objects/translateObjects.cpp
@@ -2,7 +2,7 @@
 * @brief  Auto-generated object translation file.
 * @details
 * Contains 180 translations.
- * Generated on: 2024-04-17 11:22:10
+ * Generated on: 2024-05-06 13:47:38
 */
 #include "translateObjects.h"

--- a/linux/payload/FreshMpsocHandler.cpp
+++ b/linux/payload/FreshMpsocHandler.cpp
@@ -8,22 +8,29 @@
 #include "fsfw/devicehandlers/FreshDeviceHandlerBase.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/QueueFactory.h"
+#include "fsfw/ipc/messageQueueDefinitions.h"
+#include "fsfw/power/PowerSwitchIF.h"
+#include "fsfw/power/definitions.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/serialize/SerializeAdapter.h"
 #include "linux/payload/MpsocCommunication.h"
 #include "linux/payload/plocMpsocHelpers.h"
 #include "linux/payload/plocSupvDefs.h"
+#include "mission/power/gsDefs.h"

 FreshMpsocHandler::FreshMpsocHandler(DhbConfig cfg, MpsocCommunication& comInterface,
                                     PlocMpsocSpecialComHelper& specialComHelper,
-                                     Gpio uartIsolatorSwitch, object_id_t supervisorHandler)
+                                     Gpio uartIsolatorSwitch, object_id_t supervisorHandler,
+                                     PowerSwitchIF& powerSwitcher, power::Switch_t camSwitchId)
    : FreshDeviceHandlerBase(cfg),
      comInterface(comInterface),
      specialComHelper(specialComHelper),
      commandActionHelper(this),
      uartIsolatorSwitch(uartIsolatorSwitch),
      hkReport(this),
-      supervisorHandler(supervisorHandler) {
+      supervisorHandler(supervisorHandler),
+      powerSwitcher(powerSwitcher),
+      camSwitchId(camSwitchId) {
  commandActionHelperQueue = QueueFactory::instance()->createMessageQueue(10);
  eventQueue = QueueFactory::instance()->createMessageQueue(10);
  spParams.maxSize = sizeof(commandBuffer);
@@ -38,7 +45,7 @@ void FreshMpsocHandler::performDeviceOperation(uint8_t opCode) {

  if (opCode == OpCode::DEFAULT_OPERATION) {
    performDefaultDeviceOperation();
-  } else if (opCode == OpCode::PARSE_TM) {
+  } else if (opCode == OpCode::PARSE_TM and not specialComHelperExecuting) {
    // Just need to call this once, this should take care of processing the whole received
    // Linux UART RX buffer.
    comInterface.readSerialInterface();
@@ -77,8 +84,13 @@ void FreshMpsocHandler::performDefaultDeviceOperation() {
    }
  }

-  if (mode == MODE_NORMAL and not activeCmdInfo.pending) {
-    // TODO: Take care of regular periodic commanding here.
+  // We checked the action queue beforehand, so action commands should always be performed
+  // before normal commands.
+  if (mode == MODE_NORMAL and not activeCmdInfo.pending and not specialComHelperExecuting) {
+    ReturnValue_t result = commandTcGetHkReport();
+    if (result == returnvalue::OK) {
+      commandInitHandling(mpsoc::TC_GET_HK_REPORT, MessageQueueIF::NO_QUEUE);
+    }
  }

  if (activeCmdInfo.pending and activeCmdInfo.cmdCountdown.hasTimedOut()) {
@@ -153,7 +165,6 @@ ReturnValue_t FreshMpsocHandler::initialize() {
    return ObjectManagerIF::CHILD_INIT_FAILED;
  }

-  specialComHelper.setSequenceCount(&commandSequenceCount);
  result = commandActionHelper.initialize();
  if (result != returnvalue::OK) {
    return ObjectManagerIF::CHILD_INIT_FAILED;
@@ -225,6 +236,11 @@ ReturnValue_t FreshMpsocHandler::checkModeCommand(Mode_t mode, Submode_t submode
      return HasModesIF::INVALID_SUBMODE;
    }
  }
+  if (submode == mpsoc::Submode::SNAPSHOT and
+      powerSwitcher.getSwitchState(camSwitchId) != PowerSwitchIF::SWITCH_ON) {
+    triggerEvent(mpsoc::CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE);
+    return HasModesIF::TRANS_NOT_ALLOWED;
+  }
  *msToReachTheMode = MPSOC_MODE_CMD_TIMEOUT_MS;
  return returnvalue::OK;
 }
@@ -265,11 +281,11 @@ ReturnValue_t FreshMpsocHandler::executeAction(ActionId_t actionId, MessageQueue
        return result;
      }
      result = specialComHelper.startFlashWrite(flashWritePusCmd.getObcFile(),
-                                                flashWritePusCmd.getMPSoCFile());
+                                                flashWritePusCmd.getMpsocFile());
      if (result != returnvalue::OK) {
        return result;
      }
-      specialComHelperExecuting = true;
+      commonSpecialComInit();
      return EXECUTION_FINISHED;
    }
    case mpsoc::TC_FLASH_READ_FULL_FILE: {
@@ -279,12 +295,15 @@ ReturnValue_t FreshMpsocHandler::executeAction(ActionId_t actionId, MessageQueue
        return result;
      }
      result = specialComHelper.startFlashRead(flashReadPusCmd.getObcFile(),
-                                               flashReadPusCmd.getMPSoCFile(),
+                                               flashReadPusCmd.getMpsocFile(),
                                               flashReadPusCmd.getReadSize());
      if (result != returnvalue::OK) {
        return result;
      }
-      specialComHelperExecuting = true;
+      sif::info << "PLOC MPSoC: Reading " << flashReadPusCmd.getMpsocFile() << " with size "
+                << flashReadPusCmd.getReadSize() << " to " << flashReadPusCmd.getObcFile()
+                << std::endl;
+      commonSpecialComInit();
      return EXECUTION_FINISHED;
    }
    case (mpsoc::OBSW_RESET_SEQ_COUNT_LEGACY): {
@@ -294,12 +313,15 @@ ReturnValue_t FreshMpsocHandler::executeAction(ActionId_t actionId, MessageQueue
    default:
      break;
  }
-  // For longer commands, do not set these.
-  // TODO: Do all the stuff the form buildDeviceFromDevice blah did.
  executeRegularCmd(actionId, commandedBy, data, size);
  return returnvalue::OK;
 }

+void FreshMpsocHandler::commonSpecialComInit() {
+  specialComHelperExecuting = true;
+  specialComHelper.setCommandSequenceCount(commandSequenceCount.get());
+}
+
 /**
 * @overload
 * @param submode
@@ -315,6 +337,10 @@ void FreshMpsocHandler::startTransition(Mode_t newMode, Submode_t submode) {
  } else if ((newMode == MODE_ON or newMode == MODE_NORMAL) &&
             ((mode == MODE_OFF) or (mode == MODE_UNDEFINED))) {
    transitionState = TransitionState::TO_ON;
+  } else if (mode == MODE_ON && newMode == MODE_NORMAL) {
+    hkReport.setReportingEnabled(true);
+  } else if (mode == MODE_NORMAL && newMode == MODE_ON) {
+    hkReport.setReportingEnabled(false);
  } else if (newMode == MODE_OFF) {
    transitionState = TransitionState::TO_OFF;
  }
@@ -350,7 +376,9 @@ void FreshMpsocHandler::handleTransitionToOn() {
  if (startupState == StartupState::DONE) {
    setMode(targetMode, targetSubmode);
    transitionState = TransitionState::NONE;
+    if (targetMode == MODE_NORMAL) {
      hkReport.setReportingEnabled(true);
+    }
    powerState = PowerState::IDLE;
    startupState = StartupState::IDLE;
  }
@@ -359,7 +387,7 @@ void FreshMpsocHandler::handleTransitionToOn() {
 void FreshMpsocHandler::handleTransitionToOff() {
  if (handleHwShutdown()) {
    hkReport.setReportingEnabled(false);
-    setMode(MODE_OFF);
+    setMode(MODE_OFF, 0);
    transitionState = TransitionState::NONE;
    activeCmdInfo.reset();
    powerState = PowerState::IDLE;
@@ -428,7 +456,7 @@ void FreshMpsocHandler::handleActionCommandFailure(ActionId_t actionId, ReturnVa
      if (actionId != supv::START_MPSOC) {
        return;
      }
-      sif::info << "PlocMPSoCHandler::handleActionCommandFailure: MPSoC boot command failed"
+      sif::info << "FreshMpsocHandler::handleActionCommandFailure: MPSoC boot command failed"
                << std::endl;
      // This is commonly the case when the MPSoC is already operational. Thus the power state is
      // set to on here
@@ -476,6 +504,23 @@ ReturnValue_t FreshMpsocHandler::executeRegularCmd(ActionId_t actionId,
      result = commandTcMemRead(commandData, commandDataLen);
      break;
    }
+    case (mpsoc::TC_FLASHFOPEN): {
+      mpsoc::TcFlashFopen cmd(spParams, commandSequenceCount);
+      // C string constructor.
+      std::string filename = std::string(reinterpret_cast<const char*>(commandData));
+      if (filename.size() > mpsoc::MAX_FILENAME_SIZE) {
+        return mpsoc::NAME_TOO_LONG;
+      }
+      uint8_t mode = commandData[filename.size() + 2];
+      cmd.setPayload(filename, mode);
+      result = finishAndSendTc(actionId, cmd);
+      break;
+    }
+    case (mpsoc::TC_FLASHFCLOSE): {
+      mpsoc::TcFlashFclose cmd(spParams, commandSequenceCount);
+      result = finishAndSendTc(actionId, cmd);
+      break;
+    }
    case (mpsoc::TC_FLASHDELETE): {
      result = commandTcFlashDelete(commandData, commandDataLen);
      break;
@@ -500,6 +545,28 @@ ReturnValue_t FreshMpsocHandler::executeRegularCmd(ActionId_t actionId,
      result = commandTcReplayWriteSequence(commandData, commandDataLen);
      break;
    }
+    case (mpsoc::TC_ENABLE_TC_EXECTION): {
+      mpsoc::TcEnableTcExec cmd(spParams, commandSequenceCount);
+      result = cmd.setPayload(commandData, commandDataLen);
+      if (result != returnvalue::OK) {
+        return result;
+      }
+      result = finishAndSendTc(actionId, cmd);
+      break;
+    }
+    case (mpsoc::TC_FLASH_MKFS): {
+      if (commandDataLen != 1) {
+        return HasActionsIF::INVALID_PARAMETERS;
+      }
+      if (commandData[0] != mpsoc::FlashId::FLASH_0 && commandData[1] != mpsoc::FlashId::FLASH_1) {
+        return HasActionsIF::INVALID_PARAMETERS;
+      }
+      mpsoc::TcFlashMkfs cmd(spParams, commandSequenceCount,
+                             static_cast<mpsoc::FlashId>(commandData[0]));
+      sif::info << "PLOC MPSoC: Formatting Flash " << (int)commandData[0] << std::endl;
+      result = finishAndSendTc(actionId, cmd, mpsoc::CMD_TIMEOUT_MKFS);
+      break;
+    }
    case (mpsoc::TC_GET_HK_REPORT): {
      result = commandTcGetHkReport();
      break;
@@ -517,9 +584,16 @@ ReturnValue_t FreshMpsocHandler::executeRegularCmd(ActionId_t actionId,
      break;
    }
    case (mpsoc::TC_SIMPLEX_STREAM_FILE): {
+      if (submode != mpsoc::Submode::SNAPSHOT) {
+        return HasModesIF::INVALID_SUBMODE;
+      }
      result = commandTcSimplexStreamFile(commandData, commandDataLen);
      break;
    }
+    case (mpsoc::TC_SPLIT_FILE): {
+      result = commandTcSplitFile(commandData, commandDataLen);
+      break;
+    }
    case (mpsoc::TC_DOWNLINK_DATA_MODULATE): {
      result = commandTcDownlinkDataModulate(commandData, commandDataLen);
      break;
@@ -532,6 +606,13 @@ ReturnValue_t FreshMpsocHandler::executeRegularCmd(ActionId_t actionId,
  }

  if (result == returnvalue::OK) {
+    commandInitHandling(actionId, commandedBy);
+  }
+
+  return result;
+}
+
+void FreshMpsocHandler::commandInitHandling(ActionId_t actionId, MessageQueueId_t commandedBy) {
  activeCmdInfo.start(actionId, commandedBy);
  /**
   * Flushing the receive buffer to make sure there are no data left from a faulty reply.
@@ -539,9 +620,6 @@ ReturnValue_t FreshMpsocHandler::executeRegularCmd(ActionId_t actionId,
  comInterface.getComHelper().flushUartRxBuffer();
 }

-  return result;
-}
-
 ReturnValue_t FreshMpsocHandler::commandTcMemWrite(const uint8_t* commandData,
                                                   size_t commandDataLen) {
  ReturnValue_t result = returnvalue::OK;
@@ -569,7 +647,7 @@ ReturnValue_t FreshMpsocHandler::commandTcMemRead(const uint8_t* commandData,

 ReturnValue_t FreshMpsocHandler::commandTcFlashDelete(const uint8_t* commandData,
                                                      size_t commandDataLen) {
-  if (commandDataLen > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) {
+  if (commandDataLen > mpsoc::FILENAME_FIELD_SIZE) {
    return mpsoc::NAME_TOO_LONG;
  }
  ReturnValue_t result = returnvalue::OK;
@@ -666,6 +744,15 @@ ReturnValue_t FreshMpsocHandler::commandTcCamTakePic(const uint8_t* commandData,
  if (result != returnvalue::OK) {
    return result;
  }
+  sif::info << "PLOC MPSoC Take Picture Command" << std::endl;
+  sif::info << "filename: " << tcCamTakePic.fileName << std::endl;
+  sif::info << "encoder [Y, Cb, Cr]: [" << (int)tcCamTakePic.encoderSettingY << ", "
+            << (int)tcCamTakePic.encoderSettingsCb << ", " << (int)tcCamTakePic.encoderSettingsCr
+            << "]" << std::endl;
+  sif::info << "quantization [Y, Cb, Cr]: [" << tcCamTakePic.quantizationY << ", "
+            << tcCamTakePic.quantizationCb << ", " << tcCamTakePic.quantizationCr << "]"
+            << std::endl;
+  sif::info << "bypass compressor: " << (int)tcCamTakePic.bypassCompressor << std::endl;
  finishAndSendTc(mpsoc::TC_CAM_TAKE_PIC, tcCamTakePic);
  return returnvalue::OK;
 }
@@ -681,14 +768,14 @@ ReturnValue_t FreshMpsocHandler::commandTcSimplexStreamFile(const uint8_t* comma
  return returnvalue::OK;
 }

-ReturnValue_t FreshMpsocHandler::commandTcSimplexStoreFile(const uint8_t* commandData,
+ReturnValue_t FreshMpsocHandler::commandTcSplitFile(const uint8_t* commandData,
                                                    size_t commandDataLen) {
-  mpsoc::TcSimplexStoreFile tcSimplexStoreFile(spParams, commandSequenceCount);
-  ReturnValue_t result = tcSimplexStoreFile.setPayload(commandData, commandDataLen);
+  mpsoc::TcSplitFile tcSplitFile(spParams, commandSequenceCount);
+  ReturnValue_t result = tcSplitFile.setPayload(commandData, commandDataLen);
  if (result != returnvalue::OK) {
    return result;
  }
-  finishAndSendTc(mpsoc::TC_SIMPLEX_STORE_FILE, tcSimplexStoreFile);
+  finishAndSendTc(mpsoc::TC_SPLIT_FILE, tcSplitFile);
  return returnvalue::OK;
 }

@@ -720,19 +807,21 @@ ReturnValue_t FreshMpsocHandler::commandTcModeSnapshot() {
  return returnvalue::OK;
 }

-ReturnValue_t FreshMpsocHandler::finishAndSendTc(DeviceCommandId_t cmdId, mpsoc::TcBase& tcBase) {
+ReturnValue_t FreshMpsocHandler::finishAndSendTc(DeviceCommandId_t cmdId, mpsoc::TcBase& tcBase,
+                                                 uint32_t cmdCountdownMs) {
+  // Emit warning but still send command.
+  if (specialComHelperExecuting) {
+    sif::warning << "PLOC MPSoC: Sending command even though special COM helper is executing"
+                 << std::endl;
+  }
  ReturnValue_t result = tcBase.finishPacket();
  if (result != returnvalue::OK) {
    return result;
  }
-  // TODO: We should find a way so this works with the old implementation.
  commandSequenceCount++;

-  if (MPSOC_TX_WIRETAPPING) {
-    sif::debug << "SEND MPSOC packet. APID 0x" << std::hex << std::setw(3) << tcBase.getApid()
-               << " Size " << std::dec << tcBase.getFullPacketLen() << " SSC "
-               << tcBase.getSeqCount() << std::endl;
-  }
+  mpsoc::printTxPacket(tcBase);
+  activeCmdInfo.cmdCountdown.setTimeout(cmdCountdownMs);
  activeCmdInfo.cmdCountdown.resetTimer();
  activeCmdInfo.pending = true;
  activeCmdInfo.pendingCmd = cmdId;
@@ -741,11 +830,10 @@ ReturnValue_t FreshMpsocHandler::finishAndSendTc(DeviceCommandId_t cmdId, mpsoc:
 }

 void FreshMpsocHandler::handleEvent(EventMessage* eventMessage) {
-  // TODO: Shouldn't we check for specific events?
  object_id_t objectId = eventMessage->getReporter();
  switch (objectId) {
-    case objects::PLOC_MPSOC_HANDLER: {
-      specialComHelperExecuting = false;
+    case objects::PLOC_MPSOC_HELPER: {
+      commonSpecialComStop();
      break;
    }
    default:
@@ -753,6 +841,10 @@ void FreshMpsocHandler::handleEvent(EventMessage* eventMessage) {
      break;
  }
 }
+void FreshMpsocHandler::commonSpecialComStop() {
+  specialComHelperExecuting = false;
+  commandSequenceCount.set(specialComHelper.getCommandSequenceCount());
+}

 void FreshMpsocHandler::cmdDoneHandler(bool success, ReturnValue_t result) {
  if (transitionState == TransitionState::SUBMODE) {
@@ -773,17 +865,11 @@ void FreshMpsocHandler::cmdDoneHandler(bool success, ReturnValue_t result) {
 ReturnValue_t FreshMpsocHandler::handleDeviceReply() {
  ReturnValue_t result = returnvalue::OK;

-  // SpacePacketReader spacePacket;
-  // spacePacket.setReadOnlyData(start, remainingSize);
-  auto& replyReader = comInterface.getSpReader();
+  const auto& replyReader = comInterface.getSpReader();
  if (replyReader.isNull()) {
    return returnvalue::FAILED;
  }
-  if (MPSOC_RX_WIRETAPPING) {
-    sif::debug << "RECV MPSOC packet. APID 0x" << std::hex << std::setw(3) << replyReader.getApid()
-               << std::dec << " Size " << replyReader.getFullPacketLen() << " SSC "
-               << replyReader.getSequenceCount() << std::endl;
-  }
+  mpsoc::printRxPacket(replyReader);
  uint16_t apid = replyReader.getApid();

  switch (apid) {
@@ -830,15 +916,14 @@ ReturnValue_t FreshMpsocHandler::handleDeviceReply() {
    default: {
      sif::debug << "FreshMpsocHandler:: Reply has invalid APID 0x" << std::hex << std::setfill('0')
                 << std::setw(2) << apid << std::dec << std::endl;
-      //*foundLen = remainingSize;
      return mpsoc::INVALID_APID;
    }
  }

-  // TODO: We should implement some way so this can also be used with the former implementation.
  uint16_t sequenceCount = replyReader.getSequenceCount();
  if (sequenceCount != lastReplySequenceCount + 1) {
-    // TODO: Trigger event for possible missing reply packet to inform operator.
+    // We could trigger event for possible missing reply packet to inform operator, but I don't
+    // think this is properly implemented and used on the MPSoC side anymore.
  }
  lastReplySequenceCount = sequenceCount;

@@ -893,7 +978,6 @@ ReturnValue_t FreshMpsocHandler::handleAckReport() {

  switch (replyReader.getApid()) {
    case mpsoc::apid::ACK_FAILURE: {
-      // DeviceCommandId_t commandId = getPendingCommand();
      uint16_t status = mpsoc::getStatusFromRawData(replyReader.getFullData());
      sif::warning << "MPSoC ACK Failure: " << mpsoc::getStatusString(status) << std::endl;
      triggerEvent(mpsoc::ACK_FAILURE, activeCmdInfo.pendingCmd, status);
@@ -1140,6 +1224,7 @@ bool FreshMpsocHandler::handleHwStartup() {
  if (powerState == PowerState::SUPV_FAILED) {
    setMode(MODE_OFF);
    powerState = PowerState::IDLE;
+    transitionState = TransitionState::NONE;
    return false;
  }
  if (powerState == PowerState::PENDING_STARTUP) {
@@ -1177,7 +1262,9 @@ bool FreshMpsocHandler::handleHwShutdown() {
      supvTransitionCd.resetTimer();
      powerState = PowerState::PENDING_SHUTDOWN;
    } else {
+      if ((this->mode != MODE_OFF) and (this->mode != MODE_UNDEFINED)) {
        triggerEvent(mpsoc::SUPV_NOT_ON, 0);
+      }
      powerState = PowerState::DONE;
    }
  }
--- a/linux/payload/FreshMpsocHandler.h
+++ b/linux/payload/FreshMpsocHandler.h
@@ -1,3 +1,4 @@
+#include "fsfw/action/ActionMessage.h"
 #include "fsfw/action/CommandsActionsIF.h"
 #include "fsfw/devicehandlers/DeviceHandlerIF.h"
 #include "fsfw/devicehandlers/FreshDeviceHandlerBase.h"
@@ -5,15 +6,14 @@
 #include "fsfw/ipc/messageQueueDefinitions.h"
 #include "fsfw/modes/ModeMessage.h"
 #include "fsfw/objectmanager/SystemObjectIF.h"
+#include "fsfw/power/PowerSwitchIF.h"
+#include "fsfw/power/definitions.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw_hal/linux/gpio/Gpio.h"
 #include "linux/payload/MpsocCommunication.h"
 #include "linux/payload/PlocMpsocSpecialComHelper.h"
 #include "linux/payload/plocMpsocHelpers.h"

-static constexpr bool MPSOC_TX_WIRETAPPING = true;
-static constexpr bool MPSOC_RX_WIRETAPPING = true;
-
 class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsIF {
 public:
  enum OpCode { DEFAULT_OPERATION = 0, PARSE_TM = 1 };
@@ -21,7 +21,8 @@ class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsI

  FreshMpsocHandler(DhbConfig cfg, MpsocCommunication& comInterface,
                    PlocMpsocSpecialComHelper& specialComHelper, Gpio uartIsolatorSwitch,
-                    object_id_t supervisorHandler);
+                    object_id_t supervisorHandler, PowerSwitchIF& powerSwitcher,
+                    power::Switch_t camSwitchId);

  /**
   * Periodic helper executed function, implemented by child class.
@@ -97,7 +98,7 @@ class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsI
  bool specialComHelperExecuting = false;

  struct ActionCommandInfo {
-    Countdown cmdCountdown = Countdown(5000);
+    Countdown cmdCountdown = Countdown(mpsoc::DEFAULT_CMD_TIMEOUT_MS);
    bool pending = false;
    MessageQueueId_t commandedBy = MessageQueueIF::NO_QUEUE;
    DeviceCommandId_t pendingCmd = DeviceHandlerIF::NO_COMMAND_ID;
@@ -131,6 +132,8 @@ class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsI
  TmMemReadReport tmMemReadReport;
  uint32_t lastReplySequenceCount = 0;
  uint8_t skipSupvCommandingToOn = false;
+  PowerSwitchIF& powerSwitcher;
+  power::Switch_t camSwitchId;

  // HK manager abstract functions.
  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
@@ -184,11 +187,12 @@ class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsI
  ReturnValue_t commandTcModeIdle();
  ReturnValue_t commandTcCamTakePic(const uint8_t* commandData, size_t commandDataLen);
  ReturnValue_t commandTcSimplexStreamFile(const uint8_t* commandData, size_t commandDataLen);
-  ReturnValue_t commandTcSimplexStoreFile(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t commandTcSplitFile(const uint8_t* commandData, size_t commandDataLen);
  ReturnValue_t commandTcDownlinkDataModulate(const uint8_t* commandData, size_t commandDataLen);
  ReturnValue_t commandTcModeSnapshot();

-  ReturnValue_t finishAndSendTc(DeviceCommandId_t cmdId, mpsoc::TcBase& tcBase);
+  ReturnValue_t finishAndSendTc(DeviceCommandId_t cmdId, mpsoc::TcBase& tcBase,
+                                uint32_t cmdCountdown = mpsoc::DEFAULT_CMD_TIMEOUT_MS);
  void handleEvent(EventMessage* eventMessage);
  void cmdDoneHandler(bool success, ReturnValue_t result);
  ReturnValue_t handleDeviceReply();
@@ -202,4 +206,7 @@ class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsI

  void stopSpecialComHelper();
  void commandSubmodeTransition();
+  void commonSpecialComInit();
+  void commonSpecialComStop();
+  void commandInitHandling(ActionId_t actionId, MessageQueueId_t commandedBy);
 };
--- a/linux/payload/FreshSupvHandler.cpp
+++ b/linux/payload/FreshSupvHandler.cpp
@@ -241,6 +241,10 @@ ReturnValue_t FreshSupvHandler::executeAction(ActionId_t actionId, MessageQueueI
      uartManager->initiateUpdateContinuation();
      return EXECUTION_FINISHED;
    }
+    case ABORT_LONGER_REQUEST: {
+      uartManager->stop();
+      return EXECUTION_FINISHED;
+    }
    case MEMORY_CHECK_WITH_FILE: {
      UpdateParams params;
      result = extractBaseParams(&data, size, params);
@@ -849,6 +853,10 @@ ReturnValue_t FreshSupvHandler::prepareWipeMramCmd(const uint8_t* commandData, s
 ReturnValue_t FreshSupvHandler::parseTmPackets() {
  uint8_t* receivedData = nullptr;
  size_t receivedSize = 0;
+  // We do not want to steal packets from the long request handler.
+  if (uartManager->longerRequestActive()) {
+    return returnvalue::OK;
+  }
  while (true) {
    ReturnValue_t result =
        uartManager->readReceivedMessage(comCookie, &receivedData, &receivedSize);
--- a/linux/payload/MpsocCommunication.cpp
+++ b/linux/payload/MpsocCommunication.cpp
@@ -13,6 +13,9 @@ MpsocCommunication::MpsocCommunication(object_id_t objectId, SerialConfig cfg)
 ReturnValue_t MpsocCommunication::initialize() { return helper.initialize(); }

 ReturnValue_t MpsocCommunication::send(const uint8_t* data, size_t dataLen) {
+  if (MPSOC_LOW_LEVEL_TX_WIRETAPPING) {
+    sif::debug << "SEND MPSOC packet with size " << dataLen << std::endl;
+  }
  return helper.send(data, dataLen);
 }

@@ -27,7 +30,7 @@ ReturnValue_t MpsocCommunication::parseAndRetrieveNextPacket() {
    return returnvalue::OK;
  }
  readRingBuf.readData(readBuf, availableReadData);
-  spReader.setReadOnlyData(readBuf, availableReadData);
+  spReader.setReadOnlyData(readBuf, sizeof(readBuf));
  auto res = spReader.checkSize();
  if (res != returnvalue::OK) {
    return res;
--- a/linux/payload/MpsocCommunication.h
+++ b/linux/payload/MpsocCommunication.h
@@ -9,7 +9,8 @@
 #include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
 #include "linux/payload/SerialCommunicationHelper.h"

-static constexpr bool MPSOC_LOW_LEVEL_RX_WIRETAPPING = true;
+static constexpr bool MPSOC_LOW_LEVEL_TX_WIRETAPPING = false;
+static constexpr bool MPSOC_LOW_LEVEL_RX_WIRETAPPING = false;

 class MpsocCommunication : public SystemObject {
 public:
--- a/linux/payload/PlocMpsocSpecialComHelper.cpp
+++ b/linux/payload/PlocMpsocSpecialComHelper.cpp
@@ -6,14 +6,16 @@
 #include <filesystem>
 #include <fstream>

+#include "fsfw/serviceinterface/ServiceInterfacePrinter.h"
+#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
+#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
 #include "linux/payload/MpsocCommunication.h"
+#include "linux/payload/plocMpsocHelpers.h"

 #ifdef XIPHOS_Q7S
 #include "bsp_q7s/fs/FilesystemHelper.h"
 #endif

-#include "mission/utility/Timestamp.h"
-
 using namespace ploc;

 PlocMpsocSpecialComHelper::PlocMpsocSpecialComHelper(object_id_t objectId,
@@ -51,9 +53,9 @@ ReturnValue_t PlocMpsocSpecialComHelper::performOperation(uint8_t operationCode)
      case InternalState::FLASH_WRITE: {
        result = performFlashWrite();
        if (result == returnvalue::OK) {
-          triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL, sequenceCount->get());
+          triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL, txSequenceCount.get());
        } else {
-          triggerEvent(MPSOC_FLASH_WRITE_FAILED, sequenceCount->get());
+          triggerEvent(MPSOC_FLASH_WRITE_FAILED, txSequenceCount.get());
        }
        internalState = InternalState::IDLE;
        break;
@@ -61,9 +63,10 @@ ReturnValue_t PlocMpsocSpecialComHelper::performOperation(uint8_t operationCode)
      case InternalState::FLASH_READ: {
        result = performFlashRead();
        if (result == returnvalue::OK) {
-          triggerEvent(MPSOC_FLASH_READ_SUCCESSFUL, sequenceCount->get());
+          triggerEvent(MPSOC_FLASH_READ_SUCCESSFUL, txSequenceCount.get());
        } else {
-          triggerEvent(MPSOC_FLASH_READ_FAILED, sequenceCount->get());
+          sif::printWarning("PLOC MPSoC Helper: Flash read failed with code %04x\n", result);
+          triggerEvent(MPSOC_FLASH_READ_FAILED, txSequenceCount.get(), result);
        }
        internalState = InternalState::IDLE;
        break;
@@ -75,8 +78,12 @@ ReturnValue_t PlocMpsocSpecialComHelper::performOperation(uint8_t operationCode)
  }
 }

-void PlocMpsocSpecialComHelper::setSequenceCount(SourceSequenceCounter* sequenceCount_) {
-  sequenceCount = sequenceCount_;
+void PlocMpsocSpecialComHelper::setCommandSequenceCount(uint16_t sequenceCount_) {
+  txSequenceCount.set(sequenceCount_);
+}
+
+uint16_t PlocMpsocSpecialComHelper::getCommandSequenceCount() const {
+  return txSequenceCount.get();
 }

 ReturnValue_t PlocMpsocSpecialComHelper::startFlashWrite(std::string obcFile,
@@ -148,7 +155,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashWrite() {
    file.read(reinterpret_cast<char*>(fileBuf.data()), dataLength);
    bytesRead += dataLength;
    remainingSize -= dataLength;
-    mpsoc::TcFlashWrite tc(spParams, *sequenceCount);
+    mpsoc::TcFlashWrite tc(spParams, txSequenceCount);
    result = tc.setPayload(fileBuf.data(), dataLength);
    if (result != returnvalue::OK) {
      return result;
@@ -157,7 +164,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashWrite() {
    if (result != returnvalue::OK) {
      return result;
    }
-    (*sequenceCount)++;
+    txSequenceCount.increment();
    result = handlePacketTransmissionNoReply(tc);
    if (result != returnvalue::OK) {
      return result;
@@ -172,8 +179,12 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashWrite() {

 ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
  std::error_code e;
-  std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::trunc | std::ios::binary);
-  if (ofile.bad()) {
+  if (std::filesystem::exists(flashReadAndWrite.obcFile)) {
+    // Truncate the file first.
+    std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::binary | std::ios::trunc);
+  }
+  std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::binary | std::ios::app);
+  if (ofile.bad() or not ofile.is_open()) {
    return returnvalue::FAILED;
  }
  ReturnValue_t result = flashfopen(mpsoc::FileAccessModes::READ);
@@ -196,7 +207,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
      std::filesystem::remove(flashReadAndWrite.obcFile, e);
      return FILE_READ_ERROR;
    }
-    mpsoc::TcFlashRead flashReadRequest(spParams, *sequenceCount);
+    mpsoc::TcFlashRead flashReadRequest(spParams, txSequenceCount);
    result = flashReadRequest.setPayload(nextReadSize);
    if (result != returnvalue::OK) {
      std::filesystem::remove(flashReadAndWrite.obcFile, e);
@@ -207,7 +218,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
      std::filesystem::remove(flashReadAndWrite.obcFile, e);
      return result;
    }
-    (*sequenceCount)++;
+    txSequenceCount.increment();
    result = handlePacketTransmissionFlashRead(flashReadRequest, ofile, nextReadSize);
    if (result != returnvalue::OK) {
      std::filesystem::remove(flashReadAndWrite.obcFile, e);
@@ -224,7 +235,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {

 ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(uint8_t mode) {
  spParams.buf = commandBuffer;
-  mpsoc::FlashFopen flashFopen(spParams, *sequenceCount);
+  mpsoc::TcFlashFopen flashFopen(spParams, txSequenceCount);
  ReturnValue_t result = flashFopen.setPayload(flashReadAndWrite.mpsocFile, mode);
  if (result != returnvalue::OK) {
    return result;
@@ -233,7 +244,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(uint8_t mode) {
  if (result != returnvalue::OK) {
    return result;
  }
-  (*sequenceCount)++;
+  txSequenceCount.increment();
  result = handlePacketTransmissionNoReply(flashFopen);
  if (result != returnvalue::OK) {
    return result;
@@ -243,12 +254,12 @@ ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(uint8_t mode) {

 ReturnValue_t PlocMpsocSpecialComHelper::flashfclose() {
  spParams.buf = commandBuffer;
-  mpsoc::FlashFclose flashFclose(spParams, *sequenceCount);
+  mpsoc::TcFlashFclose flashFclose(spParams, txSequenceCount);
  ReturnValue_t result = flashFclose.finishPacket();
  if (result != returnvalue::OK) {
    return result;
  }
-  (*sequenceCount)++;
+  txSequenceCount.increment();
  result = handlePacketTransmissionNoReply(flashFclose);
  if (result != returnvalue::OK) {
    return result;
@@ -271,6 +282,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionFlashRead(mpsoc
  if (result != returnvalue::OK) {
    return result;
  }
+  auto& spReader = comInterface.getSpReader();

  // We have the nominal case where the flash read report appears first, or the case where we
  // get an EXE failure immediately.
@@ -281,7 +293,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionFlashRead(mpsoc
    }
    return handleExe();
  } else if (spReader.getApid() == mpsoc::apid::EXE_FAILURE) {
-    handleExeFailure();
+    handleExeFailure(spReader);
  } else {
    triggerEvent(MPSOC_EXE_INVALID_APID, spReader.getApid(), static_cast<uint32_t>(internalState));
    sif::warning << "PLOC MPSoC: Expected execution report "
@@ -305,6 +317,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionNoReply(ploc::S

 ReturnValue_t PlocMpsocSpecialComHelper::sendCommand(ploc::SpTcBase& tc) {
  ReturnValue_t result = comInterface.send(tc.getFullPacket(), tc.getFullPacketLen());
+  mpsoc::printTxPacket(tc);
  if (result != returnvalue::OK) {
    sif::warning << "PlocMPSoCHelper::sendCommand: Failed to send command" << std::endl;
    triggerEvent(MPSOC_SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
@@ -323,6 +336,8 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleAck() {
  if (result != returnvalue::OK) {
    return result;
  }
+  const auto& spReader = comInterface.getSpReader();
+
  uint16_t apid = spReader.getApid();
  if (apid != mpsoc::apid::ACK_SUCCESS) {
    handleAckApidFailure(spReader);
@@ -331,7 +346,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleAck() {
  return returnvalue::OK;
 }

-void PlocMpsocSpecialComHelper::handleAckApidFailure(const ploc::SpTmReader& reader) {
+void PlocMpsocSpecialComHelper::handleAckApidFailure(const SpacePacketReader& reader) {
  uint16_t apid = reader.getApid();
  if (apid == mpsoc::apid::ACK_FAILURE) {
    uint16_t status = mpsoc::getStatusFromRawData(reader.getFullData());
@@ -355,9 +370,10 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleExe() {
  if (result != returnvalue::OK) {
    return result;
  }
+  const auto& spReader = comInterface.getSpReader();
  uint16_t apid = spReader.getApid();
  if (apid == mpsoc::apid::EXE_FAILURE) {
-    handleExeFailure();
+    handleExeFailure(spReader);
    return returnvalue::FAILED;
  } else if (apid != mpsoc::apid::EXE_SUCCESS) {
    triggerEvent(MPSOC_EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
@@ -367,7 +383,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleExe() {
  return returnvalue::OK;
 }

-void PlocMpsocSpecialComHelper::handleExeFailure() {
+void PlocMpsocSpecialComHelper::handleExeFailure(const SpacePacketReader& spReader) {
  uint16_t status = mpsoc::getStatusFromRawData(spReader.getFullData());
  sif::warning << "PLOC MPSoC EXE Failure: " << mpsoc::getStatusString(status) << std::endl;
  triggerEvent(MPSOC_EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
@@ -376,46 +392,32 @@ void PlocMpsocSpecialComHelper::handleExeFailure() {
 ReturnValue_t PlocMpsocSpecialComHelper::handleTmReception() {
  ReturnValue_t result = returnvalue::OK;
  tmCountdown.resetTimer();
-  size_t readBytes = 0;
-  size_t currentBytes = 0;
  uint32_t usleepDelay = 5;
-  size_t fullPacketLen = 0;
  while (true) {
    if (tmCountdown.hasTimedOut()) {
      triggerEvent(MPSOC_READ_TIMEOUT, tmCountdown.getTimeoutMs());
      return returnvalue::FAILED;
    }
-    result = receive(tmBuf.data() + readBytes, 6, &currentBytes);
+    result = tryReceiveNextReply();
+    if (result == MpsocCommunication::PACKET_RECEIVED) {
+      // Need to convert this, we are faking a synchronous API here.
+      result = returnvalue::OK;
+      break;
+    }
    if (result != returnvalue::OK) {
+      if (result == MpsocCommunication::FAULTY_PACKET_SIZE) {
+        sif::printWarning("PLOC MPSoC Helper: retrieving next reply failed: faulty packet size\n");
+      } else if (result == MpsocCommunication::CRC_CHECK_FAILED) {
+        sif::printWarning("PLOC MPSoC Helper: retrieving next reply failed: CRC check failed\n");
+      }
+      sif::printWarning("PLOC MPSoC Helper: retrieving next reply failed with code %d\n", result);
      return result;
    }
-    spReader.setReadOnlyData(tmBuf.data(), tmBuf.size());
-    fullPacketLen = spReader.getFullPacketLen();
-    readBytes += currentBytes;
-    if (readBytes == 6) {
-      break;
-    }
    usleep(usleepDelay);
    if (usleepDelay < 200000) {
      usleepDelay *= 4;
    }
  }
-  while (true) {
-    if (tmCountdown.hasTimedOut()) {
-      triggerEvent(MPSOC_READ_TIMEOUT, tmCountdown.getTimeoutMs());
-      return returnvalue::FAILED;
-    }
-    result = receive(tmBuf.data() + readBytes, fullPacketLen - readBytes, &currentBytes);
-    readBytes += currentBytes;
-    if (fullPacketLen == readBytes) {
-      break;
-    }
-    usleep(usleepDelay);
-    if (usleepDelay < 200000) {
-      usleepDelay *= 4;
-    }
-  }
-  // arrayprinter::print(tmBuf.data(), readBytes);
  return result;
 }

@@ -425,6 +427,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleFlashReadReply(std::ofstream& ofi
  if (result != returnvalue::OK) {
    return result;
  }
+  auto& spReader = comInterface.getSpReader();
  uint16_t apid = spReader.getApid();
  if (apid != mpsoc::apid::TM_FLASH_READ_REPORT) {
    triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_APID_ERROR);
@@ -490,25 +493,19 @@ ReturnValue_t PlocMpsocSpecialComHelper::startFlashReadOrWriteBase(std::string o
 }

 ReturnValue_t PlocMpsocSpecialComHelper::checkReceivedTm() {
+  const auto& spReader = comInterface.getSpReader();
  ReturnValue_t result = spReader.checkSize();
  if (result != returnvalue::OK) {
    sif::error << "PLOC MPSoC: Size check on received TM failed" << std::endl;
    triggerEvent(MPSOC_TM_SIZE_ERROR);
    return result;
  }
-  // No CRC check, this is already done by the communication interface..
-  uint16_t recvSeqCnt = spReader.getSequenceCount();
-  if (recvSeqCnt != *sequenceCount) {
-    triggerEvent(MPSOC_HELPER_SEQ_CNT_MISMATCH, *sequenceCount, recvSeqCnt);
-    *sequenceCount = recvSeqCnt;
-  }
-  // This sequence count ping pong does not make any sense but it is how the MPSoC expects it.
-  (*sequenceCount)++;
+  rxSequenceCount = spReader.getSequenceCount();
+  mpsoc::printRxPacket(spReader);
  return returnvalue::OK;
 }

-ReturnValue_t PlocMpsocSpecialComHelper::receive(uint8_t* data, size_t requestBytes,
-                                                 size_t* readBytes) {
+ReturnValue_t PlocMpsocSpecialComHelper::tryReceiveNextReply() {
  ReturnValue_t result = returnvalue::OK;
  result = comInterface.readSerialInterface();
  if (result != returnvalue::OK) {
@@ -516,11 +513,5 @@ ReturnValue_t PlocMpsocSpecialComHelper::receive(uint8_t* data, size_t requestBy
                 static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
    return returnvalue::FAILED;
  }
-  result = comInterface.parseAndRetrieveNextPacket();
-  if (result == MpsocCommunication::PACKET_RECEIVED) {
-    auto& spReader = comInterface.getSpReader();
-    // Maybe unnecessary copy, but the easiest way to get this done for now..
-    std::memcpy(data, spReader.getFullData(), spReader.getFullPacketLen());
-  }
-  return result;
+  return comInterface.parseAndRetrieveNextPacket();
 }
--- a/linux/payload/PlocMpsocSpecialComHelper.h
+++ b/linux/payload/PlocMpsocSpecialComHelper.h
@@ -10,6 +10,7 @@
 #include "fsfw/osal/linux/BinarySemaphore.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
+#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
 #include "fsfw/tmtcservices/SourceSequenceCounter.h"
 #include "linux/payload/MpsocCommunication.h"
 #ifdef XIPHOS_Q7S
@@ -113,7 +114,8 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
  /**
   * @brief   Sets the sequence count object responsible for the sequence count handling
   */
-  void setSequenceCount(SourceSequenceCounter* sequenceCount_);
+  void setCommandSequenceCount(uint16_t sequenceCount_);
+  uint16_t getCommandSequenceCount() const;

 private:
  static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MPSOC_HELPER;
@@ -169,8 +171,9 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
  // CookieIF* comCookie = nullptr;
  MpsocCommunication& comInterface;
  // Sequence count, must be set by Ploc MPSoC Handler
-  SourceSequenceCounter* sequenceCount = nullptr;
-  ploc::SpTmReader spReader;
+  // ploc::SpTmReader spReader;
+  uint16_t rxSequenceCount = 0;
+  SourceSequenceCounter txSequenceCount = 0;

  void resetHelper();
  ReturnValue_t performFlashWrite();
@@ -182,13 +185,13 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
                                                  size_t expectedReadLen);
  ReturnValue_t handleFlashReadReply(std::ofstream& ofile, size_t expectedReadLen);
  ReturnValue_t sendCommand(ploc::SpTcBase& tc);
-  ReturnValue_t receive(uint8_t* data, size_t requestBytes, size_t* readBytes);
+  ReturnValue_t tryReceiveNextReply();
  ReturnValue_t handleAck();
  ReturnValue_t handleExe();
  ReturnValue_t startFlashReadOrWriteBase(std::string obcFile, std::string mpsocFile);
  ReturnValue_t fileCheck(std::string obcFile);
-  void handleAckApidFailure(const ploc::SpTmReader& reader);
-  void handleExeFailure();
+  void handleAckApidFailure(const SpacePacketReader& reader);
+  void handleExeFailure(const SpacePacketReader& reader);
  ReturnValue_t handleTmReception();
  ReturnValue_t checkReceivedTm();
 };
--- a/linux/payload/PlocSupvUartMan.cpp
+++ b/linux/payload/PlocSupvUartMan.cpp
@@ -11,6 +11,8 @@
 #include <fstream>

 #include "OBSWConfig.h"
+#include "fsfw/returnvalues/returnvalue.h"
+#include "linux/payload/plocSupvDefs.h"
 #include "tas/hdlc.h"
 #ifdef XIPHOS_Q7S
 #include "bsp_q7s/fs/FilesystemHelper.h"
@@ -21,9 +23,13 @@

 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/timemanager/Countdown.h"
+
+#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
 #include "mission/utility/Filenaming.h"
 #include "mission/utility/ProgressPrinter.h"
 #include "mission/utility/Timestamp.h"
+#endif
+
 #include "tas/crc.h"

 using namespace returnvalue;
@@ -277,23 +283,6 @@ ReturnValue_t PlocSupvUartManager::initiateUpdateContinuation() {
  return returnvalue::OK;
 }

-// ReturnValue_t PlocSupvHelper::startEventBufferRequest(std::string path) {
-// #ifdef XIPHOS_Q7S
-//   ReturnValue_t result = FilesystemHelper::checkPath(path);
-//   if (result != returnvalue::OK) {
-//     return result;
-//   }
-// #endif
-//   if (not std::filesystem::exists(path)) {
-//     return PATH_NOT_EXISTS;
-//   }
-//   eventBufferReq.path = path;
-//   request = Request::REQUEST_EVENT_BUFFER;
-//   //uartComIF->flushUartTxAndRxBuf(comCookie);
-//   semaphore->release();
-//   return returnvalue::OK;
-// }
-
 void PlocSupvUartManager::stop() {
  MutexGuard mg(lock);
  if (state == InternalState::SLEEPING or state == InternalState::GO_TO_SLEEP) {
@@ -437,6 +426,8 @@ ReturnValue_t PlocSupvUartManager::writeUpdatePackets() {
        // Useful to allow restarting the update
        triggerEvent(SUPV_UPDATE_PROGRESS, buildProgParams1(progPercent, update.sequenceCount),
                     update.bytesWritten);
+        sif::info << "PLOC SUPV update progress " << (int)progPercent << " % at "
+                  << update.bytesWritten << " bytes" << std::endl;
      }
    }
    supv::WriteMemory packet(spParams);
@@ -447,10 +438,8 @@ ReturnValue_t PlocSupvUartManager::writeUpdatePackets() {
                   update.bytesWritten);
      return result;
    }
-    result = handlePacketTransmissionNoReply(packet, 5000);
+    result = writeMemoryHandlingWithRetryLogic(packet, progPercent);
    if (result != returnvalue::OK) {
-      triggerEvent(WRITE_MEMORY_FAILED, buildProgParams1(progPercent, update.sequenceCount),
-                   update.bytesWritten);
      return result;
    }

@@ -461,7 +450,25 @@ ReturnValue_t PlocSupvUartManager::writeUpdatePackets() {
 #if OBSW_DEBUG_PLOC_SUPERVISOR == 1
    progressPrinter.print(update.bytesWritten);
 #endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
-    // TaskFactory::delayTask(1);
+  }
+  return result;
+}
+
+ReturnValue_t PlocSupvUartManager::writeMemoryHandlingWithRetryLogic(supv::WriteMemory& packet,
+                                                                     unsigned progPercent) {
+  ReturnValue_t result = returnvalue::OK;
+  // Simple re-try logic in place to deal with communication unreliability in orbit.
+  for (uint8_t retryCount = 0; retryCount < MAX_RETRY_COUNT; retryCount++) {
+    result = handlePacketTransmissionNoReply(packet, COM_TIMEOUT_MS);
+    if (result == returnvalue::OK) {
+      return result;
+    }
+    triggerEvent(WRITE_MEMORY_FAILED, buildProgParams1(progPercent, update.sequenceCount),
+                 update.bytesWritten);
+    // Clear data structures related to reply handling.
+    serial::flushTxRxBuf(serialPort);
+    recRingBuf.clear();
+    decodedRingBuf.clear();
  }
  return result;
 }
@@ -570,7 +577,16 @@ ReturnValue_t PlocSupvUartManager::handlePacketTransmissionNoReply(
  bool ackReceived = false;
  bool packetWasHandled = false;
  while (true) {
-    handleUartReception();
+    ReturnValue_t status = handleUartReception();
+    if (status != returnvalue::OK) {
+      result = status;
+      if (result == HDLC_ERROR) {
+        // We could bail here immediately.. but I prefer to wait for the timeout, because we should
+        // ensure that all packets which might be related to the transfer are still received and
+        // cleared from all data structures related to reply handling.
+        // return result;
+      }
+    }
    if (not decodedQueue.empty()) {
      size_t packetLen = 0;
      decodedQueue.retrieve(&packetLen);
@@ -613,7 +629,7 @@ ReturnValue_t PlocSupvUartManager::handlePacketTransmissionNoReply(
      return result::NO_REPLY_TIMEOUT;
    }
  }
-  return returnvalue::OK;
+  return result;
 }

 int PlocSupvUartManager::handleAckReception(supv::TcBase& tc, size_t packetLen) {
--- a/linux/payload/PlocSupvUartMan.h
+++ b/linux/payload/PlocSupvUartMan.h
@@ -118,6 +118,7 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
  static constexpr Event HDLC_FRAME_REMOVAL_ERROR = MAKE_EVENT(31, severity::INFO);
  static constexpr Event HDLC_CRC_ERROR = MAKE_EVENT(32, severity::INFO);

+  static constexpr unsigned MAX_RETRY_COUNT = 3;
  PlocSupvUartManager(object_id_t objectId);
  virtual ~PlocSupvUartManager();
  /**
@@ -199,6 +200,8 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
  static constexpr ReturnValue_t POSSIBLE_PACKET_LOSS_CONSECUTIVE_END = returnvalue::makeCode(1, 4);
  static constexpr ReturnValue_t HDLC_ERROR = returnvalue::makeCode(1, 5);

+  static constexpr uint32_t COM_TIMEOUT_MS = 3000;
+
  static const uint16_t CRC16_INIT = 0xFFFF;
  // Event buffer reply will carry 24 space packets with 1016 bytes and one space packet with
  // 192 bytes
@@ -369,6 +372,8 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
   */
  ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;

+  ReturnValue_t writeMemoryHandlingWithRetryLogic(supv::WriteMemory& packet, unsigned progPercent);
+
  void performUartShutdown();
  void updateVtime(uint8_t vtime);
 };
--- a/linux/payload/plocMpsocHelpers.cpp
+++ b/linux/payload/plocMpsocHelpers.cpp
@@ -1,5 +1,8 @@
 #include "plocMpsocHelpers.h"

+#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
+#include "mission/payload/plocSpBase.h"
+
 uint16_t mpsoc::getStatusFromRawData(const uint8_t* data) {
  return (*(data + STATUS_OFFSET) << 8) | *(data + STATUS_OFFSET + 1);
 }
@@ -13,6 +16,10 @@ std::string mpsoc::getStatusString(uint16_t status) {
      return "Incorrect length";
      break;
    }
+    case (mpsoc::statusCode::FLASH_DRIVE_ERROR): {
+      return "flash drive error";
+      break;
+    }
    case (mpsoc::statusCode::INCORRECT_CRC): {
      return "Incorrect crc";
      break;
@@ -93,3 +100,19 @@ std::string mpsoc::getStatusString(uint16_t status) {
  }
  return "";
 }
+
+void mpsoc::printRxPacket(const SpacePacketReader& spReader) {
+  if (mpsoc::MPSOC_RX_WIRETAPPING) {
+    sif::debug << "RECV MPSOC packet. APID 0x" << std::hex << std::setw(3) << spReader.getApid()
+               << std::dec << " Size " << spReader.getFullPacketLen() << " SSC "
+               << spReader.getSequenceCount() << std::endl;
+  }
+}
+
+void mpsoc::printTxPacket(const ploc::SpTcBase& tcBase) {
+  if (mpsoc::MPSOC_TX_WIRETAPPING) {
+    sif::debug << "SEND MPSOC packet. APID 0x" << std::hex << std::setw(3) << tcBase.getApid()
+               << " Size " << std::dec << tcBase.getFullPacketLen() << " SSC "
+               << tcBase.getSeqCount() << std::endl;
+  }
+}
--- a/linux/payload/plocMpsocHelpers.h
+++ b/linux/payload/plocMpsocHelpers.h
@@ -5,15 +5,66 @@
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <mission/payload/plocSpBase.h>

-#include "eive/definitions.h"
 #include "eive/eventSubsystemIds.h"
 #include "eive/resultClassIds.h"
+#include "fsfw/action/HasActionsIF.h"
+#include "fsfw/events/Event.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/serialize/SerializeIF.h"

 namespace mpsoc {

+static constexpr bool MPSOC_TX_WIRETAPPING = false;
+static constexpr bool MPSOC_RX_WIRETAPPING = false;
+
+static constexpr size_t CRC_SIZE = 2;
+
+/**
+ * @brief   Abstract base class for TC space packet of MPSoC.
+ */
+class TcBase : public ploc::SpTcBase {
+ public:
+  virtual ~TcBase() = default;
+
+  // Initial length field of space packet. Will always be updated when packet is created.
+  static const uint16_t INIT_LENGTH = CRC_SIZE;
+
+  /**
+   * @brief    Constructor
+   *
+   * @param sequenceCount Sequence count of space packet which will be incremented with each
+   *        sent and received packets.
+   */
+  TcBase(ploc::SpTcParams params, uint16_t apid, uint16_t sequenceCount)
+      : ploc::SpTcBase(params, apid, 0, sequenceCount) {
+    payloadStart = spParams.buf + ccsds::HEADER_LEN;
+    spParams.setFullPayloadLen(INIT_LENGTH);
+  }
+
+  /**
+   * @brief   Function to finsh and write the space packet. It is expected that the user has
+   * set the payload fields in the child class*
+   * @return  returnvalue::OK if packet creation was successful, otherwise error return value
+   */
+  ReturnValue_t finishPacket() {
+    updateSpFields();
+    ReturnValue_t res = checkSizeAndSerializeHeader();
+    if (res != returnvalue::OK) {
+      return res;
+    }
+    return calcAndSetCrc();
+  }
+};
+
+void printRxPacket(const SpacePacketReader& spReader);
+void printTxPacket(const ploc::SpTcBase& tcBase);
+
+static constexpr uint32_t DEFAULT_CMD_TIMEOUT_MS = 5000;
+static constexpr uint32_t CMD_TIMEOUT_MKFS = 15000;
+
+enum FlashId : uint8_t { FLASH_0 = 0, FLASH_1 = 1 };
+
 static const uint8_t INTERFACE_ID = CLASS_ID::MPSOC_RETURN_VALUES_IF;

 //! [EXPORT] : [COMMENT] Space Packet received from PLOC has invalid CRC
@@ -62,7 +113,11 @@ static const Event MPSOC_SHUTDOWN_FAILED = MAKE_EVENT(6, severity::HIGH);
 //! [EXPORT] : [COMMENT] SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for
 //! ON transition.
 static constexpr Event SUPV_NOT_ON = event::makeEvent(SUBSYSTEM_ID, 7, severity::LOW);
+//! [EXPORT] : [COMMENT] SUPV reply timeout.
 static constexpr Event SUPV_REPLY_TIMEOUT = event::makeEvent(SUBSYSTEM_ID, 8, severity::LOW);
+//! [EXPORT] : [COMMENT] Camera must be commanded on first.
+static constexpr Event CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE =
+    event::makeEvent(SUBSYSTEM_ID, 9, severity::LOW);

 enum ParamId : uint8_t { SKIP_SUPV_ON_COMMANDING = 0x01 };

@@ -155,16 +210,16 @@ static const DeviceCommandId_t TC_FLASH_GET_DIRECTORY_CONTENT = 28;
 static const DeviceCommandId_t TM_FLASH_DIRECTORY_CONTENT = 29;
 static constexpr DeviceCommandId_t TC_FLASH_READ_FULL_FILE = 30;
 // Store file on MPSoC.
-static const DeviceCommandId_t TC_SIMPLEX_STORE_FILE = 31;
+static const DeviceCommandId_t TC_SPLIT_FILE = 31;
 static const DeviceCommandId_t TC_VERIFY_BOOT = 32;
+static const DeviceCommandId_t TC_ENABLE_TC_EXECTION = 33;
+static const DeviceCommandId_t TC_FLASH_MKFS = 34;

 // Will reset the sequence count of the OBSW. Not required anymore after MPSoC update.
 static const DeviceCommandId_t OBSW_RESET_SEQ_COUNT_LEGACY = 50;

 static const uint16_t SIZE_ACK_REPORT = 14;
 static const uint16_t SIZE_EXE_REPORT = 14;
-// static const uint16_t SIZE_TM_MEM_READ_REPORT = 18;
-// static const uint16_t SIZE_TM_CAM_CMD_RPT = 18;
 static constexpr size_t SIZE_TM_HK_REPORT = 369;

 enum Submode : uint8_t { IDLE_OR_NONE = 0, REPLAY = 1, SNAPSHOT = 2 };
@@ -203,6 +258,8 @@ static const uint16_t TC_MODE_SNAPSHOT = 0x120;
 static const uint16_t TC_DOWNLINK_DATA_MODULATE = 0x121;
 static constexpr uint16_t TC_HK_GET_REPORT = 0x123;
 static const uint16_t TC_DOWNLINK_PWR_OFF = 0x124;
+static constexpr uint16_t TC_ENABLE_TC_EXECUTION = 0x129;
+static constexpr uint16_t TC_FLASH_MKFS = 0x12A;
 static const uint16_t TC_CAM_CMD_SEND = 0x12C;
 static constexpr uint16_t TC_FLASH_COPY_FILE = 0x12E;
 static const uint16_t TC_SIMPLEX_SEND_FILE = 0x130;
@@ -227,15 +284,15 @@ static const uint8_t SPACE_PACKET_HEADER_SIZE = 6;

 static const uint8_t STATUS_OFFSET = 10;

-static constexpr size_t CRC_SIZE = 2;
-
 /**
 * The size of payload data which will be forwarded to the requesting object. e.g. PUS Service
 * 8.
 */
 static const uint8_t SIZE_MEM_READ_RPT_FIX = 6;

-static const size_t MAX_FILENAME_SIZE = 256;
+static const size_t FILENAME_FIELD_SIZE = 256;
+// Subtract size of NULL terminator.
+static const size_t MAX_FILENAME_SIZE = FILENAME_FIELD_SIZE - 1;

 /**
 * PLOC space packet length for fixed size packets. This is the size of the whole packet data
@@ -272,6 +329,7 @@ static const uint16_t TC_SIMPLEX_SEND_FILE_DELAY = 80;

 namespace statusCode {
 static const uint16_t DEFAULT_ERROR_CODE = 0x1;
+static constexpr uint16_t FLASH_DRIVE_ERROR = 0xb;
 static const uint16_t UNKNOWN_APID = 0x5DD;
 static const uint16_t INCORRECT_LENGTH = 0x5DE;
 static const uint16_t INCORRECT_CRC = 0x5DF;
@@ -298,47 +356,10 @@ static const uint16_t RESERVED_3 = 0x5F3;
 static const uint16_t RESERVED_4 = 0x5F4;
 }  // namespace statusCode

-/**
- * @brief   Abstract base class for TC space packet of MPSoC.
- */
-class TcBase : public ploc::SpTcBase {
- public:
-  virtual ~TcBase() = default;
-
-  // Initial length field of space packet. Will always be updated when packet is created.
-  static const uint16_t INIT_LENGTH = CRC_SIZE;
-
-  /**
-   * @brief    Constructor
-   *
-   * @param sequenceCount Sequence count of space packet which will be incremented with each
-   *        sent and received packets.
-   */
-  TcBase(ploc::SpTcParams params, uint16_t apid, uint16_t sequenceCount)
-      : ploc::SpTcBase(params, apid, 0, sequenceCount) {
-    payloadStart = spParams.buf + ccsds::HEADER_LEN;
-    spParams.setFullPayloadLen(INIT_LENGTH);
-  }
-
-  /**
-   * @brief   Function to finsh and write the space packet. It is expected that the user has
-   * set the payload fields in the child class*
-   * @return  returnvalue::OK if packet creation was successful, otherwise error return value
-   */
-  ReturnValue_t finishPacket() {
-    updateSpFields();
-    ReturnValue_t res = checkSizeAndSerializeHeader();
-    if (res != returnvalue::OK) {
-      return res;
-    }
-    return calcAndSetCrc();
-  }
-};
-
 /**
 * @brief   This class helps to build the memory read command for the PLOC.
 */
-class TcMemRead : public TcBase {
+class TcMemRead : public mpsoc::TcBase {
 public:
  /**
   * @brief   Constructor
@@ -388,7 +409,7 @@ class TcMemRead : public TcBase {
 * @brief   This class helps to generate the space packet to write data to a memory address within
 *          the PLOC.
 */
-class TcMemWrite : public TcBase {
+class TcMemWrite : public mpsoc::TcBase {
 public:
  /**
   * @brief   Constructor
@@ -438,24 +459,21 @@ class TcMemWrite : public TcBase {
 /**
 * @brief   Class to help creation of flash fopen command.
 */
-class FlashFopen : public TcBase {
+class TcFlashFopen : public mpsoc::TcBase {
 public:
-  FlashFopen(ploc::SpTcParams params, uint16_t sequenceCount)
+  TcFlashFopen(ploc::SpTcParams params, uint16_t sequenceCount)
      : TcBase(params, apid::TC_FLASHFOPEN, sequenceCount) {}

  ReturnValue_t setPayload(std::string filename, uint8_t mode) {
    accessMode = mode;
-    size_t nameSize = filename.size();
-    spParams.setFullPayloadLen(256 + sizeof(uint8_t) + CRC_SIZE);
    ReturnValue_t result = checkPayloadLen();
    if (result != returnvalue::OK) {
      return result;
    }
-    std::memcpy(payloadStart, filename.c_str(), nameSize);
-    // payloadStart[nameSize] = NULL_TERMINATOR;
-    std::memset(payloadStart + nameSize, 0, 256 - nameSize);
-    // payloadStart[255] = NULL_TERMINATOR;
-    payloadStart[256] = accessMode;
+    std::memset(payloadStart, 0, FILENAME_FIELD_SIZE);
+    std::memcpy(payloadStart, filename.c_str(), filename.size());
+    payloadStart[FILENAME_FIELD_SIZE] = accessMode;
+    spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + 1 + CRC_SIZE);
    return returnvalue::OK;
  }

@@ -466,14 +484,46 @@ class FlashFopen : public TcBase {
 /**
 * @brief   Class to help creation of flash fclose command.
 */
-class FlashFclose : public TcBase {
+class TcFlashFclose : public TcBase {
 public:
-  FlashFclose(ploc::SpTcParams params, uint16_t sequenceCount)
+  TcFlashFclose(ploc::SpTcParams params, uint16_t sequenceCount)
      : TcBase(params, apid::TC_FLASHFCLOSE, sequenceCount) {
    spParams.setFullPayloadLen(CRC_SIZE);
  }
 };

+class TcEnableTcExec : public TcBase {
+ public:
+  TcEnableTcExec(ploc::SpTcParams params, uint16_t sequenceCount)
+      : TcBase(params, apid::TC_ENABLE_TC_EXECUTION, sequenceCount) {
+    spParams.setFullPayloadLen(CRC_SIZE);
+  }
+
+  ReturnValue_t setPayload(const uint8_t* cmdData, size_t cmdDataLen) {
+    if (cmdDataLen != 2) {
+      return HasActionsIF::INVALID_PARAMETERS;
+    }
+    std::memcpy(payloadStart, cmdData, 2);
+    spParams.setFullPayloadLen(2 + CRC_SIZE);
+    return returnvalue::OK;
+  }
+};
+
+class TcFlashMkfs : public TcBase {
+ public:
+  TcFlashMkfs(ploc::SpTcParams params, uint16_t sequenceCount, FlashId flashId)
+      : TcBase(params, apid::TC_FLASH_MKFS, sequenceCount) {
+    const char* flashIdStr = "0:\\";
+    if (flashId == FlashId::FLASH_1) {
+      flashIdStr = "1:\\";
+    }
+    std::memcpy(payloadStart, flashIdStr, 3);
+    // Null terminator
+    payloadStart[3] = 0;
+    spParams.setFullPayloadLen(4 + CRC_SIZE);
+  }
+};
+
 /**
 * @brief   Class to build flash write space packet.
 */
@@ -533,15 +583,6 @@ class TcFlashRead : public TcBase {
    if (result != returnvalue::OK) {
      return result;
    }
-    updateSpFields();
-    result = checkSizeAndSerializeHeader();
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    result = calcAndSetCrc();
-    if (result != returnvalue::OK) {
-      return result;
-    }
    readSize = readLen;
    return result;
  }
@@ -559,20 +600,14 @@ class TcFlashDelete : public TcBase {

  ReturnValue_t setPayload(std::string filename) {
    size_t nameSize = filename.size();
-    spParams.setFullPayloadLen(nameSize + sizeof(NULL_TERMINATOR) + CRC_SIZE);
+    spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + CRC_SIZE);
    auto res = checkPayloadLen();
    if (res != returnvalue::OK) {
      return res;
    }
    std::memcpy(payloadStart, filename.c_str(), nameSize);
    *(payloadStart + nameSize) = NULL_TERMINATOR;
-
-    updateSpFields();
-    res = checkSizeAndSerializeHeader();
-    if (res != returnvalue::OK) {
-      return res;
-    }
-    return calcAndSetCrc();
+    return returnvalue::OK;
  }
 };

@@ -724,8 +759,9 @@ class TcGetDirContent : public TcBase {
    if (result != returnvalue::OK) {
      return result;
    }
+    std::memset(payloadStart, 0, 256);
    std::memcpy(payloadStart, commandData, commandDataLen);
-    payloadStart[255] = '\0';
+    payloadStart[255] = 0;
    return result;
  }
 };
@@ -766,7 +802,7 @@ class TcReplayWriteSeq : public TcBase {
  static const size_t USE_DECODING_LENGTH = 1;

  ReturnValue_t lengthCheck(size_t commandDataLen) {
-    if (commandDataLen > USE_DECODING_LENGTH + MAX_FILENAME_SIZE or
+    if (commandDataLen > USE_DECODING_LENGTH + FILENAME_FIELD_SIZE or
        checkPayloadLen() != returnvalue::OK) {
      sif::warning << "TcReplayWriteSeq: Command has invalid length " << commandDataLen
                   << std::endl;
@@ -785,18 +821,18 @@ class FlashBasePusCmd {
  virtual ~FlashBasePusCmd() = default;

  virtual ReturnValue_t extractFields(const uint8_t* commandData, size_t commandDataLen) {
-    if (commandDataLen > (config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE + MAX_FILENAME_SIZE)) {
+    if (commandDataLen > FILENAME_FIELD_SIZE) {
      return INVALID_LENGTH;
    }
    size_t fileLen = strnlen(reinterpret_cast<const char*>(commandData), commandDataLen);
-    if (fileLen > (config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE)) {
+    if (fileLen > MAX_FILENAME_SIZE) {
      return FILENAME_TOO_LONG;
    }
    obcFile = std::string(reinterpret_cast<const char*>(commandData), fileLen);
    fileLen =
        strnlen(reinterpret_cast<const char*>(commandData + obcFile.size() + SIZE_NULL_TERMINATOR),
                commandDataLen - obcFile.size() - 1);
-    if (fileLen > MAX_FILENAME_SIZE) {
+    if (fileLen > FILENAME_FIELD_SIZE) {
      return MPSOC_FILENAME_TOO_LONG;
    }
    mpsocFile = std::string(
@@ -807,11 +843,11 @@ class FlashBasePusCmd {

  const std::string& getObcFile() const { return obcFile; }

-  const std::string& getMPSoCFile() const { return mpsocFile; }
+  const std::string& getMpsocFile() const { return mpsocFile; }

 protected:
  size_t getParsedSize() const {
-    return getObcFile().size() + getMPSoCFile().size() + 2 * SIZE_NULL_TERMINATOR;
+    return getObcFile().size() + getMpsocFile().size() + 2 * SIZE_NULL_TERMINATOR;
  }
  static const size_t SIZE_NULL_TERMINATOR = 1;

@@ -878,24 +914,116 @@ class TcCamTakePic : public TcBase {
      : TcBase(params, apid::TC_CAM_TAKE_PIC, sequenceCount) {}

  ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
-    if (commandDataLen > MAX_DATA_LENGTH) {
+    const uint8_t** dataPtr = &commandData;
+    if (commandDataLen > FULL_PAYLOAD_SIZE) {
      return INVALID_LENGTH;
    }
-    std::string fileName(reinterpret_cast<const char*>(commandData));
-    if (fileName.size() + sizeof(NULL_TERMINATOR) > MAX_FILENAME_SIZE) {
+    size_t deserLen = commandDataLen;
+    size_t serLen = 0;
+    fileName = std::string(reinterpret_cast<const char*>(commandData));
+    if (fileName.size() > MAX_FILENAME_SIZE) {
      return FILENAME_TOO_LONG;
    }
-    if (commandDataLen - (fileName.size() + sizeof(NULL_TERMINATOR)) != PARAMETER_SIZE) {
-      return INVALID_LENGTH;
+    deserLen -= fileName.length() + 1;
+    *dataPtr += fileName.length() + 1;
+    uint8_t** payloadPtr = &payloadStart;
+    memset(payloadStart, 0, FILENAME_FIELD_SIZE);
+    memcpy(payloadStart, fileName.data(), fileName.size());
+    *payloadPtr += FILENAME_FIELD_SIZE;
+    serLen += FILENAME_FIELD_SIZE;
+    ReturnValue_t result = SerializeAdapter::deSerialize(&encoderSettingY, dataPtr, &deserLen,
+                                                         SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
    }
-    spParams.setFullPayloadLen(commandDataLen + CRC_SIZE);
-    std::memcpy(payloadStart, commandData, commandDataLen);
+    result = SerializeAdapter::serialize(&encoderSettingY, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
+                                         SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+
+    result = SerializeAdapter::deSerialize(&quantizationY, dataPtr, &deserLen,
+                                           SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = SerializeAdapter::serialize(&quantizationY, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
+                                         SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+
+    result = SerializeAdapter::deSerialize(&encoderSettingsCb, dataPtr, &deserLen,
+                                           SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = SerializeAdapter::serialize(&encoderSettingsCb, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
+                                         SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+
+    result = SerializeAdapter::deSerialize(&quantizationCb, dataPtr, &deserLen,
+                                           SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = SerializeAdapter::serialize(&quantizationCb, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
+                                         SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+
+    result = SerializeAdapter::deSerialize(&encoderSettingsCr, dataPtr, &deserLen,
+                                           SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = SerializeAdapter::serialize(&encoderSettingsCr, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
+                                         SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+
+    result = SerializeAdapter::deSerialize(&quantizationCr, dataPtr, &deserLen,
+                                           SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = SerializeAdapter::serialize(&quantizationCr, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
+                                         SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+
+    result = SerializeAdapter::deSerialize(&bypassCompressor, dataPtr, &deserLen,
+                                           SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = SerializeAdapter::serialize(&bypassCompressor, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
+                                         SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+
+    spParams.setFullPayloadLen(FULL_PAYLOAD_SIZE + CRC_SIZE);
    return returnvalue::OK;
  }

+  std::string fileName;
+  uint8_t encoderSettingY = 7;
+  uint64_t quantizationY = 0;
+  uint8_t encoderSettingsCb = 7;
+  uint64_t quantizationCb = 0;
+  uint8_t encoderSettingsCr = 7;
+  uint64_t quantizationCr = 0;
+  uint8_t bypassCompressor = 0;
+
 private:
-  static const size_t MAX_DATA_LENGTH = 286;
  static const size_t PARAMETER_SIZE = 28;
+  static constexpr size_t FULL_PAYLOAD_SIZE = FILENAME_FIELD_SIZE + PARAMETER_SIZE;
 };

 /**
@@ -907,30 +1035,31 @@ class TcSimplexStreamFile : public TcBase {
      : TcBase(params, apid::TC_SIMPLEX_SEND_FILE, sequenceCount) {}

  ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
-    if (commandDataLen > MAX_DATA_LENGTH) {
+    if (commandDataLen > MAX_FILENAME_SIZE) {
      return INVALID_LENGTH;
    }
    std::string fileName(reinterpret_cast<const char*>(commandData));
-    if (fileName.size() + sizeof(NULL_TERMINATOR) > MAX_FILENAME_SIZE) {
+    if (fileName.size() > MAX_FILENAME_SIZE) {
      return FILENAME_TOO_LONG;
    }

+    std::memset(payloadStart, 0, FILENAME_FIELD_SIZE);
    std::memcpy(payloadStart, fileName.data(), fileName.length());
    payloadStart[fileName.length()] = 0;
-    spParams.setFullPayloadLen(fileName.length() + 1);
+    spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + CRC_SIZE);
+    ;
    return returnvalue::OK;
  }

 private:
-  static constexpr size_t MAX_DATA_LENGTH = 256;
 };

 /**
 * @brief   Class to build simplex send file command
 */
-class TcSimplexStoreFile : public TcBase {
+class TcSplitFile : public TcBase {
 public:
-  TcSimplexStoreFile(ploc::SpTcParams params, uint16_t sequenceCount)
+  TcSplitFile(ploc::SpTcParams params, uint16_t sequenceCount)
      : TcBase(params, apid::TC_SIMPLEX_SEND_FILE, sequenceCount) {}

  ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
@@ -952,29 +1081,24 @@ class TcSimplexStoreFile : public TcBase {
      return INVALID_PARAMETER;
    }
    std::string fileName(reinterpret_cast<const char*>(*dataPtr));
-    if (fileName.size() + sizeof(NULL_TERMINATOR) > MAX_FILENAME_SIZE) {
+    if (fileName.size() > MAX_FILENAME_SIZE) {
      return FILENAME_TOO_LONG;
    }
-    size_t currentCopyIdx = 0;
-    size_t payloadLen = fileName.length() + sizeof(NULL_TERMINATOR) + CRC_SIZE;
-    if (chunkParameter > 1) {
    char divStr[16]{};
    sprintf(divStr, "DIV%03u", chunkParameter);
    std::memcpy(payloadStart, divStr, DIV_STR_LEN);
-      payloadLen += DIV_STR_LEN;
-      currentCopyIdx += DIV_STR_LEN;
-    }
-
-    std::memcpy(payloadStart + currentCopyIdx, *dataPtr, fileName.length());
-    spParams.setFullPayloadLen(payloadLen);
+    payloadStart[DIV_STR_LEN] = 0;
+    std::memset(payloadStart + DIV_STR_LEN + 1, 0, FILENAME_FIELD_SIZE - DIV_STR_LEN - 1);
+    std::memcpy(payloadStart + DIV_STR_LEN + 1, fileName.data(), fileName.length());
+    spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + CRC_SIZE);
    return returnvalue::OK;
  }

 private:
  uint32_t chunkParameter = 0;
-  static constexpr size_t MAX_DATA_LENGTH = 256;
  static constexpr size_t MIN_DATA_LENGTH = 4;
  static constexpr size_t DIV_STR_LEN = 6;
+  static constexpr size_t MAX_DATA_LENGTH = 4 + MAX_FILENAME_SIZE;
 };

 /**
--- a/linux/payload/plocSupvDefs.h
+++ b/linux/payload/plocSupvDefs.h
@@ -159,6 +159,7 @@ static const DeviceCommandId_t ENABLE_NVMS = 59;
 static const DeviceCommandId_t CONTINUE_UPDATE = 60;
 static const DeviceCommandId_t MEMORY_CHECK_WITH_FILE = 61;
 static constexpr DeviceCommandId_t MEMORY_CHECK = 62;
+static constexpr DeviceCommandId_t ABORT_LONGER_REQUEST = 63;

 /** Reply IDs */
 enum ReplyId : DeviceCommandId_t {
@@ -1145,14 +1146,14 @@ class WriteMemory : public TcBase {
      : TcBase(params, Apid::MEM_MAN, static_cast<uint8_t>(tc::MemManId::WRITE), 1) {}

  ReturnValue_t buildPacket(ccsds::SequenceFlags seqFlags, uint16_t sequenceCount, uint8_t memoryId,
-                            uint32_t startAddress, uint16_t length, uint8_t* updateData) {
+                            uint32_t currentAddr, uint16_t length, uint8_t* updateData) {
    if (length > CHUNK_MAX) {
      sif::error << "WriteMemory::WriteMemory: Invalid length" << std::endl;
      return SerializeIF::BUFFER_TOO_SHORT;
    }
    spParams.creator.setSeqFlags(seqFlags);
    spParams.creator.setSeqCount(sequenceCount);
-    auto res = initPacket(memoryId, startAddress, length, updateData);
+    auto res = initPacket(memoryId, currentAddr, length, updateData);
    if (res != returnvalue::OK) {
      return res;
    }
@@ -1170,7 +1171,7 @@ class WriteMemory : public TcBase {
  static const uint16_t META_DATA_LENGTH = 8;
  uint8_t n = 1;

-  ReturnValue_t initPacket(uint8_t memoryId, uint32_t startAddr, uint16_t updateDataLen,
+  ReturnValue_t initPacket(uint8_t memoryId, uint32_t currentAddr, uint16_t updateDataLen,
                           uint8_t* updateData) {
    uint8_t* data = payloadStart;
    if (updateDataLen % 2 != 0) {
@@ -1188,7 +1189,7 @@ class WriteMemory : public TcBase {
                                SerializeIF::Endianness::BIG);
    SerializeAdapter::serialize(&n, &data, &serializedSize, spParams.maxSize,
                                SerializeIF::Endianness::BIG);
-    SerializeAdapter::serialize(&startAddr, &data, &serializedSize, spParams.maxSize,
+    SerializeAdapter::serialize(&currentAddr, &data, &serializedSize, spParams.maxSize,
                                SerializeIF::Endianness::BIG);
    SerializeAdapter::serialize(&updateDataLen, &data, &serializedSize, spParams.maxSize,
                                SerializeIF::Endianness::BIG);
--- a/mission/acs/ImtqHandler.cpp
+++ b/mission/acs/ImtqHandler.cpp
@@ -795,9 +795,9 @@ ReturnValue_t ImtqHandler::initializeLocalDataPool(localpool::DataPool& localDat
  localDataPoolMap.emplace(imtq::FINA_NEG_Z_COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));

  poolManager.subscribeForDiagPeriodicPacket(
-      subdp::DiagnosticsHkPeriodicParams(hkDatasetNoTorque.getSid(), enableHkSets, 30.0));
+      subdp::DiagnosticsHkPeriodicParams(hkDatasetNoTorque.getSid(), enableHkSets, 60.0));
  poolManager.subscribeForDiagPeriodicPacket(
-      subdp::DiagnosticsHkPeriodicParams(hkDatasetWithTorque.getSid(), enableHkSets, 30.0));
+      subdp::DiagnosticsHkPeriodicParams(hkDatasetWithTorque.getSid(), enableHkSets, 60.0));
  poolManager.subscribeForDiagPeriodicPacket(
      subdp::DiagnosticsHkPeriodicParams(rawMtmNoTorque.getSid(), false, 10.0));
  poolManager.subscribeForDiagPeriodicPacket(
--- a/mission/acs/RwHandler.cpp
+++ b/mission/acs/RwHandler.cpp
@@ -340,7 +340,7 @@ ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataP
  localDataPoolMap.emplace(rws::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(rws::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
  poolManager.subscribeForDiagPeriodicPacket(
-      subdp::DiagnosticsHkPeriodicParams(statusSet.getSid(), false, 12.0));
+      subdp::DiagnosticsHkPeriodicParams(statusSet.getSid(), false, 30.0));
  poolManager.subscribeForRegularPeriodicPacket(
      subdp::RegularHkPeriodicParams(tmDataset.getSid(), false, 30.0));
  poolManager.subscribeForRegularPeriodicPacket(
--- a/mission/acs/str/StarTrackerHandler.cpp
+++ b/mission/acs/str/StarTrackerHandler.cpp
@@ -1662,7 +1662,7 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
  poolManager.subscribeForRegularPeriodicPacket(
      subdp::RegularHkPeriodicParams(interfaceSet.getSid(), false, 10.0));
  poolManager.subscribeForDiagPeriodicPacket(
-      subdp::DiagnosticsHkPeriodicParams(solutionSet.getSid(), false, 12.0));
+      subdp::DiagnosticsHkPeriodicParams(solutionSet.getSid(), false, 30.0));
  poolManager.subscribeForRegularPeriodicPacket(
      subdp::RegularHkPeriodicParams(cameraSet.getSid(), false, 10.0));
  poolManager.subscribeForRegularPeriodicPacket(
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -232,7 +232,8 @@ void AcsController::performSafe() {
  acs::ControlModeStrategy safeCtrlStrat = safeCtrl.safeCtrlStrategy(
      mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag,
      gyrDataProcessed.gyrVecTot.isValid(), susDataProcessed.susVecTot.isValid(),
-      fusedRotRateData.rotRateTotal.isValid(), acsParameters.safeModeControllerParameters.useMekf,
+      fusedRotRateSourcesData.rotRateTotalSusMgm.isValid(),
+      acsParameters.safeModeControllerParameters.useMekf,
      acsParameters.safeModeControllerParameters.useGyr,
      acsParameters.safeModeControllerParameters.dampingDuringEclipse);
  switch (safeCtrlStrat) {
@@ -251,9 +252,10 @@ void AcsController::performSafe() {
      safeCtrlFailureCounter = 0;
      break;
    case (acs::ControlModeStrategy::SAFECTRL_SUSMGM):
-      safeCtrl.safeSusMgm(mgmDataProcessed.mgmVecTot.value, fusedRotRateData.rotRateTotal.value,
-                          fusedRotRateData.rotRateParallel.value,
-                          fusedRotRateData.rotRateOrthogonal.value,
+      safeCtrl.safeSusMgm(mgmDataProcessed.mgmVecTot.value,
+                          fusedRotRateSourcesData.rotRateTotalSusMgm.value,
+                          fusedRotRateSourcesData.rotRateParallelSusMgm.value,
+                          fusedRotRateSourcesData.rotRateOrthogonalSusMgm.value,
                          susDataProcessed.susVecTot.value, sunTargetDir, magMomMtq, errAng);
      safeCtrlFailureFlag = false;
      safeCtrlFailureCounter = 0;
@@ -267,8 +269,8 @@ void AcsController::performSafe() {
      break;
    case (acs::ControlModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM):
      safeCtrl.safeRateDampingSusMgm(mgmDataProcessed.mgmVecTot.value,
-                                     fusedRotRateData.rotRateTotal.value, sunTargetDir, magMomMtq,
-                                     errAng);
+                                     fusedRotRateSourcesData.rotRateTotalSusMgm.value, sunTargetDir,
+                                     magMomMtq, errAng);
      safeCtrlFailureFlag = false;
      safeCtrlFailureCounter = 0;
      break;
@@ -355,7 +357,7 @@ void AcsController::performPointingCtrl() {
  }
  acs::ControlModeStrategy ptgCtrlStrat = ptgCtrl.pointingCtrlStrategy(
      mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag, strValid,
-      attitudeEstimationData.quatQuest.isValid(), fusedRotRateData.rotRateTotal.isValid(),
+      attitudeEstimationData.quatQuest.isValid(), fusedRotRateData.rotRateTotalSource.isValid(),
      fusedRotRateData.rotRateSource.value, useMekf);

  if (ptgCtrlStrat == acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL or
@@ -387,11 +389,11 @@ void AcsController::performPointingCtrl() {
      quatBI[1] = sensorValues.strSet.caliQy.value;
      quatBI[2] = sensorValues.strSet.caliQz.value;
      quatBI[3] = sensorValues.strSet.caliQw.value;
-      std::memcpy(rotRateB, fusedRotRateData.rotRateTotal.value, sizeof(rotRateB));
+      std::memcpy(rotRateB, fusedRotRateData.rotRateTotalSource.value, sizeof(rotRateB));
      break;
    case acs::ControlModeStrategy::PTGCTRL_QUEST:
      std::memcpy(quatBI, attitudeEstimationData.quatQuest.value, sizeof(quatBI));
-      std::memcpy(rotRateB, fusedRotRateData.rotRateTotal.value, sizeof(rotRateB));
+      std::memcpy(rotRateB, fusedRotRateData.rotRateTotalSource.value, sizeof(rotRateB));
      break;
    default:
      sif::error << "AcsController: Invalid pointing mode strategy for performPointingCtrl"
@@ -555,8 +557,8 @@ void AcsController::performPointingCtrl() {
 void AcsController::handleDetumbling() {
  switch (detumbleState) {
    case DetumbleState::NO_DETUMBLE:
-      if (fusedRotRateData.rotRateTotal.isValid() and
-          VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) >
+      if (fusedRotRateData.rotRateTotalSusMgm.isValid() and
+          VectorOperations<double>::norm(fusedRotRateData.rotRateTotalSusMgm.value, 3) >
              acsParameters.detumbleParameter.omegaDetumbleStart) {
        detumbleCounter++;
      } else if (detumbleCounter > 0) {
@@ -599,8 +601,8 @@ void AcsController::handleDetumbling() {
      detumbleState = DetumbleState::NO_DETUMBLE;
      break;
    case DetumbleState::IN_DETUMBLE:
-      if (fusedRotRateData.rotRateTotal.isValid() and
-          VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) <
+      if (fusedRotRateData.rotRateTotalSusMgm.isValid() and
+          VectorOperations<double>::norm(fusedRotRateData.rotRateTotalSusMgm.value, 3) <
              acsParameters.detumbleParameter.omegaDetumbleEnd) {
        detumbleCounter++;
      } else if (detumbleCounter > 0) {
@@ -747,7 +749,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_3_RM3100_UT, &mgm3VecRaw);
  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_NT, &imtqMgmVecRaw);
  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_ACT_STATUS, &imtqCalActStatus);
-  poolManager.subscribeForRegularPeriodicPacket({mgmDataRaw.getSid(), false, 10.0});
+  poolManager.subscribeForRegularPeriodicPacket({mgmDataRaw.getSid(), false, 60.0});
  // MGM Processed
  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_0_VEC, &mgm0VecProc);
  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_1_VEC, &mgm1VecProc);
@@ -757,7 +759,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT, &mgmVecTot);
  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT_DERIVATIVE, &mgmVecTotDer);
  localDataPoolMap.emplace(acsctrl::PoolIds::MAG_IGRF_MODEL, &magIgrf);
-  poolManager.subscribeForRegularPeriodicPacket({mgmDataProcessed.getSid(), enableHkSets, 10.0});
+  poolManager.subscribeForRegularPeriodicPacket({mgmDataProcessed.getSid(), enableHkSets, 60.0});
  // SUS Raw
  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_0_N_LOC_XFYFZM_PT_XF, &sus0ValRaw);
  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_1_N_LOC_XBYFZM_PT_XB, &sus1ValRaw);
@@ -771,7 +773,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_9_R_LOC_XBYBZB_PT_YF, &sus9ValRaw);
  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_10_N_LOC_XMYBZF_PT_ZF, &sus10ValRaw);
  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_11_R_LOC_XBYMZB_PT_ZB, &sus11ValRaw);
-  poolManager.subscribeForRegularPeriodicPacket({susDataRaw.getSid(), false, 10.0});
+  poolManager.subscribeForRegularPeriodicPacket({susDataRaw.getSid(), false, 60.0});
  // SUS Processed
  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_0_VEC, &sus0VecProc);
  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_1_VEC, &sus1VecProc);
@@ -788,20 +790,20 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_VEC_TOT, &susVecTot);
  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_VEC_TOT_DERIVATIVE, &susVecTotDer);
  localDataPoolMap.emplace(acsctrl::PoolIds::SUN_IJK_MODEL, &sunIjk);
-  poolManager.subscribeForRegularPeriodicPacket({susDataProcessed.getSid(), enableHkSets, 10.0});
+  poolManager.subscribeForRegularPeriodicPacket({susDataProcessed.getSid(), enableHkSets, 60.0});
  // GYR Raw
  localDataPoolMap.emplace(acsctrl::PoolIds::GYR_0_ADIS, &gyr0VecRaw);
  localDataPoolMap.emplace(acsctrl::PoolIds::GYR_1_L3, &gyr1VecRaw);
  localDataPoolMap.emplace(acsctrl::PoolIds::GYR_2_ADIS, &gyr2VecRaw);
  localDataPoolMap.emplace(acsctrl::PoolIds::GYR_3_L3, &gyr3VecRaw);
-  poolManager.subscribeForDiagPeriodicPacket({gyrDataRaw.getSid(), false, 10.0});
+  poolManager.subscribeForDiagPeriodicPacket({gyrDataRaw.getSid(), false, 60.0});
  // GYR Processed
  localDataPoolMap.emplace(acsctrl::PoolIds::GYR_0_VEC, &gyr0VecProc);
  localDataPoolMap.emplace(acsctrl::PoolIds::GYR_1_VEC, &gyr1VecProc);
  localDataPoolMap.emplace(acsctrl::PoolIds::GYR_2_VEC, &gyr2VecProc);
  localDataPoolMap.emplace(acsctrl::PoolIds::GYR_3_VEC, &gyr3VecProc);
  localDataPoolMap.emplace(acsctrl::PoolIds::GYR_VEC_TOT, &gyrVecTot);
-  poolManager.subscribeForDiagPeriodicPacket({gyrDataProcessed.getSid(), enableHkSets, 10.0});
+  poolManager.subscribeForDiagPeriodicPacket({gyrDataProcessed.getSid(), enableHkSets, 60.0});
  // GPS Processed
  localDataPoolMap.emplace(acsctrl::PoolIds::GC_LATITUDE, &gcLatitude);
  localDataPoolMap.emplace(acsctrl::PoolIds::GD_LONGITUDE, &gdLongitude);
@@ -809,38 +811,37 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
  localDataPoolMap.emplace(acsctrl::PoolIds::GPS_POSITION, &gpsPosition);
  localDataPoolMap.emplace(acsctrl::PoolIds::GPS_VELOCITY, &gpsVelocity);
  localDataPoolMap.emplace(acsctrl::PoolIds::SOURCE, &gpsSource);
-  poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), enableHkSets, 30.0});
+  poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), enableHkSets, 60.0});
  // Attitude Estimation
  localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_MEKF, &quatMekf);
  localDataPoolMap.emplace(acsctrl::PoolIds::SAT_ROT_RATE_MEKF, &satRotRateMekf);
  localDataPoolMap.emplace(acsctrl::PoolIds::MEKF_STATUS, &mekfStatus);
  localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_QUEST, &quatQuest);
-  poolManager.subscribeForDiagPeriodicPacket({attitudeEstimationData.getSid(), enableHkSets, 10.0});
+  poolManager.subscribeForDiagPeriodicPacket({attitudeEstimationData.getSid(), enableHkSets, 30.0});
  // Ctrl Values
  localDataPoolMap.emplace(acsctrl::PoolIds::SAFE_STRAT, &safeStrat);
  localDataPoolMap.emplace(acsctrl::PoolIds::TGT_QUAT, &tgtQuat);
  localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_QUAT, &errQuat);
  localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_ANG, &errAng);
  localDataPoolMap.emplace(acsctrl::PoolIds::TGT_ROT_RATE, &tgtRotRate);
-  poolManager.subscribeForRegularPeriodicPacket({ctrlValData.getSid(), enableHkSets, 10.0});
+  poolManager.subscribeForRegularPeriodicPacket({ctrlValData.getSid(), enableHkSets, 30.0});
  // Actuator CMD
  localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_TORQUE, &rwTargetTorque);
  localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_SPEED, &rwTargetSpeed);
  localDataPoolMap.emplace(acsctrl::PoolIds::MTQ_TARGET_DIPOLE, &mtqTargetDipole);
-  poolManager.subscribeForRegularPeriodicPacket({actuatorCmdData.getSid(), enableHkSets, 10.0});
+  poolManager.subscribeForRegularPeriodicPacket({actuatorCmdData.getSid(), enableHkSets, 30.0});
  // Fused Rot Rate
-  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_ORTHOGONAL, &rotRateOrthogonal);
-  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_PARALLEL, &rotRateParallel);
-  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL, &rotRateTotal);
+  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOT_SUSMGM, &rotRateTotSusMgm);
+  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOT_SOURCE, &rotRateTotSource);
  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_SOURCE, &rotRateSource);
-  poolManager.subscribeForRegularPeriodicPacket({fusedRotRateData.getSid(), enableHkSets, 10.0});
+  poolManager.subscribeForRegularPeriodicPacket({fusedRotRateData.getSid(), enableHkSets, 30.0});
  // Fused Rot Rate Sources
  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_ORTHOGONAL_SUSMGM, &rotRateOrthogonalSusMgm);
  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_PARALLEL_SUSMGM, &rotRateParallelSusMgm);
  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL_SUSMGM, &rotRateTotalSusMgm);
  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL_QUEST, &rotRateTotalQuest);
  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL_STR, &rotRateTotalStr);
-  poolManager.subscribeForRegularPeriodicPacket({fusedRotRateSourcesData.getSid(), false, 10.0});
+  poolManager.subscribeForRegularPeriodicPacket({fusedRotRateSourcesData.getSid(), false, 60.0});
  return returnvalue::OK;
 }

@@ -926,6 +927,17 @@ void AcsController::modeChanged(Mode_t mode, Submode_t submode) {
  if (detumbleState == DetumbleState::IN_DETUMBLE and submode != acs::SafeSubmode::DETUMBLE) {
    detumbleState = DetumbleState::NO_DETUMBLE;
  }
+  if (mode > acs::AcsMode::PTG_IDLE) {
+    poolManager.changeCollectionInterval(ctrlValData.getSid(), 10);
+    poolManager.changeCollectionInterval(actuatorCmdData.getSid(), 10);
+    poolManager.changeCollectionInterval(fusedRotRateData.getSid(), 10);
+    poolManager.changeCollectionInterval(attitudeEstimationData.getSid(), 10);
+  } else {
+    poolManager.changeCollectionInterval(ctrlValData.getSid(), 30);
+    poolManager.changeCollectionInterval(actuatorCmdData.getSid(), 30);
+    poolManager.changeCollectionInterval(fusedRotRateData.getSid(), 30);
+    poolManager.changeCollectionInterval(attitudeEstimationData.getSid(), 30);
+  }
  return ExtendedControllerBase::modeChanged(mode, submode);
 }

--- a/mission/controller/AcsController.h
+++ b/mission/controller/AcsController.h
@@ -271,9 +271,8 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes

  // Fused Rot Rate
  acsctrl::FusedRotRateData fusedRotRateData;
-  PoolEntry<double> rotRateOrthogonal = PoolEntry<double>(3);
-  PoolEntry<double> rotRateParallel = PoolEntry<double>(3);
-  PoolEntry<double> rotRateTotal = PoolEntry<double>(3);
+  PoolEntry<double> rotRateTotSusMgm = PoolEntry<double>(3);
+  PoolEntry<double> rotRateTotSource = PoolEntry<double>(3);
  PoolEntry<uint8_t> rotRateSource = PoolEntry<uint8_t>();

  // Fused Rot Rate Sources
--- a/mission/controller/acs/AcsParameters.cpp
+++ b/mission/controller/acs/AcsParameters.cpp
@@ -38,6 +38,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
        case 0x5:
          parameterWrapper->set(onBoardParams.questFilterWeight);
          break;
+        case 0x6:
+          parameterWrapper->set(onBoardParams.questAngleLimit);
+          break;
        default:
          return INVALID_IDENTIFIER_ID;
      }
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@@ -26,6 +26,7 @@ class AcsParameters : public HasParametersIF {
    uint8_t fusedRateFromStr = true;
    uint8_t fusedRateFromQuest = true;
    double questFilterWeight = 0.9;
+    double questAngleLimit = 5 * DEG2RAD;
  } onBoardParams;

  struct InertiaEIVE {
@@ -941,7 +942,7 @@ class AcsParameters : public HasParametersIF {
  } sunModelParameters;

  struct KalmanFilterParameters {
-    double sensorNoiseStr = 0.1 * DEG2RAD;
+    double sensorNoiseStr = 0.0028 * DEG2RAD;
    double sensorNoiseSus = 8. * DEG2RAD;
    double sensorNoiseMgm = 4. * DEG2RAD;
    double sensorNoiseGyr = 0.1 * DEG2RAD;
@@ -949,7 +950,7 @@ class AcsParameters : public HasParametersIF {
    double sensorNoiseGyrArw = 3. * 0.0043 / sqrt(10) * DEG2RAD;  // Angular Random Walk
    double sensorNoiseGyrBs = 3. / 3600. * DEG2RAD;               // Bias Stability

-    uint8_t allowStr = false;
+    uint8_t allowStr = true;
  } kalmanFilterParameters;

  struct MagnetorquerParameter {
--- a/mission/controller/acs/AttitudeEstimation.cpp
+++ b/mission/controller/acs/AttitudeEstimation.cpp
@@ -29,6 +29,20 @@ void AttitudeEstimation::quest(acsctrl::SusDataProcessed *susData,
  VectorOperations<double>::normalize(mgmData->mgmVecTot.value, normMgmB, 3);
  VectorOperations<double>::normalize(mgmData->magIgrfModel.value, normMgmI, 3);

+  if ((std::acos(VectorOperations<double>::dot(normSusB, normMgmB)) <
+       acsParameters->onBoardParams.questAngleLimit) or
+      (std::acos(VectorOperations<double>::dot(normSusI, normMgmI)) <
+       acsParameters->onBoardParams.questAngleLimit)) {
+    {
+      PoolReadGuard pg{attitudeEstimationData};
+      if (pg.getReadResult() == returnvalue::OK) {
+        std::memcpy(attitudeEstimationData->quatQuest.value, ZERO_VEC4, 4 * sizeof(double));
+        attitudeEstimationData->quatQuest.setValid(false);
+      }
+    }
+    return;
+  }
+
  // Create Helper Vectors
  double normHelperB[3] = {0, 0, 0}, normHelperI[3] = {0, 0, 0}, helperCross[3] = {0, 0, 0},
         helperSum[3] = {0, 0, 0};
--- a/mission/controller/acs/FusedRotationEstimation.cpp
+++ b/mission/controller/acs/FusedRotationEstimation.cpp
@@ -19,13 +19,9 @@ void FusedRotationEstimation::estimateFusedRotationRate(
                                           acsParameters->onBoardParams.fusedRateFromStr)) {
    PoolReadGuard pg(fusedRotRateData);
    if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
-      fusedRotRateData->rotRateOrthogonal.setValid(false);
-      std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC3, 3 * sizeof(double));
-      fusedRotRateData->rotRateParallel.setValid(false);
-      std::memcpy(fusedRotRateData->rotRateTotal.value,
+      std::memcpy(fusedRotRateData->rotRateTotalSource.value,
                  fusedRotRateSourcesData->rotRateTotalStr.value, 3 * sizeof(double));
-      fusedRotRateData->rotRateTotal.setValid(true);
+      fusedRotRateData->rotRateTotalSource.setValid(true);
      fusedRotRateData->rotRateSource.value = acs::rotrate::Source::STR;
      fusedRotRateData->rotRateSource.setValid(true);
    }
@@ -34,41 +30,38 @@ void FusedRotationEstimation::estimateFusedRotationRate(
              acsParameters->onBoardParams.fusedRateFromQuest)) {
    PoolReadGuard pg(fusedRotRateData);
    if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
-      fusedRotRateData->rotRateOrthogonal.setValid(false);
-      std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC3, 3 * sizeof(double));
-      fusedRotRateData->rotRateParallel.setValid(false);
-      std::memcpy(fusedRotRateData->rotRateTotal.value,
+      std::memcpy(fusedRotRateData->rotRateTotalSource.value,
                  fusedRotRateSourcesData->rotRateTotalQuest.value, 3 * sizeof(double));
-      fusedRotRateData->rotRateTotal.setValid(true);
+      fusedRotRateData->rotRateTotalSource.setValid(true);
      fusedRotRateData->rotRateSource.value = acs::rotrate::Source::QUEST;
      fusedRotRateData->rotRateSource.setValid(true);
    }
  } else if (fusedRotRateSourcesData->rotRateTotalSusMgm.isValid()) {
-    std::memcpy(fusedRotRateData->rotRateOrthogonal.value,
-                fusedRotRateSourcesData->rotRateOrthogonalSusMgm.value, 3 * sizeof(double));
-    fusedRotRateData->rotRateOrthogonal.setValid(
-        fusedRotRateSourcesData->rotRateOrthogonalSusMgm.isValid());
-    std::memcpy(fusedRotRateData->rotRateParallel.value,
-                fusedRotRateSourcesData->rotRateParallelSusMgm.value, 3 * sizeof(double));
-    fusedRotRateData->rotRateParallel.setValid(
-        fusedRotRateSourcesData->rotRateParallelSusMgm.isValid());
-    std::memcpy(fusedRotRateData->rotRateTotal.value,
+    std::memcpy(fusedRotRateData->rotRateTotalSource.value,
                fusedRotRateSourcesData->rotRateTotalSusMgm.value, 3 * sizeof(double));
-    fusedRotRateData->rotRateTotal.setValid(true);
+    fusedRotRateData->rotRateTotalSource.setValid(true);
    fusedRotRateData->rotRateSource.value = acs::rotrate::Source::SUSMGM;
    fusedRotRateData->rotRateSource.setValid(true);
  } else {
    PoolReadGuard pg(fusedRotRateData);
    if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
-      std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC3, 3 * sizeof(double));
-      std::memcpy(fusedRotRateData->rotRateTotal.value, ZERO_VEC3, 3 * sizeof(double));
-      fusedRotRateData->setValidity(false, true);
+      std::memcpy(fusedRotRateData->rotRateTotalSource.value, ZERO_VEC3, 3 * sizeof(double));
+      fusedRotRateData->rotRateTotalSource.setValid(false);
      fusedRotRateData->rotRateSource.value = acs::rotrate::Source::NONE;
      fusedRotRateData->rotRateSource.setValid(true);
    }
  }
+  if (fusedRotRateSourcesData->rotRateTotalSusMgm.isValid()) {
+    std::memcpy(fusedRotRateData->rotRateTotalSusMgm.value,
+                fusedRotRateSourcesData->rotRateTotalSusMgm.value, 3 * sizeof(double));
+    fusedRotRateData->rotRateTotalSusMgm.setValid(true);
+  } else {
+    PoolReadGuard pg(fusedRotRateData);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(fusedRotRateData->rotRateTotalSusMgm.value, ZERO_VEC3, 3 * sizeof(double));
+      fusedRotRateData->rotRateTotalSusMgm.setValid(false);
+    }
+  }
 }

 void FusedRotationEstimation::estimateFusedRotationRateStr(
--- a/mission/controller/acs/Guidance.cpp
+++ b/mission/controller/acs/Guidance.cpp
@@ -232,6 +232,7 @@ void Guidance::targetRotationRate(const double timeDelta, double quatIX[4], doub
  }
  if (timeDelta != 0.0) {
    QuaternionOperations::rotationFromQuaternions(quatIX, quatIXprev, timeDelta, refSatRate);
+    VectorOperations<double>::mulScalar(refSatRate, -1, refSatRate, 3);
  } else {
    std::memcpy(refSatRate, ZERO_VEC3, 3 * sizeof(double));
  }
@@ -315,9 +316,9 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do

  // Calculate error satellite rotational rate
  // Convert target rotational rate into body RF
-  double errorQuatInv[4] = {0, 0, 0, 0}, targetSatRotRateB[3] = {0, 0, 0};
-  QuaternionOperations::inverse(errorQuat, errorQuatInv);
-  QuaternionOperations::multiplyVector(errorQuatInv, targetSatRotRate, targetSatRotRateB);
+  double targetSatRotRateB[3] = {0, 0, 0};
+  QuaternionOperations::multiplyVector(currentQuat, targetSatRotRate, targetSatRotRateB);
+  VectorOperations<double>::copy(targetSatRotRateB, targetSatRotRate, 3);
  // Combine the target and reference satellite rotational rates
  double combinedRefSatRotRate[3] = {0, 0, 0};
  VectorOperations<double>::add(targetSatRotRate, refSatRotRate, combinedRefSatRotRate, 3);
--- a/mission/controller/acs/MultiplicativeKalmanFilter.cpp
+++ b/mission/controller/acs/MultiplicativeKalmanFilter.cpp
@@ -114,12 +114,13 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
    return result;
  }

-  double measSensMatrix[matrixDimensionFactor][6] = {{0}},
-         measCovMatrix[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
-         measVec[matrixDimensionFactor] = {0}, estVec[matrixDimensionFactor] = {0};
+  double measSensMatrix[matrixDimensionFactor][6] = {},
+         measCovMatrix[matrixDimensionFactor][matrixDimensionFactor] = {},
+         measVec[matrixDimensionFactor] = {}, estVec[matrixDimensionFactor] = {};
  kfUpdate(susData, mgmData, *measSensMatrix, *measCovMatrix, measVec, estVec);

-  double kalmanGain[6][matrixDimensionFactor] = {{0}};
+  double kalmanGain[6][matrixDimensionFactor];
+  std::memset(kalmanGain, 0, sizeof(kalmanGain));
  result = kfGain(*measSensMatrix, *measCovMatrix, *kalmanGain, attitudeEstimationData);
  if (result != returnvalue::OK) {
    reset(attitudeEstimationData);
@@ -342,10 +343,11 @@ ReturnValue_t MultiplicativeKalmanFilter::kfGain(
    double *measSensMatrix, double *measCovMatrix, double *kalmanGain,
    acsctrl::AttitudeEstimationData *attitudeEstimationData) {
  // Kalman Gain: K = P * H' / (H * P * H' + R)
-  double kalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
-         invKalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
-         residualCov[6][matrixDimensionFactor] = {{0}},
-         measSensMatrixTransposed[6][matrixDimensionFactor] = {{0}};
+  double kalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {},
+         invKalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {};
+  double residualCov[6][matrixDimensionFactor], measSensMatrixTransposed[6][matrixDimensionFactor];
+  std::memset(residualCov, 0, sizeof(residualCov));
+  std::memset(measSensMatrixTransposed, 0, sizeof(measSensMatrixTransposed));

  MatrixOperations<double>::transpose(measSensMatrix, *measSensMatrixTransposed,
                                      matrixDimensionFactor, 6);
@@ -382,8 +384,7 @@ void MultiplicativeKalmanFilter::kfCovAposteriori(double *kalmanGain, double *me

 void MultiplicativeKalmanFilter::kfStateAposteriori(double *kalmanGain, double *measVec,
                                                    double *estVec) {
-  double stateVecErr[6] = {0, 0, 0, 0, 0, 0};
-  double plantOutputDiff[matrixDimensionFactor] = {0};
+  double stateVecErr[6] = {0, 0, 0, 0, 0, 0}, plantOutputDiff[matrixDimensionFactor] = {};
  VectorOperations<double>::subtract(measVec, estVec, plantOutputDiff, matrixDimensionFactor);
  MatrixOperations<double>::multiply(kalmanGain, plantOutputDiff, stateVecErr, 6,
                                     matrixDimensionFactor, 1);
--- a/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
+++ b/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
@@ -129,9 +129,8 @@ enum PoolIds : lp_id_t {
  RW_TARGET_SPEED,
  MTQ_TARGET_DIPOLE,
  // Fused Rotation Rate
-  ROT_RATE_ORTHOGONAL,
-  ROT_RATE_PARALLEL,
-  ROT_RATE_TOTAL,
+  ROT_RATE_TOT_SUSMGM,
+  ROT_RATE_TOT_SOURCE,
  ROT_RATE_SOURCE,
  // Fused Rotation Rate Sources
  ROT_RATE_ORTHOGONAL_SUSMGM,
@@ -151,7 +150,7 @@ static constexpr uint8_t GPS_SET_PROCESSED_ENTRIES = 6;
 static constexpr uint8_t ATTITUDE_ESTIMATION_SET_ENTRIES = 4;
 static constexpr uint8_t CTRL_VAL_SET_ENTRIES = 5;
 static constexpr uint8_t ACT_CMD_SET_ENTRIES = 3;
-static constexpr uint8_t FUSED_ROT_RATE_SET_ENTRIES = 4;
+static constexpr uint8_t FUSED_ROT_RATE_SET_ENTRIES = 3;
 static constexpr uint8_t FUSED_ROT_RATE_SOURCES_SET_ENTRIES = 5;

 /**
@@ -318,10 +317,10 @@ class FusedRotRateData : public StaticLocalDataSet<FUSED_ROT_RATE_SET_ENTRIES> {
  FusedRotRateData(HasLocalDataPoolIF* hkOwner)
      : StaticLocalDataSet(hkOwner, FUSED_ROTATION_RATE_DATA) {}

-  lp_vec_t<double, 3> rotRateOrthogonal =
-      lp_vec_t<double, 3>(sid.objectId, ROT_RATE_ORTHOGONAL, this);
-  lp_vec_t<double, 3> rotRateParallel = lp_vec_t<double, 3>(sid.objectId, ROT_RATE_PARALLEL, this);
-  lp_vec_t<double, 3> rotRateTotal = lp_vec_t<double, 3>(sid.objectId, ROT_RATE_TOTAL, this);
+  lp_vec_t<double, 3> rotRateTotalSusMgm =
+      lp_vec_t<double, 3>(sid.objectId, ROT_RATE_TOT_SUSMGM, this);
+  lp_vec_t<double, 3> rotRateTotalSource =
+      lp_vec_t<double, 3>(sid.objectId, ROT_RATE_TOT_SOURCE, this);
  lp_var_t<uint8_t> rotRateSource = lp_var_t<uint8_t>(sid.objectId, ROT_RATE_SOURCE, this);

 private:
--- a/mission/system/CMakeLists.txt
+++ b/mission/system/CMakeLists.txt
@@ -3,8 +3,9 @@ add_subdirectory(acs)
 add_subdirectory(tcs)
 add_subdirectory(com)
 add_subdirectory(power)
+add_subdirectory(payload)

 target_sources(
  ${LIB_EIVE_MISSION}
  PRIVATE systemTree.cpp DualLanePowerStateMachine.cpp EiveSystem.cpp
-          treeUtil.cpp SharedPowerAssemblyBase.cpp payloadModeTree.cpp)
+          treeUtil.cpp SharedPowerAssemblyBase.cpp)
--- a/mission/system/acs/acsModeTree.cpp
+++ b/mission/system/acs/acsModeTree.cpp
@@ -105,7 +105,7 @@ Subsystem& satsystem::acs::init() {
  };
  // Build TARGET PT transition 0
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
-  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
@@ -114,7 +114,7 @@ Subsystem& satsystem::acs::init() {
        ctxc);

  // Build SUS board transition
-  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, SUS_BOARD_NML_TRANS.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, SUS_BOARD_NML_TRANS.second, true);
  check(ACS_SUBSYSTEM.addTable(TableEntry(SUS_BOARD_NML_TRANS.first, &SUS_BOARD_NML_TRANS.second)),
        ctxc);

@@ -200,14 +200,14 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
  iht(objects::ACS_CONTROLLER, acs::AcsMode::SAFE, acs::SafeSubmode::DEFAULT,
      ACS_TABLE_SAFE_TGT.second, true);
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TGT.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_SAFE_TGT.second, true);
  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_SAFE_TGT.second, true);
  check(ss.addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_SAFE_TGT.first, false, true), ctxc);

  // Build SAFE transition 0
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
-  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
  iht(objects::STR_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
  iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
  check(ss.addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true),
@@ -257,14 +257,14 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TGT.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_IDLE_TGT.second, true);
  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_IDLE_TGT.second, true);
  ss.addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true);

  // Build IDLE transition 0
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
-  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
  ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);
@@ -307,7 +307,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
  // Build TARGET PT table
  iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET, 0, ACS_TABLE_PTG_TARGET_TGT.second);
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_TGT.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_TGT.second, true);
  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_TGT.second, true);
  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
@@ -356,7 +356,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
  // Build TARGET PT table
  iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_NADIR, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
@@ -409,7 +409,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
  // Build TARGET PT table
  iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET_GS, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
@@ -462,7 +462,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
  iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_INERTIAL, 0,
      ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second,
+  iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second,
      true);
  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second,
      true);
--- a/mission/system/payload/CMakeLists.txt
+++ b/mission/system/payload/CMakeLists.txt
@@ -0,0 +1 @@
+target_sources(${LIB_EIVE_MISSION} PRIVATE payloadModeTree.cpp)
--- a/mission/system/payload/payloadModeTree.cpp
+++ b/mission/system/payload/payloadModeTree.cpp
--- a/mission/system/payload/payloadModeTree.h
+++ b/mission/system/payload/payloadModeTree.h
--- a/mission/system/systemTree.cpp
+++ b/mission/system/systemTree.cpp
@@ -10,7 +10,7 @@
 #include "mission/com/defs.h"
 #include "mission/sysDefs.h"
 #include "mission/system/acs/acsModeTree.h"
-#include "mission/system/payloadModeTree.h"
+#include "mission/system/payload/payloadModeTree.h"
 #include "mission/system/power/epsModeTree.h"
 #include "mission/system/tcs/tcsModeTree.h"
 #include "treeUtil.h"
--- a/q7s-env.sh
+++ b/q7s-env.sh
@@ -9,7 +9,7 @@ export ZYNQ_7020_SYSROOT="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-li

 export PATH=${CROSS_COMPILE_BIN_PATH}:$PATH
 export CROSS_COMPILE="arm-linux-gnueabihf"
-# export EIVE_Q7S_EM=1
+unset EIVE_Q7S_EM

 if [[ -d "eive-obsw" ]]; then
 	echo "Detected EIVE OBSW root directory at $(pwd)/eive-obsw. Setting to EIVE_OBSW_ROOT"
--- a/scripts/q7s-cp.py
+++ b/scripts/q7s-cp.py
@@ -4,6 +4,9 @@ import os
 import sys


+DEFAULT_PORT = 1539
+
+
 def main():
    args = handle_args()
    cmd = build_cmd(args)
@@ -20,7 +23,7 @@ def prompt_ssh_key_removal():
    do_remove_key = input(
        "Do you want to remove problematic keys on localhost ([Y]/n)?: "
    )
-    if not do_remove_key.lower() in ["y", "yes", "1", ""]:
+    if do_remove_key.lower() not in ["y", "yes", "1", ""]:
        sys.exit(1)
    port = 0
    while True:
@@ -54,7 +57,7 @@ def handle_args():
        "If files are copied back to host, will be current directory by default",
        default="",
    )
-    parser.add_argument("-P", "--port", help="Target port", default=1535)
+    parser.add_argument("-P", "--port", help="Target port", default=DEFAULT_PORT)
    parser.add_argument(
        "-i",
        "--invert",
--- a/2
+++ b/2
Author	SHA1	Message	Date
Robin Müller	ea6dbb6454	Merge pull request 'prep v8.2.0' (#907 ) from prep-release into main All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details Reviewed-on: #907	2024-06-26 15:49:20 +02:00
Robin Mueller	bfa9a3c1fe	prep v8.2.0 Some checks are pending EIVE/eive-obsw/pipeline/head Build started... Details EIVE/eive-obsw/pipeline/pr-main Build queued... Details	2024-06-26 15:45:20 +02:00
Robin Müller	0166ebb185	Merge pull request 'Different Rot Rate Source for Detumble' (#902 ) from use-different-rot-rate-for-detumble into main All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details Reviewed-on: #902 Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>	2024-06-26 15:36:31 +02:00
Robin Mueller	2ba1d0f629	Merge remote-tracking branch 'origin/main' into use-different-rot-rate-for-detumble All checks were successful EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-06-26 13:34:14 +02:00
Robin Müller	ca14429a62	Merge pull request 'Adjust dataset frequency' (#906 ) from reduce-dataset-freq into main All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details Reviewed-on: #906 Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>	2024-06-26 13:30:34 +02:00
Marius Eggert	00ce2fe611	changelog All checks were successful EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-06-25 13:45:03 +02:00
Marius Eggert	64ec2ffd84	acs ctrl controller datasets to 30s at or below idle and 10s above idle Some checks are pending EIVE/eive-obsw/pipeline/head Build started... Details EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-06-25 13:29:32 +02:00
Marius Eggert	30bb5d1ac7	str solution dataset to 30s	2024-06-25 13:17:43 +02:00
Marius Eggert	640e316e5e	rw status dataset to 30s	2024-06-25 13:13:09 +02:00
Marius Eggert	fe4ef398ed	gnss ctrl core dataset to 60s	2024-06-25 13:10:13 +02:00
Marius Eggert	09f282cfd5	mtq datasets to 60s	2024-06-25 13:09:02 +02:00
Marius Eggert	709be2cd24	acs ctrl sensor datasets to 60s	2024-06-25 13:05:50 +02:00
Marius Eggert	54e4d27fe1	this is cleaner All checks were successful EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-06-24 13:26:56 +02:00
Marius Eggert	ce7d1441de	whoopsies All checks were successful EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-06-24 13:19:25 +02:00
Marius Eggert	6727950eac	Merge branch 'main' into use-different-rot-rate-for-detumble All checks were successful EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-06-24 11:23:56 +02:00
Marius Eggert	5c951f3e49	Merge pull request 'might be an important fix' (#904 ) from possible-fix-mpsoc-take-pic into main All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details Reviewed-on: #904 Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>	2024-06-24 11:23:09 +02:00
Marius Eggert	c65ad4ab4f	Merge branch 'main' into possible-fix-mpsoc-take-pic	2024-06-24 11:22:47 +02:00
Marius Eggert	8da305b247	changelog All checks were successful EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-06-24 11:18:49 +02:00
Marius Eggert	1731b21953	set quest to invalid if sun vector and mgm vector nearly align	2024-06-24 11:02:54 +02:00
Marius Eggert	4b99be7316	Merge branch 'main' into use-different-rot-rate-for-detumble	2024-06-24 10:59:32 +02:00
Robin Müller	bfcd149574	Merge pull request 'SUS Ass B-Side as Nom' (#905 ) from change-sus-ass-to-b-side into main All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details Reviewed-on: #905 Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>	2024-06-20 10:55:49 +02:00
Marius Eggert	90701a0723	Merge branch 'main' into change-sus-ass-to-b-side Some checks are pending EIVE/eive-obsw/pipeline/head Build queued... Details EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-06-20 09:15:00 +02:00
Marius Eggert	1a9a054567	changelog	2024-06-20 09:10:50 +02:00
Marius Eggert	511f7275f2	sus ass b-side as nominal	2024-06-20 09:10:43 +02:00
Marius Eggert	80ce299d37	Merge pull request 'Use STR for MEKF as default' (#899 ) from allow-mekf-str into main All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details Reviewed-on: #899 Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>	2024-06-20 09:10:05 +02:00
Robin Mueller	6782b4394b	Merge remote-tracking branch 'origin/main' into possible-fix-mpsoc-take-pic All checks were successful EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-06-17 16:12:12 +02:00
Robin Mueller	a35b28fc57	might be an important fix Some checks are pending EIVE/eive-obsw/pipeline/head Build queued... Details EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-06-17 16:09:55 +02:00
Marius Eggert	8034982067	and that one All checks were successful EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-06-12 17:04:13 +02:00
Marius Eggert	e44f1974cd	missed that one Some checks failed EIVE/eive-obsw/pipeline/pr-main There was a failure building this commit Details	2024-06-12 16:53:35 +02:00
Marius Eggert	b47e8b1ddd	fix enum Some checks failed EIVE/eive-obsw/pipeline/pr-main There was a failure building this commit Details	2024-06-12 16:45:33 +02:00
Marius Eggert	e305d77b32	changelog Some checks failed EIVE/eive-obsw/pipeline/pr-main There was a failure building this commit Details	2024-06-12 16:34:00 +02:00
Marius Eggert	abbbb0cabb	make detumble relevant rotational rate always observable	2024-06-12 16:32:47 +02:00
Marius Eggert	f19b129609	changelog Some checks are pending EIVE/eive-obsw/pipeline/head Build queued... Details EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-06-10 15:51:10 +02:00
Marius Eggert	f2d7f32952	changed source	2024-06-10 15:50:47 +02:00
Marius Eggert	e267b69045	Merge branch 'main' into allow-mekf-str All checks were successful EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-06-10 15:36:04 +02:00
Robin Müller	60922ccc0d	Merge pull request 'prepare patch release' (#901 ) from prep-patch-release into main All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details Reviewed-on: #901	2024-06-05 13:29:59 +02:00
Robin Mueller	3ec0509bd4	prepare patch release Some checks are pending EIVE/eive-obsw/pipeline/head Build started... Details	2024-06-05 13:28:08 +02:00
Robin Müller	a73c36c237	Merge pull request 'MPSoC Update Retry Logic' (#900 ) from supv-retry-logic into main All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details Reviewed-on: #900 Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>	2024-06-05 13:27:18 +02:00
Robin Mueller	5dd0c2a5cb	let's not do that for now.. All checks were successful EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-06-05 12:47:17 +02:00
Robin Mueller	1f8dc67922	some minor improvements Some checks are pending EIVE/eive-obsw/pipeline/head Build started... Details EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-06-05 12:36:31 +02:00
Robin Mueller	e43a86432b	start adding re-try logic for SUPV All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2024-06-04 15:10:54 +02:00
Marius Eggert	585c49780f	changelog Some checks are pending EIVE/eive-obsw/pipeline/head Build started... Details EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-06-04 11:25:07 +02:00
Marius Eggert	1429aa56a4	enable use of STR for MEKF by default	2024-06-04 11:23:50 +02:00
Robin Müller	467ee0028a	Merge pull request 'PLOC SUPV bugfix' (#898 ) from ploc-supv-bugfix into main All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details Reviewed-on: #898 Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>	2024-05-29 10:38:15 +02:00
Robin Mueller	98a92a6b88	Merge remote-tracking branch 'origin/main' into ploc-supv-bugfix Some checks are pending EIVE/eive-obsw/pipeline/pr-main Build queued... Details	2024-05-29 10:13:52 +02:00
Robin Müller	e1f2514596	Merge pull request 'Fix MEKF Inits' (#896 ) from fix-mekf-inits into main All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details Reviewed-on: #896 Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>	2024-05-29 10:12:35 +02:00
Robin Mueller	f255feb819	Merge remote-tracking branch 'origin/main' into fix-mekf-inits	2024-05-29 10:11:53 +02:00
Robin Müller	6d27da4939	Merge pull request 'small fix for MPSoC transition failure' (#897 ) from transition-failure-fix into main All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details Reviewed-on: #897 Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>	2024-05-29 10:11:01 +02:00
Robin Mueller	a3ac2505fe	small tweak All checks were successful EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-05-28 15:38:16 +02:00
Robin Mueller	6350e0db0a	changelog All checks were successful EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-05-28 15:36:49 +02:00
Robin Mueller	db9e83cbc8	PLOC SUPV bugfix Some checks are pending EIVE/eive-obsw/pipeline/head Build started... Details EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-05-28 15:33:13 +02:00
Robin Mueller	42ae9eafb7	bump tmtc All checks were successful EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-05-23 14:45:18 +02:00
Robin Mueller	0475ab872d	changelog All checks were successful EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-05-23 14:23:16 +02:00
Robin Mueller	225d037c66	small fix for MPSoC transition failure Some checks are pending EIVE/eive-obsw/pipeline/head Build queued... Details	2024-05-23 14:22:07 +02:00
Marius Eggert	aa5a148800	changelog All checks were successful EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-05-15 11:07:46 +02:00
Marius Eggert	4720ab9a35	corrected str sigma All checks were successful EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-05-15 11:07:12 +02:00
Marius Eggert	ba219fbe7d	changelog Some checks are pending EIVE/eive-obsw/pipeline/head Build started... Details EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-05-15 10:05:32 +02:00
Marius Eggert	32271a98ff	go home compiler, you're drunk Some checks are pending EIVE/eive-obsw/pipeline/head Build started... Details	2024-05-15 10:04:04 +02:00
Marius Eggert	6025ea5663	fixed ub with initalization	2024-05-14 15:35:20 +02:00
Robin Müller	5af43ca29b	Merge pull request 'prep v8.0.0' (#895 ) from prep_v8.0.0 into main All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details Reviewed-on: #895	2024-05-13 14:19:59 +02:00
Robin Mueller	822df9658f	prep v8.0.0 Some checks are pending EIVE/eive-obsw/pipeline/head Build queued... Details EIVE/eive-obsw/pipeline/pr-main Build started... Details	2024-05-13 14:08:35 +02:00
Robin Müller	765e3d6b5b	Merge pull request 'MPSoC Fixes' (#894 ) from mpsoc-fixes into main All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details Reviewed-on: #894 Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>	2024-05-13 14:03:11 +02:00
Robin Mueller	0b3c928886	combining those is acutally problematic.. Some checks are pending EIVE/eive-obsw/pipeline/head Build started... Details EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-05-08 11:11:21 +02:00
Robin Mueller	73279a0bf3	minor fix for periodic HK generation All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2024-05-08 10:54:24 +02:00
Robin Mueller	4559d24c62	changelog All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2024-05-08 10:04:34 +02:00
Robin Mueller	b54f8e7738	some fixes for MPSoC	2024-05-08 10:03:32 +02:00
Robin Müller	6bb12f28a1	Merge pull request 'MPSoC Overhaul' (#892 ) from mpsoc-overhaul into main All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details Reviewed-on: #892 Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>	2024-05-06 14:20:46 +02:00
Robin Mueller	7e8d995b52	changelog and tmtc	2024-05-06 14:20:13 +02:00
Robin Mueller	215f2189a6	better name for split file command Some checks are pending EIVE/eive-obsw/pipeline/pr-main Build queued... Details	2024-05-06 14:17:25 +02:00
Robin Mueller	8103b2fa0d	events All checks were successful EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-05-06 13:48:32 +02:00
Robin Mueller	b579cd86c1	make marius extremely happy All checks were successful EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-05-06 13:30:28 +02:00
Robin Mueller	4fdec7a74c	impl proper NORMAL mode for MPSoC All checks were successful EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-05-06 13:19:15 +02:00
Robin Mueller	744a94704c	removed TODOs which are done All checks were successful EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-05-02 15:42:14 +02:00
Marius Eggert	f7f14ff021	Merge branch 'main' into mpsoc-overhaul All checks were successful EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-04-30 15:57:34 +02:00
Marius Eggert	fe729f1df0	Merge pull request 'Fix Target Rotation Rate' (#893 ) from tgt-rot-rate-fix into main All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details Reviewed-on: #893 Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>	2024-04-30 15:52:05 +02:00
Marius Eggert	7734d1066a	Merge branch 'main' into tgt-rot-rate-fix	2024-04-30 15:51:39 +02:00
Robin Mueller	4a0acbf158	further reduce printout All checks were successful EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-04-30 15:37:53 +02:00
Robin Mueller	65476f4c98	reduce printouts All checks were successful EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-04-30 15:18:15 +02:00
Robin Mueller	aa2bfb7d0e	Re-work MPSoC handler module All checks were successful EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-04-30 15:14:22 +02:00
Marius Eggert	fa01afe0fa	fixed build after EM build was created All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2024-04-30 11:37:46 +02:00
Marius Eggert	a6ce06e3f5	Merge branch 'main' into tgt-rot-rate-fix All checks were successful EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-04-29 11:47:07 +02:00
Marius Eggert	75070b5e66	i am smart All checks were successful EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-04-29 10:42:52 +02:00
Marius Eggert	26341743a8	changelog All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-04-29 10:26:12 +02:00
Marius Eggert	7c10f4b1cd	fix calculation of target rotation	2024-04-29 10:24:53 +02:00
Marius Eggert	c1b8e891c5	Merge pull request 'add new payload module' (#889 ) from payload-module into main All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details Reviewed-on: #889 Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>	2024-04-22 09:32:27 +02:00
Robin Mueller	18cf46ea31	Merge remote-tracking branch 'origin/main' into payload-module All checks were successful EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-04-17 15:11:58 +02:00
Robin Mueller	51dcb56583	Merge remote-tracking branch 'origin/main' into payload-module All checks were successful EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-04-09 17:42:01 +02:00
Robin Mueller	df0c8eefab	bump tmtc	2024-04-09 17:41:34 +02:00
Robin Mueller	eec934e1b0	bump submodules All checks were successful EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-04-09 14:32:00 +02:00
Robin Mueller	1793b325ec	compiles again All checks were successful EIVE/eive-obsw/pipeline/pr-main This commit looks good Details	2024-04-09 13:33:56 +02:00
Robin Mueller	6cc1d86018	add new payload module Some checks failed EIVE/eive-obsw/pipeline/head There was a failure building this commit Details EIVE/eive-obsw/pipeline/pr-main There was a failure building this commit Details	2024-04-09 13:19:52 +02:00
				`@@ -0,0 +1 @@`
				`target_sources(${LIB_EIVE_MISSION} PRIVATE payloadModeTree.cpp)`