Merge pull request 'prep v7.5.2' (#838) from prep_v7.5.2 into main

Reviewed-on: #838
Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>

.gitignore

@@ -22,3 +22,7 @@ __pycache__
 !/.idea/cmake.xml
 
 generators/*.db
+
+# Clangd LSP
+/compile_commands.json
+/.cache

CHANGELOG.md

@@ -16,19 +16,145 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+# [v7.5.2] 2023-12-14
+
+## Fixed
+
+- Fixed faulty scaling within the QUEST algorithm.
+
+# [v7.5.1] 2023-12-13
+
+- `eive-tmtc` v5.12.1
+
+## Changed
+
+- Increased the maximum number of scheduled telecommands from 500 to 4000. Merry Christmas!
+
+## Fixed
+
+- Faulty mapping of input values for QUEST algorithm.
+- Fixed validity check for QUEST algorithm.
+
+# [v7.5.0] 2023-12-06
+
+- `eive-tmtc` v5.12.0
+
+## Changed
+
+- ACS-Board default side changed to B-Side
+- The TLE uploaded now gets stored in a file on the filesystem. It will always be stored on
+  the current active SD Card. After a reboot, the TLE will be read from the filesystem.
+  A filesystem change via `prefSD` on bootup, can lead to the TLE not being read, even
+  though it is there.
+- Added action cmd to read the currently stored TLE.
+- Both the `AcsController` and the `PwrController` now use the monotonic clock to calculate
+  the time difference.
+- `ACS Controller` now has the function `performAttitudeControl` which is called prior to passing
+  on to the relevant mode functions. It handles all telemetry relevant functions, which were
+  always called, regardless of the mode.
+ 
 ## Added
 
-- CFDP source handler, which allow file downlink using the standardized
+- Higher ACS modes can now be entered without a running `MEKF`. Higher modes will collect their
+  quaternion and rotational rate depending on the available sources.
+- `QUEST` attitude estimation was added to the `AcsController`.
+- The fused rotational rate can now be estimated from `QUEST` and the `STR`.
+
+# [v7.4.1] 2023-12-06
+
+## Fixed
+
+- Schedule SCEX again. Scheduling was removed accidentaly when Payload Task was converted to a PST.
+- SCEX transition was previously 0 seconds.. which did not lead to bugs? In any case it is 5
+  seconds now.
+
+# [v7.4.0] 2023-11-30
+
+- `eive-tmtc` v5.11.0
+
+## Changed
+
+- Rewrote the PLOC Supervisor Handler, which is now based on a new device handler base class.
+  Added ADC and Logging Counters telemetry set support.
+
+## Fixed
+
+- Increase allowed time for PTME writers to finish partial transfers. A duration of 200 ms was
+  not sufficient for cases where 3 writers write concurrently.
+- Fixed state issue for PTME writer object where the writer was not reset properly after a timeout
+  of a partial transfer. This was a major bug blocking the whole VC if it occured.
+- STR config path was previously hardcoded to `/mnt/sd0/startracker/flight-config.json`.
+  A new abstraction was introduces which now uses the active SD card to build the correct
+  config path when initializing the star tracker.
+
+## Added
+
+- PL PCDU: Add command to enable and disable channel order checks.
+- Added new PUS 15 subservice `DELETE_BY_TIME_RANGE` which allows to also specify a deletion
+  start time when deleting packets from the persistent TM store.
+- Introduced a new `RELOAD_JSON_CFG_FILE` command for the STR to reload the JSON configuration
+  data based on the current output of the config file path getter function. A reboot of the
+  device is still necessary to load the configuration to the STR.
+
+# [v7.3.0] 2023-11-07
+
+## Changed
+
+- Changed PDEC addresses depending on which firmware version is used. It is suspected that
+  the previous addresses were invalid and not properly covered by the Linux memory protection.
+  The OBSW will use the old addresses for older FW versions.
+- Reverted some STR ComIF behaviour back to an older software version.
+
+## Added
+
+- Always add PLOC MPSoC and PLOC SUPV components for the EM as well.
+
+# [v7.2.0] 2023-10-27
+
+- `eive-tmtc` v5.10.1
+
+## Added
+
+- STR: Added new TM sets: Blob, Blobs, MatchedCentroids, Contrast, AutoBlob, Centroid, Centroids
+- STR: Added new mechanism where the secondary TM which is polled can now be a set instead of
+  being temperature only. An API is exposed which allows to add a data set to that set of secondary
+  telemetry, reset it back to temperature only, and read the whole set. This allows more debugging
+  capability.
+- CFDP source handler, which allows file downlink using the standardized
   CFDP interface.
+- Proper back pressure handling for the CFDP handler, where the `LiveTmTask` is able to throttle
+  the CFDP handler.
+- Added CFDP fault handler events.
+- The EIVE system will command the payload OFF explicitely again when receiving the
+  `power::POWER_LEVEL_CRITICAL` event.
 
 ## Fixed
 
 - If the PTME is driven in a way where it fills faster than it can be emptied, the interface
   can become full during the process of a regular packet write. The interface of the PAPB VC
-  component was adapted to account for this partial success state. The caller must now check
-  for the `PARTIALLY_WRITTEN` state and must take care of finishing a write in some shape or
-  form before starting the next packet transfer.
+  was adapted to be stateful now. Packet generation is started with a `write` call while
+  write transfers are advanced and completed with the `advanceWrite` call if they can not be
+  completed immediately.
+- CFDP Space Packets SSC is now generated properly, was always 0 before.
 - Host build fixes
+- PL Enable set of the power controller is now set to invalid properly if the power controller
+  is not in normal mode.
+- MPSoC debug mode.
+- Possible bugfix for PL PCDU parameter JSON handling which might not have been initialized
+  properly from the JSON file.
+
+## Changed
+
+- Swapped RTD 9 (PLOC HPA Sensor) and RTD 11 (PLOC MPA Sensor) chip select definitions. It is
+  strongly suspected the cables for those devices were swapped during integration. This is probably
+  the easiest way to fix the issue without the need to tweak ground or other OBSW or controller
+  code.
+- Added a 3 second delay in the EIVE system between commanding all PL components except the SUPV,
+  and the SUPV itself OFF when the power level becomes low or critical.
+- SUS FDIR should now trigger less events. The finish event is now only triggered once the
+  SUS has been working properly for a minute again. It will then display the number of periods
+  during which the SUS was not working as well as the maximum amount of invalid messages.
+- Updated battery internal resistance to new value
 
 # [v7.1.0] 2023-10-11
 
@@ -651,7 +777,7 @@ This is the version which will fly on the satellite for the initial launch phase
   This gives other tasks some time to register the SD cards being unusable, and therefore provides
   a way for them to perform any re-initialization tasks necessary after SD card switches.
 - TCS controller now only has an OFF mode and an ON mode
-- The TCS controller pauses operations related to the TCS board assembly (reading sensors and 
+- The TCS controller pauses operations related to the TCS board assembly (reading sensors and
   the primary control loop) while a TCS board recovery is on-going.
 - Allow specifying custom OBSW update filename. This allowed keeping a cleaner file structure
   where each update has a name including the version
@@ -1716,8 +1842,8 @@ Syrlinks PR: PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/353
 - Syrlinks Handler: Read RX frequency shift as 24 bit signed number now. Also include
   validity handling for datasets.
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/350
-- `GyroADIS1650XHandler`: Changed calculation of angular rate to be sensitivity based instead of 
-  max. range based, as previous fix still left an margin of error between ADIS16505 sensors 
+- `GyroADIS1650XHandler`: Changed calculation of angular rate to be sensitivity based instead of
+  max. range based, as previous fix still left an margin of error between ADIS16505 sensors
   and L3GD20 sensors.
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/346
 

CMakeLists.txt

@@ -10,8 +10,8 @@
 cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 7)
-set(OBSW_VERSION_MINOR 1)
-set(OBSW_VERSION_REVISION 0)
+set(OBSW_VERSION_MINOR 5)
+set(OBSW_VERSION_REVISION 2)
 
 # set(CMAKE_VERBOSE TRUE)
 
@@ -64,7 +64,7 @@ include(EiveHelpers)
 option(EIVE_ADD_ETL_LIB "Add ETL library" ON)
 option(EIVE_ADD_JSON_LIB "Add JSON library" ON)
 
-set(OBSW_MAX_SCHEDULED_TCS 500)
+set(OBSW_MAX_SCHEDULED_TCS 4000)
 
 if(EIVE_Q7S_EM)
   set(OBSW_Q7S_EM
@@ -126,13 +126,13 @@ set(OBSW_ADD_HEATERS
     1
     CACHE STRING "Add TCS heaters")
 set(OBSW_ADD_PLOC_SUPERVISOR
-    ${INIT_VAL}
+    1
     CACHE STRING "Add PLOC supervisor handler")
 set(OBSW_ADD_SA_DEPL
     ${INIT_VAL}
     CACHE STRING "Add SA deployment handler")
 set(OBSW_ADD_PLOC_MPSOC
-    ${INIT_VAL}
+    1
     CACHE STRING "Add MPSoC handler")
 set(OBSW_ADD_ACS_CTRL
     ${INIT_VAL}

archive/PlocSupervisorHandler.cpp

@@ -19,8 +19,6 @@
 using namespace supv;
 using namespace returnvalue;
 
-std::atomic_bool supv::SUPV_ON = false;
-
 PlocSupervisorHandler::PlocSupervisorHandler(object_id_t objectId, CookieIF* comCookie,
                                              Gpio uartIsolatorSwitch, power::Switch_t powerSwitch,
                                              PlocSupvUartManager& supvHelper)
@@ -29,7 +27,7 @@ PlocSupervisorHandler::PlocSupervisorHandler(object_id_t objectId, CookieIF* com
       hkset(this),
       bootStatusReport(this),
       latchupStatusReport(this),
-      loggingReport(this),
+      countersReport(this),
       adcReport(this),
       powerSwitch(powerSwitch),
       uartManager(supvHelper) {
@@ -61,6 +59,19 @@ ReturnValue_t PlocSupervisorHandler::initialize() {
 }
 
 void PlocSupervisorHandler::performOperationHook() {
+  if (normalCommandIsPending and normalCmdCd.hasTimedOut()) {
+    // Event, FDIR, printout? Leads to spam though and normally should not happen..
+    normalCommandIsPending = false;
+  }
+  if (commandIsPending and cmdCd.hasTimedOut()) {
+    // Event, FDIR, printout? Leads to spam though and normally should not happen..
+    commandIsPending = false;
+
+    //    if(iter->second.sendReplyTo != NO_COMMANDER) {
+    //      actionHelper.finish(true, iter->second.sendReplyTo, iter->first, returnvalue::OK);
+    //    }
+    disableAllReplies();
+  }
   EventMessage event;
   for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
        result = eventQueue->receiveMessage(&event)) {
@@ -172,13 +183,16 @@ void PlocSupervisorHandler::doShutDown() {
   nextReplyId = supv::NONE;
   uartManager.stop();
   uartIsolatorSwitch.pullLow();
+  disableAllReplies();
   supv::SUPV_ON = false;
   startupState = StartupState::OFF;
 }
 
 ReturnValue_t PlocSupervisorHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
-  if (not commandIsExecuting(GET_HK_REPORT)) {
+  if (not normalCommandIsPending) {
     *id = GET_HK_REPORT;
+    normalCommandIsPending = true;
+    normalCmdCd.resetTimer();
     return buildCommandFromCommand(*id, nullptr, 0);
   }
   return NOTHING_TO_SEND;
@@ -223,6 +237,7 @@ ReturnValue_t PlocSupervisorHandler::buildCommandFromCommand(DeviceCommandId_t d
       break;
     }
     case RESET_MPSOC: {
+      sif::info << "PLOC SUPV: Resetting MPSoC" << std::endl;
       prepareEmptyCmd(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::RESET_MPSOC));
       result = returnvalue::OK;
       break;
@@ -273,8 +288,7 @@ ReturnValue_t PlocSupervisorHandler::buildCommandFromCommand(DeviceCommandId_t d
       break;
     }
     case SET_GPIO: {
-      prepareSetGpioCmd(commandData);
-      result = returnvalue::OK;
+      result = prepareSetGpioCmd(commandData, commandDataLen);
       break;
     }
     case FACTORY_RESET: {
@@ -282,8 +296,7 @@ ReturnValue_t PlocSupervisorHandler::buildCommandFromCommand(DeviceCommandId_t d
       break;
     }
     case READ_GPIO: {
-      prepareReadGpioCmd(commandData);
-      result = returnvalue::OK;
+      result = prepareReadGpioCmd(commandData, commandDataLen);
       break;
     }
     case SET_SHUTDOWN_TIMEOUT: {
@@ -320,91 +333,25 @@ ReturnValue_t PlocSupervisorHandler::buildCommandFromCommand(DeviceCommandId_t d
       result = prepareWipeMramCmd(commandData);
       break;
     }
-      //    case ENABLE_NVMS: {
-      //      result = prepareEnableNvmsCommand(commandData);
-      //      break;
-      //    }
-      //    case RESTART_SUPERVISOR: {
-      //      prepareEmptyCmd(APID_RESTART_SUPERVISOR);
-      //      result = returnvalue::OK;
-      //      break;
-      //    }
-      // Removed command
-      //    case START_MPSOC_QUIET: {
-      //      prepareEmptyCmd(APID_START_MPSOC_QUIET);
-      //      result = returnvalue::OK;
-      //      break;
-      //    }
-      //    case ENABLE_AUTO_TM: {
-      //      EnableAutoTm packet(spParams);
-      //      result = packet.buildPacket();
-      //      if (result != returnvalue::OK) {
-      //        break;
-      //      }
-      //      finishTcPrep(packet.getFullPacketLen());
-      //      break;
-      //    }
-      //    case DISABLE_AUTO_TM: {
-      //      DisableAutoTm packet(spParams);
-      //      result = packet.buildPacket();
-      //      if (result != returnvalue::OK) {
-      //        break;
-      //      }
-      //      finishTcPrep(packet.getFullPacketLen());
-      //      break;
-      //    }
-      //    case LOGGING_REQUEST_COUNTERS: {
-      //      RequestLoggingData packet(spParams);
-      //      result = packet.buildPacket(RequestLoggingData::Sa::REQUEST_COUNTERS);
-      //      if (result != returnvalue::OK) {
-      //        break;
-      //      }
-      //      finishTcPrep(packet.getFullPacketLen());
-      //      break;
-      //    }
-      //    case LOGGING_CLEAR_COUNTERS: {
-      //      RequestLoggingData packet(spParams);
-      //      result = packet.buildPacket(RequestLoggingData::Sa::CLEAR_COUNTERS);
-      //      if (result != returnvalue::OK) {
-      //        break;
-      //      }
-      //      finishTcPrep(packet.getFullPacketLen());
-      //      break;
-      //    }
-      //    case LOGGING_SET_TOPIC: {
-      //      if (commandData == nullptr or commandDataLen == 0) {
-      //        return HasActionsIF::INVALID_PARAMETERS;
-      //      }
-      //      uint8_t tpc = *(commandData);
-      //      RequestLoggingData packet(spParams);
-      //      result = packet.buildPacket(RequestLoggingData::Sa::SET_LOGGING_TOPIC, tpc);
-      //      if (result != returnvalue::OK) {
-      //        break;
-      //      }
-      //      finishTcPrep(packet.getFullPacketLen());
-      //      break;
-      //    }
-      // I think this is disabled right now according to the TC excel table
-      //    case COPY_ADC_DATA_TO_MRAM: {
-      //      prepareEmptyCmd(APID_COPY_ADC_DATA_TO_MRAM);
-      //      result = returnvalue::OK;
-      //      break;
-      //    }
-      //    case REQUEST_ADC_REPORT: {
-      //      prepareEmptyCmd(APID_REQUEST_ADC_REPORT);
-      //      result = returnvalue::OK;
-      //      break;
-      //    }
-      //    case FIRST_MRAM_DUMP:
-      //    case CONSECUTIVE_MRAM_DUMP:
-      //      result = prepareDumpMramCmd(commandData);
-      //      break;
+    case REQUEST_ADC_REPORT: {
+      prepareEmptyCmd(Apid::ADC_MON, static_cast<uint8_t>(tc::AdcMonId::REQUEST_ADC_SAMPLE));
+      result = returnvalue::OK;
+      break;
+    }
+    case REQUEST_LOGGING_COUNTERS: {
+      prepareEmptyCmd(Apid::DATA_LOGGER,
+                      static_cast<uint8_t>(tc::DataLoggerServiceId::REQUEST_COUNTERS));
+      result = returnvalue::OK;
+      break;
+    }
     default:
       sif::debug << "PlocSupervisorHandler::buildCommandFromCommand: Command not implemented"
                  << std::endl;
       result = DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
       break;
   }
+  commandIsPending = true;
+  cmdCd.resetTimer();
   return result;
 }
 
@@ -436,6 +383,8 @@ void PlocSupervisorHandler::fillCommandAndReplyMap() {
   insertInCommandMap(SET_ADC_THRESHOLD);
   insertInCommandMap(SET_ADC_WINDOW_AND_STRIDE);
   insertInCommandMap(RESET_PL);
+  insertInCommandMap(REQUEST_ADC_REPORT);
+  insertInCommandMap(REQUEST_LOGGING_COUNTERS);
 
   // ACK replies, use countdown for them
   insertInReplyMap(ACK_REPORT, 0, nullptr, SIZE_ACK_REPORT, false, &acknowledgementReportTimeout);
@@ -446,7 +395,7 @@ void PlocSupervisorHandler::fillCommandAndReplyMap() {
   insertInReplyMap(HK_REPORT, 3, &hkset);
   insertInReplyMap(BOOT_STATUS_REPORT, 3, &bootStatusReport, SIZE_BOOT_STATUS_REPORT);
   insertInReplyMap(LATCHUP_REPORT, 3, &latchupStatusReport, SIZE_LATCHUP_STATUS_REPORT);
-  insertInReplyMap(LOGGING_REPORT, 3, &loggingReport, SIZE_LOGGING_REPORT);
+  insertInReplyMap(COUNTERS_REPORT, 3, &countersReport, SIZE_COUNTERS_REPORT);
   insertInReplyMap(ADC_REPORT, 3, &adcReport, SIZE_ADC_REPORT);
 }
 
@@ -488,13 +437,13 @@ ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::ite
       }
       break;
     }
-    case LOGGING_REQUEST_COUNTERS: {
+    case REQUEST_LOGGING_COUNTERS: {
       enabledReplies = 3;
       result =
-          DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, LOGGING_REPORT);
+          DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, COUNTERS_REPORT);
       if (result != returnvalue::OK) {
         sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
-                   << LOGGING_REPORT << " not in replyMap" << std::endl;
+                   << COUNTERS_REPORT << " not in replyMap" << std::endl;
       }
       break;
     }
@@ -550,23 +499,17 @@ ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::ite
     case SET_ADC_ENABLED_CHANNELS:
     case SET_ADC_WINDOW_AND_STRIDE:
     case SET_ADC_THRESHOLD:
-    // case COPY_ADC_DATA_TO_MRAM:
     case RUN_AUTO_EM_TESTS:
     case WIPE_MRAM:
     case SET_GPIO:
     case FACTORY_RESET:
     case READ_GPIO:
-    // case RESTART_SUPERVISOR:
     case DISABLE_PERIOIC_HK_TRANSMISSION:
-    // case START_MPSOC_QUIET:
     case SET_SHUTDOWN_TIMEOUT:
     case FACTORY_FLASH:
     case ENABLE_AUTO_TM:
     case DISABLE_AUTO_TM:
-    // case LOGGING_CLEAR_COUNTERS:
-    // case LOGGING_SET_TOPIC:
     case RESET_PL:
-      // case ENABLE_NVMS:
       enabledReplies = 2;
       break;
     default:
@@ -598,19 +541,12 @@ ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::ite
 ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t* start, size_t remainingSize,
                                                   DeviceCommandId_t* foundId, size_t* foundLen) {
   using namespace supv;
-  // TODO: Is this still required?
-  //  if (nextReplyId == FIRST_MRAM_DUMP) {
-  //    *foundId = FIRST_MRAM_DUMP;
-  //    return parseMramPackets(start, remainingSize, foundLen);
-  //  } else if (nextReplyId == CONSECUTIVE_MRAM_DUMP) {
-  //    *foundId = CONSECUTIVE_MRAM_DUMP;
-  //    return parseMramPackets(start, remainingSize, foundLen);
-  //  }
 
   tmReader.setData(start, remainingSize);
-  // sif::debug << "PlocSupervisorHandler::scanForReply: Received Packet" << std::endl;
-  // arrayprinter::print(start, remainingSize);
   uint16_t apid = tmReader.getModuleApid();
+  if (DEBUG_PLOC_SUPV) {
+    handlePacketPrint();
+  }
 
   switch (apid) {
     case (Apid::TMTC_MAN): {
@@ -632,6 +568,9 @@ ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t* start, size_t r
     }
     case (Apid::HK): {
       if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::HkId::REPORT)) {
+        normalCommandIsPending = false;
+        // Yeah apparently this is needed??
+        disableCommand(GET_HK_REPORT);
         *foundLen = tmReader.getFullPacketLen();
         *foundId = ReplyId::HK_REPORT;
         return OK;
@@ -650,6 +589,14 @@ ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t* start, size_t r
       }
       break;
     }
+    case (Apid::ADC_MON): {
+      if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::AdcMonId::ADC_REPORT)) {
+        *foundLen = tmReader.getFullPacketLen();
+        *foundId = ReplyId::ADC_REPORT;
+        return OK;
+      }
+      break;
+    }
     case (Apid::MEM_MAN): {
       if (tmReader.getServiceId() ==
           static_cast<uint8_t>(supv::tm::MemManId::UPDATE_STATUS_REPORT)) {
@@ -657,6 +604,15 @@ ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t* start, size_t r
         *foundId = ReplyId::UPDATE_STATUS_REPORT;
         return OK;
       }
+      break;
+    }
+    case (Apid::DATA_LOGGER): {
+      if (tmReader.getServiceId() ==
+          static_cast<uint8_t>(supv::tm::DataLoggerId::COUNTERS_REPORT)) {
+        *foundLen = tmReader.getFullPacketLen();
+        *foundId = ReplyId::COUNTERS_REPORT;
+        return OK;
+      }
     }
   }
   handleBadApidServiceCombination(SUPV_UNKNOWN_TM, apid, tmReader.getServiceId());
@@ -664,6 +620,58 @@ ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t* start, size_t r
   return INVALID_DATA;
 }
 
+void PlocSupervisorHandler::handlePacketPrint() {
+  if (tmReader.getModuleApid() == Apid::TMTC_MAN) {
+    if ((tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::ACK)) or
+        (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::NAK))) {
+      AcknowledgmentReport ack(tmReader);
+      ReturnValue_t result = ack.parse();
+      if (result != returnvalue::OK) {
+        sif::warning << "PlocSupervisorHandler: Parsing ACK failed" << std::endl;
+      }
+      if (REDUCE_NORMAL_MODE_PRINTOUT and ack.getRefModuleApid() == (uint8_t)supv::Apid::HK and
+          ack.getRefServiceId() == (uint8_t)supv::tc::HkId::GET_REPORT) {
+        return;
+      }
+      const char* printStr = "???";
+      if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::ACK)) {
+        printStr = "ACK";
+
+      } else if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::NAK)) {
+        printStr = "NAK";
+      }
+      sif::debug << "PlocSupervisorHandler: RECV " << printStr << " for APID Module ID "
+                 << (int)ack.getRefModuleApid() << " Service ID " << (int)ack.getRefServiceId()
+                 << " Seq Count " << ack.getRefSequenceCount() << std::endl;
+      return;
+    } else if ((tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_ACK)) or
+               (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_NAK))) {
+      ExecutionReport exe(tmReader);
+      ReturnValue_t result = exe.parse();
+      if (result != returnvalue::OK) {
+        sif::warning << "PlocSupervisorHandler: Parsing EXE failed" << std::endl;
+      }
+      const char* printStr = "???";
+      if (REDUCE_NORMAL_MODE_PRINTOUT and exe.getRefModuleApid() == (uint8_t)supv::Apid::HK and
+          exe.getRefServiceId() == (uint8_t)supv::tc::HkId::GET_REPORT) {
+        return;
+      }
+      if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_ACK)) {
+        printStr = "ACK EXE";
+
+      } else if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_NAK)) {
+        printStr = "NAK EXE";
+      }
+      sif::debug << "PlocSupervisorHandler: RECV " << printStr << " for APID Module ID "
+                 << (int)exe.getRefModuleApid() << " Service ID " << (int)exe.getRefServiceId()
+                 << " Seq Count " << exe.getRefSequenceCount() << std::endl;
+      return;
+    }
+  }
+  sif::debug << "PlocSupervisorHandler: RECV PACKET Size " << tmReader.getFullPacketLen()
+             << " Module APID " << (int)tmReader.getModuleApid() << " Service ID "
+             << (int)tmReader.getServiceId() << std::endl;
+}
 ReturnValue_t PlocSupervisorHandler::interpretDeviceReply(DeviceCommandId_t id,
                                                           const uint8_t* packet) {
   using namespace supv;
@@ -682,12 +690,22 @@ ReturnValue_t PlocSupervisorHandler::interpretDeviceReply(DeviceCommandId_t id,
       result = handleBootStatusReport(packet);
       break;
     }
+    case (COUNTERS_REPORT): {
+      result = genericHandleTm("COUNTERS", packet, countersReport);
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PLOC_SUPERVISOR == 1
+      countersReport.printSet();
+#endif
+      break;
+    }
     case (LATCHUP_REPORT): {
       result = handleLatchupStatusReport(packet);
       break;
     }
     case (ADC_REPORT): {
-      result = handleAdcReport(packet);
+      result = genericHandleTm("ADC", packet, adcReport);
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PLOC_SUPERVISOR == 1
+      adcReport.printSet();
+#endif
       break;
     }
     case (EXE_REPORT): {
@@ -752,13 +770,8 @@ ReturnValue_t PlocSupervisorHandler::initializeLocalDataPool(localpool::DataPool
   localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_YEAR, new PoolEntry<uint8_t>({0}));
   localDataPoolMap.emplace(supv::LATCHUP_RPT_IS_SET, new PoolEntry<uint8_t>({0}));
 
-  localDataPoolMap.emplace(supv::LATCHUP_HAPPENED_CNT_0, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(supv::LATCHUP_HAPPENED_CNT_1, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(supv::LATCHUP_HAPPENED_CNT_2, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(supv::LATCHUP_HAPPENED_CNT_3, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(supv::LATCHUP_HAPPENED_CNT_4, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(supv::LATCHUP_HAPPENED_CNT_5, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(supv::LATCHUP_HAPPENED_CNT_6, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::SIGNATURE, new PoolEntry<uint32_t>());
+  localDataPoolMap.emplace(supv::LATCHUP_HAPPENED_CNTS, &latchupCounters);
   localDataPoolMap.emplace(supv::ADC_DEVIATION_TRIGGERS_CNT, new PoolEntry<uint32_t>({0}));
   localDataPoolMap.emplace(supv::TC_RECEIVED_CNT, new PoolEntry<uint32_t>({0}));
   localDataPoolMap.emplace(supv::TM_AVAILABLE_CNT, new PoolEntry<uint32_t>({0}));
@@ -767,41 +780,22 @@ ReturnValue_t PlocSupervisorHandler::initializeLocalDataPool(localpool::DataPool
   localDataPoolMap.emplace(supv::MPSOC_BOOT_FAILED_ATTEMPTS, new PoolEntry<uint32_t>({0}));
   localDataPoolMap.emplace(supv::MPSOC_POWER_UP, new PoolEntry<uint32_t>({0}));
   localDataPoolMap.emplace(supv::MPSOC_UPDATES, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(supv::LAST_RECVD_TC, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::MPSOC_HEARTBEAT_RESETS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::CPU_WDT_RESETS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::PS_HEARTBEATS_LOST, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::PL_HEARTBEATS_LOST, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::EB_TASK_LOST, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::BM_TASK_LOST, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::LM_TASK_LOST, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::AM_TASK_LOST, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::TCTMM_TASK_LOST, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::MM_TASK_LOST, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::HK_TASK_LOST, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::DL_TASK_LOST, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::RWS_TASKS_LOST, new PoolEntry<uint32_t>(3));
 
-  localDataPoolMap.emplace(supv::ADC_RAW_0, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::ADC_RAW_1, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::ADC_RAW_2, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::ADC_RAW_3, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::ADC_RAW_4, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::ADC_RAW_5, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::ADC_RAW_6, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::ADC_RAW_7, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::ADC_RAW_8, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::ADC_RAW_9, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::ADC_RAW_10, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::ADC_RAW_11, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::ADC_RAW_12, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::ADC_RAW_13, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::ADC_RAW_14, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::ADC_RAW_15, new PoolEntry<uint16_t>({0}));
-
-  localDataPoolMap.emplace(supv::ADC_ENG_0, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::ADC_ENG_1, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::ADC_ENG_2, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::ADC_ENG_3, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::ADC_ENG_4, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::ADC_ENG_5, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::ADC_ENG_6, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::ADC_ENG_7, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::ADC_ENG_8, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::ADC_ENG_9, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::ADC_ENG_10, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::ADC_ENG_11, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::ADC_ENG_12, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::ADC_ENG_13, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::ADC_ENG_14, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::ADC_ENG_15, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_RAW, &adcRawEntry);
+  localDataPoolMap.emplace(supv::ADC_ENG, &adcEngEntry);
 
   poolManager.subscribeForRegularPeriodicPacket(
       subdp::RegularHkPeriodicParams(hkset.getSid(), false, 10.0));
@@ -926,6 +920,7 @@ ReturnValue_t PlocSupervisorHandler::handleExecutionReport(const uint8_t* data)
   } else if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_NAK)) {
     handleExecutionFailureReport(report);
   }
+  commandIsPending = false;
   nextReplyId = supv::NONE;
   return result;
 }
@@ -1160,37 +1155,31 @@ ReturnValue_t PlocSupervisorHandler::handleLatchupStatusReport(const uint8_t* da
   return result;
 }
 
-ReturnValue_t PlocSupervisorHandler::handleAdcReport(const uint8_t* data) {
+ReturnValue_t PlocSupervisorHandler::genericHandleTm(const char* contextString, const uint8_t* data,
+                                                     LocalPoolDataSetBase& set) {
   ReturnValue_t result = returnvalue::OK;
 
-  result = verifyPacket(data, supv::SIZE_ADC_REPORT);
+  result = verifyPacket(data, tmReader.getFullPacketLen());
 
   if (result == result::CRC_FAILURE) {
-    sif::error << "PlocSupervisorHandler::handleAdcReport: ADC report has "
-               << "invalid crc" << std::endl;
+    sif::warning << "PlocSupervisorHandler: " << contextString << " report has "
+                 << "invalid CRC" << std::endl;
     return result;
   }
 
   const uint8_t* dataField = data + supv::PAYLOAD_OFFSET;
-  result = adcReport.read();
-  if (result != returnvalue::OK) {
+  PoolReadGuard pg(&set);
+  if (pg.getReadResult() != returnvalue::OK) {
     return result;
   }
-  adcReport.setValidityBufferGeneration(false);
-  size_t size = adcReport.getSerializedSize();
-  result = adcReport.deSerialize(&dataField, &size, SerializeIF::Endianness::BIG);
+  set.setValidityBufferGeneration(false);
+  size_t size = set.getSerializedSize();
+  result = set.deSerialize(&dataField, &size, SerializeIF::Endianness::BIG);
   if (result != returnvalue::OK) {
-    sif::warning << "PlocSupervisorHandler::handleAdcReport: Deserialization failed" << std::endl;
+    sif::warning << "PlocSupervisorHandler: Deserialization failed" << std::endl;
   }
-  adcReport.setValidityBufferGeneration(true);
-  adcReport.setValidity(true, true);
-  result = adcReport.commit();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PLOC_SUPERVISOR == 1
-  adcReport.printSet();
-#endif
+  set.setValidityBufferGeneration(true);
+  set.setValidity(true, true);
   nextReplyId = supv::EXE_REPORT;
   return result;
 }
@@ -1212,8 +1201,8 @@ void PlocSupervisorHandler::setNextReplyId() {
     case supv::CONSECUTIVE_MRAM_DUMP:
       nextReplyId = supv::CONSECUTIVE_MRAM_DUMP;
       break;
-    case supv::LOGGING_REQUEST_COUNTERS:
-      nextReplyId = supv::LOGGING_REPORT;
+    case supv::REQUEST_LOGGING_COUNTERS:
+      nextReplyId = supv::COUNTERS_REPORT;
       break;
     case supv::REQUEST_ADC_REPORT:
       nextReplyId = supv::ADC_REPORT;
@@ -1292,7 +1281,7 @@ ReturnValue_t PlocSupervisorHandler::prepareEmptyCmd(uint16_t apid, uint8_t serv
   if (result != returnvalue::OK) {
     return result;
   }
-  finishTcPrep(packet.getFullPacketLen());
+  finishTcPrep(packet);
   return returnvalue::OK;
 }
 
@@ -1303,7 +1292,7 @@ ReturnValue_t PlocSupervisorHandler::prepareSelBootImageCmd(const uint8_t* comma
   if (result != returnvalue::OK) {
     return result;
   }
-  finishTcPrep(packet.getFullPacketLen());
+  finishTcPrep(packet);
   return returnvalue::OK;
 }
 
@@ -1320,7 +1309,7 @@ ReturnValue_t PlocSupervisorHandler::prepareSetTimeRefCmd() {
   if (result != returnvalue::OK) {
     return result;
   }
-  finishTcPrep(packet.getFullPacketLen());
+  finishTcPrep(packet);
   return returnvalue::OK;
 }
 
@@ -1330,7 +1319,7 @@ ReturnValue_t PlocSupervisorHandler::prepareDisableHk() {
   if (result != returnvalue::OK) {
     return result;
   }
-  finishTcPrep(packet.getFullPacketLen());
+  finishTcPrep(packet);
   return returnvalue::OK;
 }
 
@@ -1342,7 +1331,7 @@ ReturnValue_t PlocSupervisorHandler::prepareSetBootTimeoutCmd(const uint8_t* com
   if (result != returnvalue::OK) {
     return result;
   }
-  finishTcPrep(packet.getFullPacketLen());
+  finishTcPrep(packet);
   return returnvalue::OK;
 }
 
@@ -1353,7 +1342,7 @@ ReturnValue_t PlocSupervisorHandler::prepareRestartTriesCmd(const uint8_t* comma
   if (result != returnvalue::OK) {
     return result;
   }
-  finishTcPrep(packet.getFullPacketLen());
+  finishTcPrep(packet);
   return returnvalue::OK;
 }
 
@@ -1371,7 +1360,7 @@ ReturnValue_t PlocSupervisorHandler::prepareLatchupConfigCmd(const uint8_t* comm
       if (result != returnvalue::OK) {
         return result;
       }
-      finishTcPrep(packet.getFullPacketLen());
+      finishTcPrep(packet);
       break;
     }
     case (supv::DISABLE_LATCHUP_ALERT): {
@@ -1380,7 +1369,7 @@ ReturnValue_t PlocSupervisorHandler::prepareLatchupConfigCmd(const uint8_t* comm
       if (result != returnvalue::OK) {
         return result;
       }
-      finishTcPrep(packet.getFullPacketLen());
+      finishTcPrep(packet);
       break;
     }
     default: {
@@ -1407,7 +1396,7 @@ ReturnValue_t PlocSupervisorHandler::prepareSetAlertLimitCmd(const uint8_t* comm
   if (result != returnvalue::OK) {
     return result;
   }
-  finishTcPrep(packet.getFullPacketLen());
+  finishTcPrep(packet);
   return returnvalue::OK;
 }
 
@@ -1418,7 +1407,7 @@ ReturnValue_t PlocSupervisorHandler::prepareSetAdcEnabledChannelsCmd(const uint8
   if (result != returnvalue::OK) {
     return result;
   }
-  finishTcPrep(packet.getFullPacketLen());
+  finishTcPrep(packet);
   return returnvalue::OK;
 }
 
@@ -1432,7 +1421,7 @@ ReturnValue_t PlocSupervisorHandler::prepareSetAdcWindowAndStrideCmd(const uint8
   if (result != returnvalue::OK) {
     return result;
   }
-  finishTcPrep(packet.getFullPacketLen());
+  finishTcPrep(packet);
   return returnvalue::OK;
 }
 
@@ -1444,7 +1433,7 @@ ReturnValue_t PlocSupervisorHandler::prepareSetAdcThresholdCmd(const uint8_t* co
   if (result != returnvalue::OK) {
     return result;
   }
-  finishTcPrep(packet.getFullPacketLen());
+  finishTcPrep(packet);
   return returnvalue::OK;
 }
 
@@ -1458,11 +1447,15 @@ ReturnValue_t PlocSupervisorHandler::prepareRunAutoEmTest(const uint8_t* command
   if (result != returnvalue::OK) {
     return result;
   }
-  finishTcPrep(packet.getFullPacketLen());
+  finishTcPrep(packet);
   return returnvalue::OK;
 }
 
-ReturnValue_t PlocSupervisorHandler::prepareSetGpioCmd(const uint8_t* commandData) {
+ReturnValue_t PlocSupervisorHandler::prepareSetGpioCmd(const uint8_t* commandData,
+                                                       size_t commandDataLen) {
+  if (commandDataLen < 3) {
+    return HasActionsIF::INVALID_PARAMETERS;
+  }
   uint8_t port = *commandData;
   uint8_t pin = *(commandData + 1);
   uint8_t val = *(commandData + 2);
@@ -1471,11 +1464,15 @@ ReturnValue_t PlocSupervisorHandler::prepareSetGpioCmd(const uint8_t* commandDat
   if (result != returnvalue::OK) {
     return result;
   }
-  finishTcPrep(packet.getFullPacketLen());
+  finishTcPrep(packet);
   return returnvalue::OK;
 }
 
-ReturnValue_t PlocSupervisorHandler::prepareReadGpioCmd(const uint8_t* commandData) {
+ReturnValue_t PlocSupervisorHandler::prepareReadGpioCmd(const uint8_t* commandData,
+                                                        size_t commandDataLen) {
+  if (commandDataLen < 2) {
+    return HasActionsIF::INVALID_PARAMETERS;
+  }
   uint8_t port = *commandData;
   uint8_t pin = *(commandData + 1);
   supv::ReadGpio packet(spParams);
@@ -1483,7 +1480,7 @@ ReturnValue_t PlocSupervisorHandler::prepareReadGpioCmd(const uint8_t* commandDa
   if (result != returnvalue::OK) {
     return result;
   }
-  finishTcPrep(packet.getFullPacketLen());
+  finishTcPrep(packet);
   return returnvalue::OK;
 }
 
@@ -1497,14 +1494,18 @@ ReturnValue_t PlocSupervisorHandler::prepareFactoryResetCmd(const uint8_t* comma
   if (result != returnvalue::OK) {
     return result;
   }
-  finishTcPrep(resetCmd.getFullPacketLen());
+  finishTcPrep(resetCmd);
   return returnvalue::OK;
 }
 
-void PlocSupervisorHandler::finishTcPrep(size_t packetLen) {
+void PlocSupervisorHandler::finishTcPrep(TcBase& tc) {
   nextReplyId = supv::ACK_REPORT;
   rawPacket = commandBuffer;
-  rawPacketLen = packetLen;
+  rawPacketLen = tc.getFullPacketLen();
+  if (DEBUG_PLOC_SUPV) {
+    sif::debug << "PLOC SUPV: SEND PACKET Size " << tc.getFullPacketLen() << " Module APID "
+               << (int)tc.getModuleApid() << " Service ID " << (int)tc.getServiceId() << std::endl;
+  }
 }
 
 ReturnValue_t PlocSupervisorHandler::prepareSetShutdownTimeoutCmd(const uint8_t* commandData) {
@@ -1517,13 +1518,14 @@ ReturnValue_t PlocSupervisorHandler::prepareSetShutdownTimeoutCmd(const uint8_t*
     sif::warning
         << "PlocSupervisorHandler::prepareSetShutdownTimeoutCmd: Failed to deserialize timeout"
         << std::endl;
+    return result;
   }
   supv::SetShutdownTimeout packet(spParams);
   result = packet.buildPacket(timeout);
   if (result != returnvalue::OK) {
     return result;
   }
-  finishTcPrep(packet.getFullPacketLen());
+  finishTcPrep(packet);
   return returnvalue::OK;
 }
 
@@ -1568,8 +1570,8 @@ void PlocSupervisorHandler::disableAllReplies() {
       disableReply(LATCHUP_REPORT);
       break;
     }
-    case LOGGING_REQUEST_COUNTERS: {
-      disableReply(LOGGING_REPORT);
+    case REQUEST_LOGGING_COUNTERS: {
+      disableReply(COUNTERS_REPORT);
       break;
     }
     default: {
@@ -1583,6 +1585,9 @@ void PlocSupervisorHandler::disableAllReplies() {
 
 void PlocSupervisorHandler::disableReply(DeviceCommandId_t replyId) {
   DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
+  if (iter == deviceReplyMap.end()) {
+    return;
+  }
   DeviceReplyInfo* info = &(iter->second);
   info->delayCycles = 0;
   info->active = false;
@@ -1613,6 +1618,9 @@ void PlocSupervisorHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnV
 
 void PlocSupervisorHandler::disableExeReportReply() {
   DeviceReplyIter iter = deviceReplyMap.find(supv::EXE_REPORT);
+  if (iter == deviceReplyMap.end()) {
+    return;
+  }
   DeviceReplyInfo* info = &(iter->second);
   info->delayCycles = 0;
   info->command = deviceCommandMap.end();
@@ -1635,7 +1643,9 @@ ReturnValue_t PlocSupervisorHandler::handleMramDumpPacket(DeviceCommandId_t id)
     result = handleMramDumpFile(id);
     if (result != returnvalue::OK) {
       DeviceCommandMap::iterator iter = deviceCommandMap.find(id);
-      actionHelper.finish(false, iter->second.sendReplyTo, id, result);
+      if (iter != deviceCommandMap.end()) {
+        actionHelper.finish(false, iter->second.sendReplyTo, id, result);
+      }
       disableAllReplies();
       nextReplyId = supv::NONE;
       return result;
@@ -1740,7 +1750,7 @@ ReturnValue_t PlocSupervisorHandler::prepareWipeMramCmd(const uint8_t* commandDa
   if (result != returnvalue::OK) {
     return result;
   }
-  finishTcPrep(packet.getFullPacketLen());
+  finishTcPrep(packet);
   return returnvalue::OK;
 }
 
@@ -1902,7 +1912,12 @@ ReturnValue_t PlocSupervisorHandler::eventSubscription() {
 
 ReturnValue_t PlocSupervisorHandler::handleExecutionSuccessReport(ExecutionReport& report) {
   DeviceCommandId_t commandId = getPendingCommand();
-  ReturnValue_t result = OK;
+  DeviceCommandMap::iterator iter = deviceCommandMap.find(commandId);
+  if (iter != deviceCommandMap.end() and iter->second.sendReplyTo != NO_COMMANDER) {
+    actionHelper.finish(true, iter->second.sendReplyTo, iter->first, returnvalue::OK);
+    iter->second.isExecuting = false;
+  }
+  commandIsPending = false;
   switch (commandId) {
     case supv::READ_GPIO: {
       // TODO: Fix
@@ -1910,14 +1925,13 @@ ReturnValue_t PlocSupervisorHandler::handleExecutionSuccessReport(ExecutionRepor
 #if OBSW_DEBUG_PLOC_SUPERVISOR == 1
       sif::info << "PlocSupervisorHandler: Read GPIO TM, State: " << gpioState << std::endl;
 #endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
-      DeviceCommandMap::iterator iter = deviceCommandMap.find(commandId);
-      if (iter->second.sendReplyTo == NO_COMMAND_ID) {
+      if (iter != deviceCommandMap.end() and iter->second.sendReplyTo == NO_COMMAND_ID) {
         return returnvalue::OK;
       }
       uint8_t data[sizeof(gpioState)];
       size_t size = 0;
-      result = SerializeAdapter::serialize(&gpioState, data, &size, sizeof(gpioState),
-                                           SerializeIF::Endianness::BIG);
+      ReturnValue_t result = SerializeAdapter::serialize(&gpioState, data, &size, sizeof(gpioState),
+                                                         SerializeIF::Endianness::BIG);
       if (result != returnvalue::OK) {
         sif::debug << "PlocSupervisorHandler: Failed to deserialize GPIO state" << std::endl;
       }
@@ -1993,6 +2007,11 @@ uint32_t PlocSupervisorHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t mod
   return 7000;
 }
 
+void PlocSupervisorHandler::disableCommand(DeviceCommandId_t cmd) {
+  auto commandIter = deviceCommandMap.find(GET_HK_REPORT);
+  commandIter->second.isExecuting = false;
+}
+
 ReturnValue_t PlocSupervisorHandler::checkModeCommand(Mode_t commandedMode,
                                                       Submode_t commandedSubmode,
                                                       uint32_t* msToReachTheMode) {
@@ -2006,134 +2025,3 @@ ReturnValue_t PlocSupervisorHandler::checkModeCommand(Mode_t commandedMode,
   }
   return DeviceHandlerBase::checkModeCommand(commandedMode, commandedSubmode, msToReachTheMode);
 }
-
-// ReturnValue_t PlocSupervisorHandler::checkMramPacketApid() {
-//   uint16_t apid = (spacePacketBuffer[0] << 8 | spacePacketBuffer[1]) & supv::APID_MASK;
-//  TODO: Fix
-//  if (apid != supv::APID_MRAM_DUMP_TM) {
-//    return result::NO_MRAM_PACKET;
-//  }
-// return APERIODIC_REPLY;
-//}
-
-// ReturnValue_t PlocSupervisorHandler::parseMramPackets(const uint8_t* packet, size_t
-// remainingSize,
-//                                                       size_t* foundLen) {
-//   ReturnValue_t result = IGNORE_FULL_PACKET;
-//   uint16_t packetLen = 0;
-//   *foundLen = 0;
-//
-//   for (size_t idx = 0; idx < remainingSize; idx++) {
-//     std::memcpy(spacePacketBuffer + bufferTop, packet + idx, 1);
-//     bufferTop += 1;
-//     *foundLen += 1;
-//     if (bufferTop >= ccsds::HEADER_LEN) {
-//       packetLen = readSpacePacketLength(spacePacketBuffer);
-//     }
-//
-//     if (bufferTop == ccsds::HEADER_LEN + packetLen + 1) {
-//       packetInBuffer = true;
-//       bufferTop = 0;
-//       return checkMramPacketApid();
-//     }
-//
-//     if (bufferTop == supv::MAX_PACKET_SIZE) {
-//       *foundLen = remainingSize;
-//       disableAllReplies();
-//       bufferTop = 0;
-//       sif::info << "PlocSupervisorHandler::parseMramPackets: Can not find MRAM packet in space "
-//                    "packet buffer"
-//                 << std::endl;
-//       return result::MRAM_PACKET_PARSING_FAILURE;
-//     }
-//   }
-//
-//   return result;
-// }
-
-// ReturnValue_t PlocSupervisorHandler::prepareDumpMramCmd(const uint8_t* commandData) {
-//   uint32_t start = 0;
-//   uint32_t stop = 0;
-//   size_t size = sizeof(start) + sizeof(stop);
-//   SerializeAdapter::deSerialize(&start, &commandData, &size, SerializeIF::Endianness::BIG);
-//   SerializeAdapter::deSerialize(&stop, &commandData, &size, SerializeIF::Endianness::BIG);
-//   if ((stop - start) <= 0) {
-//     return SupvReturnValuesIF::INVALID_MRAM_ADDRESSES;
-//   }
-//   supv::MramCmd packet(spParams);
-//   ReturnValue_t result = packet.buildPacket(start, stop, supv::MramCmd::MramAction::DUMP);
-//   if (result != returnvalue::OK) {
-//     return result;
-//   }
-//   expectedMramDumpPackets = (stop - start) / supv::MAX_DATA_CAPACITY;
-//   if ((stop - start) % supv::MAX_DATA_CAPACITY) {
-//     expectedMramDumpPackets++;
-//   }
-//   receivedMramDumpPackets = 0;
-//
-//   finishTcPrep(packet.getFullPacketLen());
-//   return returnvalue::OK;
-// }
-
-// ReturnValue_t PlocSupervisorHandler::prepareLoggingRequest(const uint8_t* commandData,
-//                                                            size_t commandDataLen) {
-//   using namespace supv;
-//   RequestLoggingData::Sa sa = static_cast<RequestLoggingData::Sa>(*commandData);
-//   uint8_t tpc = *(commandData + 1);
-//   RequestLoggingData packet(spParams);
-//   ReturnValue_t result = packet.buildPacket(sa, tpc);
-//   if (result != returnvalue::OK) {
-//     return result;
-//   }
-//   finishTcPrep(packet.getFullPacketLen());
-//   return returnvalue::OK;
-// }
-
-// ReturnValue_t PlocSupervisorHandler::prepareEnableNvmsCommand(const uint8_t* commandData) {
-//   using namespace supv;
-//   uint8_t nvm01 = *(commandData);
-//   uint8_t nvm3 = *(commandData + 1);
-//   EnableNvms packet(spParams);
-//   ReturnValue_t result = packet.buildPacket(nvm01, nvm3);
-//   if (result != returnvalue::OK) {
-//     return result;
-//   }
-//   finishTcPrep(packet.getFullPacketLen());
-//   return returnvalue::OK;
-// }
-
-// ReturnValue_t PlocSupervisorHandler::handleLoggingReport(const uint8_t* data) {
-//   ReturnValue_t result = returnvalue::OK;
-//
-//   result = verifyPacket(data, supv::SIZE_LOGGING_REPORT);
-//
-//   if (result == SupvReturnValuesIF::CRC_FAILURE) {
-//     sif::warning << "PlocSupervisorHandler::handleLoggingReport: Logging report has "
-//                  << "invalid crc" << std::endl;
-//     return result;
-//   }
-//
-//   const uint8_t* dataField = data + supv::PAYLOAD_OFFSET + sizeof(supv::RequestLoggingData::Sa);
-//   result = loggingReport.read();
-//   if (result != returnvalue::OK) {
-//     return result;
-//   }
-//   loggingReport.setValidityBufferGeneration(false);
-//   size_t size = loggingReport.getSerializedSize();
-//   result = loggingReport.deSerialize(&dataField, &size, SerializeIF::Endianness::BIG);
-//   if (result != returnvalue::OK) {
-//     sif::warning << "PlocSupervisorHandler::handleLoggingReport: Deserialization failed"
-//                  << std::endl;
-//   }
-//   loggingReport.setValidityBufferGeneration(true);
-//   loggingReport.setValidity(true, true);
-//   result = loggingReport.commit();
-//   if (result != returnvalue::OK) {
-//     return result;
-//   }
-// #if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PLOC_SUPERVISOR == 1
-//   loggingReport.printSet();
-// #endif
-//   nextReplyId = supv::EXE_REPORT;
-//   return result;
-// }

archive/PlocSupervisorHandler.h

@@ -18,6 +18,10 @@
 #endif
 
 using supv::ExecutionReport;
+using supv::TcBase;
+
+static constexpr bool DEBUG_PLOC_SUPV = true;
+static constexpr bool REDUCE_NORMAL_MODE_PRINTOUT = true;
 
 /**
  * @brief	This is the device handler for the supervisor of the PLOC which is programmed by
@@ -64,26 +68,6 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   void doOffActivity() override;
 
  private:
-  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_SUPERVISOR_HANDLER;
-
-  //! [EXPORT] : [COMMENT] PLOC supervisor crc failure in telemetry packet
-  static const Event SUPV_MEMORY_READ_RPT_CRC_FAILURE = MAKE_EVENT(1, severity::LOW);
-  //! [EXPORT] : [COMMENT] Unhandled event. P1: APID, P2: Service ID
-  static constexpr Event SUPV_UNKNOWN_TM = MAKE_EVENT(2, severity::LOW);
-  static constexpr Event SUPV_UNINIMPLEMENTED_TM = MAKE_EVENT(3, severity::LOW);
-  //! [EXPORT] : [COMMENT] PLOC supervisor received acknowledgment failure report
-  static const Event SUPV_ACK_FAILURE = MAKE_EVENT(4, severity::LOW);
-  //! [EXPORT] : [COMMENT] PLOC received execution failure report
-  //! P1: ID of command for which the execution failed
-  //! P2: Status code sent by the supervisor handler
-  static const Event SUPV_EXE_FAILURE = MAKE_EVENT(5, severity::LOW);
-  //! [EXPORT] : [COMMENT] PLOC supervisor reply has invalid crc
-  static const Event SUPV_CRC_FAILURE_EVENT = MAKE_EVENT(6, severity::LOW);
-  //! [EXPORT] : [COMMENT] Supervisor helper currently executing a command
-  static const Event SUPV_HELPER_EXECUTING = MAKE_EVENT(7, severity::LOW);
-  //! [EXPORT] : [COMMENT] Failed to build the command to shutdown the MPSoC
-  static const Event SUPV_MPSOC_SHUTDOWN_BUILD_FAILED = MAKE_EVENT(8, severity::LOW);
-
   static const uint16_t APID_MASK = 0x7FF;
   static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
   static const uint8_t EXE_STATUS_OFFSET = 10;
@@ -91,15 +75,14 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   // 5 s
   static const uint32_t EXECUTION_DEFAULT_TIMEOUT = 5000;
   // 70 S
-  static const uint32_t ACKNOWLEDGE_DEFAULT_TIMEOUT = 70000;
+  static const uint32_t ACKNOWLEDGE_DEFAULT_TIMEOUT = 5000;
   // 60 s
   static const uint32_t MRAM_DUMP_EXECUTION_TIMEOUT = 60000;
   // 70 s
   static const uint32_t COPY_ADC_TO_MRAM_TIMEOUT = 70000;
   // 60 s
   static const uint32_t MRAM_DUMP_TIMEOUT = 60000;
-  // 4 s
-  static const uint32_t BOOT_TIMEOUT = 4000;
+
   enum class StartupState : uint8_t {
     OFF,
     BOOTING,
@@ -128,11 +111,18 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   LinuxLibgpioIF* gpioComIF = nullptr;
   Gpio uartIsolatorSwitch;
   bool shutdownCmdSent = false;
+  // Yeah, I am using an extra variable because I once again don't know
+  // what the hell the base class is doing and I don't care anymore.
+  bool normalCommandIsPending = false;
+  // True men implement their reply timeout handling themselves!
+  Countdown normalCmdCd = Countdown(2000);
+  bool commandIsPending = false;
+  Countdown cmdCd = Countdown(2000);
 
   supv::HkSet hkset;
   supv::BootStatusReport bootStatusReport;
   supv::LatchupStatusReport latchupStatusReport;
-  supv::LoggingReport loggingReport;
+  supv::CountersReport countersReport;
   supv::AdcReport adcReport;
 
   const power::Switch_t powerSwitch = power::NO_SWITCH;
@@ -161,9 +151,12 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   Countdown executionReportTimeout = Countdown(EXECUTION_DEFAULT_TIMEOUT, false);
   Countdown acknowledgementReportTimeout = Countdown(ACKNOWLEDGE_DEFAULT_TIMEOUT, false);
   // Vorago nees some time to boot properly
-  Countdown bootTimeout = Countdown(BOOT_TIMEOUT);
+  Countdown bootTimeout = Countdown(supv::BOOT_TIMEOUT_MS);
   Countdown mramDumpTimeout = Countdown(MRAM_DUMP_TIMEOUT);
 
+  PoolEntry<uint16_t> adcRawEntry = PoolEntry<uint16_t>(16);
+  PoolEntry<uint16_t> adcEngEntry = PoolEntry<uint16_t>(16);
+  PoolEntry<uint32_t> latchupCounters = PoolEntry<uint32_t>(7);
   PoolEntry<uint8_t> fmcStateEntry = PoolEntry<uint8_t>(1);
   PoolEntry<uint8_t> bootStateEntry = PoolEntry<uint8_t>(1);
   PoolEntry<uint8_t> bootCyclesEntry = PoolEntry<uint8_t>(1);
@@ -174,6 +167,8 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
    */
   void setExecutionTimeout(DeviceCommandId_t command);
 
+  void handlePacketPrint();
+
   /**
    * @brief   Handles event messages received from the supervisor helper
    */
@@ -226,9 +221,13 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   ReturnValue_t handleBootStatusReport(const uint8_t* data);
 
   ReturnValue_t handleLatchupStatusReport(const uint8_t* data);
+  ReturnValue_t handleCounterReport(const uint8_t* data);
   void handleBadApidServiceCombination(Event result, unsigned int apid, unsigned int serviceId);
-  // ReturnValue_t handleLoggingReport(const uint8_t* data);
   ReturnValue_t handleAdcReport(const uint8_t* data);
+  ReturnValue_t genericHandleTm(const char* contextString, const uint8_t* data,
+                                LocalPoolDataSetBase& set);
+
+  void disableCommand(DeviceCommandId_t cmd);
 
   /**
    * @brief   Depending on the current active command, this function sets the reply id of the
@@ -297,16 +296,13 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   ReturnValue_t prepareSetAdcThresholdCmd(const uint8_t* commandData);
   ReturnValue_t prepareRunAutoEmTest(const uint8_t* commandData);
   ReturnValue_t prepareWipeMramCmd(const uint8_t* commandData);
-  // ReturnValue_t prepareDumpMramCmd(const uint8_t* commandData);
-  ReturnValue_t prepareSetGpioCmd(const uint8_t* commandData);
-  ReturnValue_t prepareReadGpioCmd(const uint8_t* commandData);
-  // ReturnValue_t prepareLoggingRequest(const uint8_t* commandData, size_t commandDataLen);
-  //  ReturnValue_t prepareEnableNvmsCommand(const uint8_t* commandData);
+  ReturnValue_t prepareSetGpioCmd(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t prepareReadGpioCmd(const uint8_t* commandData, size_t commandDataLen);
 
   /**
    * @brief   Copies the content of a space packet to the command buffer.
    */
-  void finishTcPrep(size_t packetLen);
+  void finishTcPrep(TcBase& tc);
 
   /**
    * @brief   In case an acknowledgment failure reply has been received this function disables
@@ -332,12 +328,6 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
    */
   void disableExeReportReply();
 
-  /**
-   * @brief   Function is called in scanForReply and fills the spacePacketBuffer with the read
-   *          data until a full packet has been received.
-   */
-  // ReturnValue_t parseMramPackets(const uint8_t* packet, size_t remainingSize, size_t* foundlen);
-
   /**
    * @brief   This function generates the Service 8 packets for the MRAM dump data.
    */
@@ -350,12 +340,6 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
    */
   void increaseExpectedMramReplies(DeviceCommandId_t id);
 
-  /**
-   * @brief   Function checks if the packet written to the space packet buffer is really a
-   *          MRAM dump packet.
-   */
-  // ReturnValue_t checkMramPacketApid();
-
   /**
    * @brief   Writes the data of the MRAM dump to a file. The file will be created when receiving
    *          the first packet.

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 314 translations.
+ * @brief    Auto-generated event translation file. Contains 318 translations.
  * @details
- * Generated on: 2023-10-13 09:44:05
+ * Generated on: 2023-12-13 11:29:45
  */
 #include "translateEvents.h"
 
@@ -99,9 +99,10 @@ const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
 const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
 const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY";
 const char *MEKF_AUTOMATIC_RESET_STRING = "MEKF_AUTOMATIC_RESET";
-const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
+const char *PTG_CTRL_NO_ATTITUDE_INFORMATION_STRING = "PTG_CTRL_NO_ATTITUDE_INFORMATION";
 const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
 const char *TLE_TOO_OLD_STRING = "TLE_TOO_OLD";
+const char *TLE_FILE_READ_FAILED_STRING = "TLE_FILE_READ_FAILED";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@@ -157,6 +158,8 @@ const char *SUPV_EXE_FAILURE_STRING = "SUPV_EXE_FAILURE";
 const char *SUPV_CRC_FAILURE_EVENT_STRING = "SUPV_CRC_FAILURE_EVENT";
 const char *SUPV_HELPER_EXECUTING_STRING = "SUPV_HELPER_EXECUTING";
 const char *SUPV_MPSOC_SHUTDOWN_BUILD_FAILED_STRING = "SUPV_MPSOC_SHUTDOWN_BUILD_FAILED";
+const char *SUPV_ACK_UNKNOWN_COMMAND_STRING = "SUPV_ACK_UNKNOWN_COMMAND";
+const char *SUPV_EXE_ACK_UNKNOWN_COMMAND_STRING = "SUPV_EXE_ACK_UNKNOWN_COMMAND";
 const char *SANITIZATION_FAILED_STRING = "SANITIZATION_FAILED";
 const char *MOUNTED_SD_CARD_STRING = "MOUNTED_SD_CARD";
 const char *SEND_MRAM_DUMP_FAILED_STRING = "SEND_MRAM_DUMP_FAILED";
@@ -319,6 +322,7 @@ const char *DUMP_HK_CANCELLED_STRING = "DUMP_HK_CANCELLED";
 const char *DUMP_CFDP_CANCELLED_STRING = "DUMP_CFDP_CANCELLED";
 const char *TEMPERATURE_ALL_ONES_START_STRING = "TEMPERATURE_ALL_ONES_START";
 const char *TEMPERATURE_ALL_ONES_RECOVERY_STRING = "TEMPERATURE_ALL_ONES_RECOVERY";
+const char *FAULT_HANDLER_TRIGGERED_STRING = "FAULT_HANDLER_TRIGGERED";
 
 const char *translateEvents(Event event) {
   switch ((event & 0xFFFF)) {
@@ -511,11 +515,13 @@ const char *translateEvents(Event event) {
     case (11205):
       return MEKF_AUTOMATIC_RESET_STRING;
     case (11206):
-      return MEKF_INVALID_MODE_VIOLATION_STRING;
+      return PTG_CTRL_NO_ATTITUDE_INFORMATION_STRING;
     case (11207):
       return SAFE_MODE_CONTROLLER_FAILURE_STRING;
     case (11208):
       return TLE_TOO_OLD_STRING;
+    case (11209):
+      return TLE_FILE_READ_FAILED_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):
@@ -626,6 +632,10 @@ const char *translateEvents(Event event) {
       return SUPV_HELPER_EXECUTING_STRING;
     case (12008):
       return SUPV_MPSOC_SHUTDOWN_BUILD_FAILED_STRING;
+    case (12009):
+      return SUPV_ACK_UNKNOWN_COMMAND_STRING;
+    case (12010):
+      return SUPV_EXE_ACK_UNKNOWN_COMMAND_STRING;
     case (12100):
       return SANITIZATION_FAILED_STRING;
     case (12101):
@@ -950,6 +960,8 @@ const char *translateEvents(Event event) {
       return TEMPERATURE_ALL_ONES_START_STRING;
     case (14501):
       return TEMPERATURE_ALL_ONES_RECOVERY_STRING;
+    case (14600):
+      return FAULT_HANDLER_TRIGGERED_STRING;
     default:
       return "UNKNOWN_EVENT";
   }

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 174 translations.
- * Generated on: 2023-10-13 09:44:05
+ * Contains 175 translations.
+ * Generated on: 2023-12-13 11:29:45
  */
 #include "translateObjects.h"
 
@@ -161,6 +161,7 @@ const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL";
 const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL";
 const char *CFDP_HANDLER_STRING = "CFDP_HANDLER";
 const char *CFDP_DISTRIBUTOR_STRING = "CFDP_DISTRIBUTOR";
+const char *CFDP_FAULT_HANDLER_STRING = "CFDP_FAULT_HANDLER";
 const char *EIVE_SYSTEM_STRING = "EIVE_SYSTEM";
 const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
 const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
@@ -493,6 +494,8 @@ const char *translateObject(object_id_t object) {
       return CFDP_HANDLER_STRING;
     case 0x73000206:
       return CFDP_DISTRIBUTOR_STRING;
+    case 0x73000207:
+      return CFDP_FAULT_HANDLER_STRING;
     case 0x73010000:
       return EIVE_SYSTEM_STRING;
     case 0x73010001:

bsp_hosted/objectFactory.cpp

@@ -38,9 +38,9 @@
 
 #include "devices/gpioIds.h"
 #include "fsfw_hal/linux/gpio/Gpio.h"
+#include "linux/payload/FreshSupvHandler.h"
 #include "linux/payload/PlocMpsocHandler.h"
 #include "linux/payload/PlocMpsocSpecialComHelper.h"
-#include "linux/payload/PlocSupervisorHandler.h"
 #include "linux/payload/PlocSupvUartMan.h"
 #include "test/gpio/DummyGpioIF.h"
 #endif
@@ -97,10 +97,11 @@ void ObjectFactory::produce(void* args) {
       new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER, plocSupvString, uart::PLOC_SUPV_BAUD,
                        supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
   supervisorCookie->setNoFixedSizeReply();
-  auto supvHelper = new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER);
-  new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, supervisorCookie,
-                            Gpio(gpioIds::ENABLE_SUPV_UART, dummyGpioIF), pcdu::PDU1_CH6_PLOC_12V,
-                            *supvHelper);
+  new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER);
+  DhbConfig dhbConf(objects::PLOC_SUPERVISOR_HANDLER);
+  auto* supvHandler =
+      new FreshSupvHandler(dhbConf, supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, dummyGpioIF),
+                           dummySwitcher, power::PDU1_CH6_PLOC_12V);
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
 #endif
 

bsp_q7s/CMakeLists.txt

@@ -25,3 +25,4 @@ add_subdirectory(memory)
 add_subdirectory(callbacks)
 add_subdirectory(xadc)
 add_subdirectory(fs)
+add_subdirectory(acs)

bsp_q7s/acs/CMakeLists.txt

@@ -0,0 +1 @@
+# target_sources(${OBSW_NAME} PUBLIC <Source File List>)

bsp_q7s/acs/StrConfigPathGetter.h

@@ -0,0 +1,23 @@
+#include <optional>
+
+#include "bsp_q7s/fs/SdCardManager.h"
+#include "mission/acs/str/strHelpers.h"
+
+class StrConfigPathGetter : public startracker::SdCardConfigPathGetter {
+ public:
+  StrConfigPathGetter(SdCardManager& sdcMan) : sdcMan(sdcMan) {}
+
+  std::optional<std::string> getCfgPath() override {
+    if (!sdcMan.isSdCardUsable(std::nullopt)) {
+      return std::nullopt;
+    }
+    if (sdcMan.getActiveSdCard() == sd::SdCard::SLOT_1) {
+      return std::string("/mnt/sd1/startracker/flight-config.json");
+    } else {
+      return std::string("/mnt/sd0/startracker/flight-config.json");
+    }
+  }
+
+ private:
+  SdCardManager& sdcMan;
+};

bsp_q7s/boardconfig/busConf.h

@@ -18,7 +18,8 @@ static constexpr char I2C_Q7_EIVE[] = "/dev/i2c_q7";
 
 static constexpr char UART_GNSS_DEV[] = "/dev/gps0";
 static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ul_plmpsoc";
-static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ploc_supv";
+static constexpr char UART_PLOC_SUPERVISOR_DEV_FALLBACK[] = "/dev/ttyUL4";
+static constexpr char UART_PLOC_SUPERVISOR_DEV[] = "/dev/ploc_supv";
 static constexpr char UART_SYRLINKS_DEV[] = "/dev/ul_syrlinks";
 static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ul_str";
 static constexpr char UART_SCEX_DEV[] = "/dev/scex";

bsp_q7s/em/emObjectFactory.cpp

@@ -152,7 +152,7 @@ void ObjectFactory::produce(void* args) {
 #endif
 
 #if OBSW_ADD_STAR_TRACKER == 1
-  createStrComponents(pwrSwitcher);
+  createStrComponents(pwrSwitcher, *SdCardManager::instance());
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
 #if OBSW_ADD_PL_PCDU == 1
@@ -163,8 +163,8 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_CCSDS_IP_CORES == 1
   CcsdsIpCoreHandler* ipCoreHandler = nullptr;
   CcsdsComponentArgs ccsdsArgs(*gpioComIF, *ipcStore, *tmStore, stores, *pusFunnel, *cfdpFunnel,
-                               &ipCoreHandler);
-  createCcsdsIpComponentsAddTmRouting(ccsdsArgs);
+                               &ipCoreHandler, 0, 0);
+  createCcsdsIpComponentsWrapper(ccsdsArgs);
 #endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
 
   /* Test Task */
@@ -175,7 +175,7 @@ void ObjectFactory::produce(void* args) {
   createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), false,
                        power::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
 #endif
-  createAcsController(true, enableHkSets);
+  createAcsController(true, enableHkSets, *SdCardManager::instance());
   HeaterHandler* heaterHandler;
   createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
   createThermalController(*heaterHandler, true);

bsp_q7s/fmObjectFactory.cpp

@@ -109,14 +109,14 @@ void ObjectFactory::produce(void* args) {
   createPayloadComponents(gpioComIF, *pwrSwitcher);
 
 #if OBSW_ADD_STAR_TRACKER == 1
-  createStrComponents(pwrSwitcher);
+  createStrComponents(pwrSwitcher, *SdCardManager::instance());
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
 #if OBSW_ADD_CCSDS_IP_CORES == 1
   CcsdsIpCoreHandler* ipCoreHandler = nullptr;
   CcsdsComponentArgs ccsdsArgs(*gpioComIF, *ipcStore, *tmStore, stores, *pusFunnel, *cfdpFunnel,
-                               &ipCoreHandler);
-  createCcsdsIpComponentsAddTmRouting(ccsdsArgs);
+                               &ipCoreHandler, 0, 0);
+  createCcsdsIpComponentsWrapper(ccsdsArgs);
 #endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
 
 #if OBSW_ADD_SCEX_DEVICE == 1
@@ -130,6 +130,6 @@ void ObjectFactory::produce(void* args) {
 
   createMiscComponents();
   createThermalController(*heaterHandler, false);
-  createAcsController(true, enableHkSets);
+  createAcsController(true, enableHkSets, *SdCardManager::instance());
   satsystem::init(false);
 }

bsp_q7s/objectFactory.cpp

@@ -13,7 +13,6 @@
 #include <linux/payload/PlocMemoryDumper.h>
 #include <linux/payload/PlocMpsocHandler.h>
 #include <linux/payload/PlocMpsocSpecialComHelper.h>
-#include <linux/payload/PlocSupervisorHandler.h>
 #include <linux/payload/ScexUartReader.h>
 #include <linux/payload/plocMpsocHelpers.h>
 #include <linux/power/CspComIF.h>
@@ -37,11 +36,10 @@
 #include <cstring>
 
 #include "OBSWConfig.h"
+#include "bsp_q7s/acs/StrConfigPathGetter.h"
 #include "bsp_q7s/boardtest/Q7STestTask.h"
 #include "bsp_q7s/callbacks/gnssCallback.h"
-#include "bsp_q7s/callbacks/pcduSwitchCb.h"
 #include "bsp_q7s/callbacks/q7sGpioCallbacks.h"
-#include "bsp_q7s/callbacks/rwSpiCallback.h"
 #include "busConf.h"
 #include "ccsdsConfig.h"
 #include "devConf.h"
@@ -60,6 +58,7 @@
 #include "linux/ipcore/PdecHandler.h"
 #include "linux/ipcore/Ptme.h"
 #include "linux/ipcore/PtmeConfig.h"
+#include "linux/payload/FreshSupvHandler.h"
 #include "mission/config/configfile.h"
 #include "mission/system/acs/AcsBoardFdir.h"
 #include "mission/system/acs/AcsSubsystem.h"
@@ -68,11 +67,11 @@
 #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/power/GomspacePowerFdir.h"
 #include "mission/system/tcs/RtdFdir.h"
 #include "mission/system/tcs/TcsBoardAssembly.h"
 #include "mission/system/tcs/tcsModeTree.h"
-#include "mission/system/tree/payloadModeTree.h"
 #include "mission/tmtc/tmFilters.h"
 #include "mission/utility/GlobalConfigHandler.h"
 #include "tmtc/pusIds.h"
@@ -612,11 +611,11 @@ void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
 #endif
 }
 
-void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF& pwrSwitch) {
+void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF& pwrSwitcher) {
   using namespace gpio;
   std::stringstream consumer;
   auto* camSwitcher =
-      new CamSwitcher(objects::CAM_SWITCHER, pwrSwitch, power::PDU2_CH8_PAYLOAD_CAMERA);
+      new CamSwitcher(objects::CAM_SWITCHER, pwrSwitcher, power::PDU2_CH8_PAYLOAD_CAMERA);
   camSwitcher->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
 #if OBSW_ADD_PLOC_MPSOC == 1
   consumer << "0x" << std::hex << objects::PLOC_MPSOC_HANDLER;
@@ -642,15 +641,19 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
   auto supvGpioCookie = new GpioCookie;
   supvGpioCookie->addGpio(gpioIds::ENABLE_SUPV_UART, gpioConfigSupv);
   gpioComIF->addGpios(supvGpioCookie);
-  auto supervisorCookie = new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER,
-                                           q7s::UART_PLOC_SUPERVSIOR_DEV, serial::PLOC_SUPV_BAUD,
-                                           supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
+  const char* plocSupvDev = q7s::UART_PLOC_SUPERVISOR_DEV;
+  if (not std::filesystem::exists(plocSupvDev)) {
+    plocSupvDev = q7s::UART_PLOC_SUPERVISOR_DEV_FALLBACK;
+  }
+  auto supervisorCookie =
+      new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER, plocSupvDev, serial::PLOC_SUPV_BAUD,
+                       supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
   supervisorCookie->setNoFixedSizeReply();
-  auto supvHelper = new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER);
-  auto* supvHandler = new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, supervisorCookie,
-                                                Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
-                                                power::PDU1_CH6_PLOC_12V, *supvHelper);
-  supvHandler->setPowerSwitcher(&pwrSwitch);
+  new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER);
+  DhbConfig dhbConf(objects::PLOC_SUPERVISOR_HANDLER);
+  auto* supvHandler =
+      new FreshSupvHandler(dhbConf, supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
+                           pwrSwitcher, power::PDU1_CH6_PLOC_12V);
   supvHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
   static_cast<void>(consumer);
@@ -750,14 +753,18 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
   gpioChecker(args.gpioComIF.addGpios(gpioCookiePtmeIp), "PTME PAPB VCs");
 
   // Creating virtual channel interfaces
-  VirtualChannelIF* vc0 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC0_PAPB_EMPTY,
-                                              q7s::UIO_PTME, q7s::uiomapids::PTME_VC0);
-  VirtualChannelIF* vc1 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC1_PAPB_EMPTY,
-                                              q7s::UIO_PTME, q7s::uiomapids::PTME_VC1);
-  VirtualChannelIF* vc2 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC2_PAPB_EMPTY,
-                                              q7s::UIO_PTME, q7s::uiomapids::PTME_VC2);
-  VirtualChannelIF* vc3 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC3_PAPB_EMPTY,
-                                              q7s::UIO_PTME, q7s::uiomapids::PTME_VC3);
+  VirtualChannelIF* vc0 =
+      new PapbVcInterface(&args.gpioComIF, gpioIds::VC0_PAPB_EMPTY, q7s::UIO_PTME,
+                          q7s::uiomapids::PTME_VC0, config::MAX_SPACEPACKET_TC_SIZE);
+  VirtualChannelIF* vc1 =
+      new PapbVcInterface(&args.gpioComIF, gpioIds::VC1_PAPB_EMPTY, q7s::UIO_PTME,
+                          q7s::uiomapids::PTME_VC1, config::MAX_SPACEPACKET_TC_SIZE);
+  VirtualChannelIF* vc2 =
+      new PapbVcInterface(&args.gpioComIF, gpioIds::VC2_PAPB_EMPTY, q7s::UIO_PTME,
+                          q7s::uiomapids::PTME_VC2, config::MAX_SPACEPACKET_TC_SIZE);
+  VirtualChannelIF* vc3 =
+      new PapbVcInterface(&args.gpioComIF, gpioIds::VC3_PAPB_EMPTY, q7s::UIO_PTME,
+                          q7s::uiomapids::PTME_VC3, config::MAX_SPACEPACKET_TC_SIZE);
   // Creating ptme object and adding virtual channel interfaces
   Ptme* ptme = new Ptme(objects::PTME);
   ptme->addVcInterface(ccsds::VC0, vc0);
@@ -832,7 +839,7 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
   uioNames.registers = q7s::UIO_PDEC_REGISTERS;
   uioNames.irq = q7s::UIO_PDEC_IRQ;
   new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, &args.gpioComIF,
-                  gpioIds::PDEC_RESET, uioNames);
+                  gpioIds::PDEC_RESET, uioNames, args.pdecCfgMemBaseAddr, args.pdecRamBaseAddr);
   GpioCookie* gpioRS485Chip = new GpioCookie;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_CLOCK, "RS485 Transceiver",
                                     Direction::OUT, Levels::LOW);
@@ -927,7 +934,7 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
 #endif
 }
 
-void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
+void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher, SdCardManager& sdcMan) {
   auto* strAssy = new StrAssembly(objects::STR_ASSY);
   strAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
   auto* starTrackerCookie =
@@ -941,9 +948,10 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
     sif::error << "No valid Star Tracker parameter JSON file" << std::endl;
   }
   auto strFdir = new StrFdir(objects::STAR_TRACKER);
+  auto cfgGetter = new StrConfigPathGetter(sdcMan);
   auto starTracker =
       new StarTrackerHandler(objects::STAR_TRACKER, objects::STR_COM_IF, starTrackerCookie,
-                             paramJsonFile, strComIF, power::PDU1_CH2_STAR_TRACKER_5V);
+                             strComIF, power::PDU1_CH2_STAR_TRACKER_5V, *cfgGetter);
   starTracker->setPowerSwitcher(pwrSwitcher);
   starTracker->connectModeTreeParent(*strAssy);
   starTracker->setCustomFdir(strFdir);
@@ -1058,7 +1066,13 @@ ReturnValue_t ObjectFactory::readFirmwareVersion() {
   return returnvalue::OK;
 }
 
-ReturnValue_t ObjectFactory::createCcsdsIpComponentsAddTmRouting(CcsdsComponentArgs& ccsdsArgs) {
+ReturnValue_t ObjectFactory::createCcsdsIpComponentsWrapper(CcsdsComponentArgs& ccsdsArgs) {
+  ccsdsArgs.pdecCfgMemBaseAddr = config::pdec::PDEC_CONFIG_BASE_ADDR;
+  ccsdsArgs.pdecRamBaseAddr = config::pdec::PDEC_RAM_ADDR;
+  if (core::FW_VERSION_MAJOR < 6) {
+    ccsdsArgs.pdecCfgMemBaseAddr = config::pdec::PDEC_CONFIG_BASE_ADDR_LEGACY;
+    ccsdsArgs.pdecRamBaseAddr = config::pdec::PDEC_RAM_ADDR_LEGACY;
+  }
   ReturnValue_t result = createCcsdsComponents(ccsdsArgs);
 #if OBSW_TM_TO_PTME == 1
   if (ccsdsArgs.normalLiveTmDest != MessageQueueIF::NO_QUEUE) {

bsp_q7s/objectFactory.h

@@ -15,6 +15,8 @@
 #include <atomic>
 #include <string>
 
+#include "bsp_q7s/fs/SdCardManager.h"
+
 class LinuxLibgpioIF;
 class SerialComIF;
 class SpiComIF;
@@ -31,14 +33,17 @@ namespace ObjectFactory {
 struct CcsdsComponentArgs {
   CcsdsComponentArgs(LinuxLibgpioIF& gpioIF, StorageManagerIF& ipcStore, StorageManagerIF& tmStore,
                      PersistentTmStores& stores, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel,
-                     CcsdsIpCoreHandler** ipCoreHandler)
+                     CcsdsIpCoreHandler** ipCoreHandler, uint32_t pdecCfgMemBaseAddr,
+                     uint32_t pdecRamBaseAddr)
       : gpioComIF(gpioIF),
         ipcStore(ipcStore),
         tmStore(tmStore),
         stores(stores),
         pusFunnel(pusFunnel),
         cfdpFunnel(cfdpFunnel),
-        ipCoreHandler(ipCoreHandler) {}
+        ipCoreHandler(ipCoreHandler),
+        pdecCfgMemBaseAddr(pdecCfgMemBaseAddr),
+        pdecRamBaseAddr(pdecRamBaseAddr) {}
   LinuxLibgpioIF& gpioComIF;
   StorageManagerIF& ipcStore;
   StorageManagerIF& tmStore;
@@ -46,6 +51,8 @@ struct CcsdsComponentArgs {
   PusTmFunnel& pusFunnel;
   CfdpTmFunnel& cfdpFunnel;
   CcsdsIpCoreHandler** ipCoreHandler;
+  uint32_t pdecCfgMemBaseAddr;
+  uint32_t pdecRamBaseAddr;
   MessageQueueId_t normalLiveTmDest = MessageQueueIF::NO_QUEUE;
   MessageQueueId_t cfdpLiveTmDest = MessageQueueIF::NO_QUEUE;
 };
@@ -70,12 +77,12 @@ void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTa
                             HeaterHandler*& heaterHandler);
 void createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets, const char* i2cDev);
 void createBpxBatteryComponent(bool enableHkSets, const char* i2cDev);
-void createStrComponents(PowerSwitchIF* pwrSwitcher);
+void createStrComponents(PowerSwitchIF* pwrSwitcher, SdCardManager& sdcMan);
 void createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher, GpioIF& gpioIF);
 void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);
 void createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF& pwrSwitcher);
 void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
-ReturnValue_t createCcsdsIpComponentsAddTmRouting(CcsdsComponentArgs& args);
+ReturnValue_t createCcsdsIpComponentsWrapper(CcsdsComponentArgs& args);
 ReturnValue_t createCcsdsComponents(CcsdsComponentArgs& args);
 ReturnValue_t readFirmwareVersion();
 void createMiscComponents();

bsp_q7s/scheduling.cpp

@@ -383,11 +383,9 @@ void scheduling::initTasks() {
   }
 #endif /* OBSW_ADD_PLOC_SUPERVISOR */
 
-  PeriodicTaskIF* plTask = factory->createPeriodicTask(
-      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc, &RR_SCHEDULING);
-  plTask->addComponent(objects::CAM_SWITCHER);
-  scheduling::addMpsocSupvHandlers(plTask);
-  scheduling::scheduleScexDev(plTask);
+  FixedTimeslotTaskIF* plTask = factory->createFixedTimeslotTask(
+      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);
+  pst::pstPayload(plTask);
 
 #if OBSW_ADD_SCEX_DEVICE == 1
   PeriodicTaskIF* scexReaderTask;

cmake/scripts/q7s/q7s-make-debug.sh

@@ -24,6 +24,8 @@ if [ ! -z "${EIVE_Q7S_EM}" ]; then
     build_defs="EIVE_Q7S_EM=ON"
 fi
 
+build_defs="${build_defs} CMAKE_EXPORT_COMPILE_COMMANDS=ON" 
+
 os_fsfw="linux"
 tgt_bsp="arm/q7s"
 build_dir="cmake-build-debug-q7s"

cmake/scripts/q7s/q7s-make-release.sh

@@ -24,6 +24,8 @@ if [ ! -z "${EIVE_Q7S_EM}" ]; then
     build_defs="EIVE_Q7S_EM=ON"
 fi
 
+build_defs="${build_defs} CMAKE_EXPORT_COMPILE_COMMANDS=ON" 
+
 os_fsfw="linux"
 tgt_bsp="arm/q7s"
 build_dir="cmake-build-release-q7s"

common/config/devices/addresses.h

@@ -54,6 +54,9 @@ enum I2cAddress : address_t {
 };
 
 enum spiAddresses : address_t {
+  RTD_IC_0,
+  RTD_IC_1,
+  RTD_IC_2,
   RTD_IC_3,
   RTD_IC_4,
   RTD_IC_5,
@@ -67,9 +70,6 @@ enum spiAddresses : address_t {
   RTD_IC_13,
   RTD_IC_14,
   RTD_IC_15,
-  RTD_IC_16,
-  RTD_IC_17,
-  RTD_IC_18,
   RW1,
   RW2,
   RW3,

common/config/devices/gpioIds.h

@@ -37,6 +37,9 @@ enum gpioId_t {
   TEST_ID_0,
   TEST_ID_1,
 
+  RTD_IC_0,
+  RTD_IC_1,
+  RTD_IC_2,
   RTD_IC_3,
   RTD_IC_4,
   RTD_IC_5,
@@ -50,9 +53,6 @@ enum gpioId_t {
   RTD_IC_13,
   RTD_IC_14,
   RTD_IC_15,
-  RTD_IC_16,
-  RTD_IC_17,
-  RTD_IC_18,
 
   CS_SUS_0,
   CS_SUS_1,

common/config/eive/definitions.h

@@ -35,6 +35,8 @@ static constexpr uint32_t STR_IMG_HELPER_QUEUE_SIZE = 50;
 
 static constexpr uint8_t LIVE_TM = 0;
 
+static constexpr size_t MAX_SPACEPACKET_TC_SIZE = 2048;
+
 /* Limits for filename and path checks */
 static constexpr uint32_t MAX_PATH_SIZE = 200;
 static constexpr uint32_t MAX_FILENAME_SIZE = 100;
@@ -48,7 +50,7 @@ static constexpr uint32_t LEGACY_SA_DEPL_CHANNEL_ALTERNATION_INTERVAL_SECS = 5;
 // Maximum allowed burn time allowed by the software.
 static constexpr uint32_t SA_DEPL_MAX_BURN_TIME = 180;
 
-static constexpr size_t CFDP_MAX_FILE_SEGMENT_LEN = 300;
+static constexpr size_t CFDP_MAX_FILE_SEGMENT_LEN = 900;
 
 static constexpr uint32_t CCSDS_HANDLER_QUEUE_SIZE = 50;
 static constexpr uint8_t NUMBER_OF_VIRTUAL_CHANNELS = 4;
@@ -61,22 +63,22 @@ static constexpr uint32_t HK_STORE_QUEUE_SIZE = 300;
 static constexpr uint32_t CFDP_STORE_QUEUE_SIZE = 300;
 
 static constexpr uint32_t LIVE_CHANNEL_NORMAL_QUEUE_SIZE = 250;
-static constexpr uint32_t LIVE_CHANNEL_CFDP_QUEUE_SIZE = 250;
+static constexpr uint32_t LIVE_CHANNEL_CFDP_QUEUE_SIZE = 350;
 
-static constexpr uint32_t CFDP_MAX_FSM_CALL_COUNT_SRC_HANDLER = 50;
+static constexpr uint32_t CFDP_MAX_FSM_CALL_COUNT_SRC_HANDLER = 10;
 static constexpr uint32_t CFDP_MAX_FSM_CALL_COUNT_DEST_HANDLER = 300;
-static constexpr uint32_t CFDP_SHORT_DELAY_MS = 50;
+static constexpr uint32_t CFDP_SHORT_DELAY_MS = 40;
 static constexpr uint32_t CFDP_REGULAR_DELAY_MS = 200;
 
 static constexpr uint32_t MAX_PUS_FUNNEL_QUEUE_DEPTH = 100;
-static constexpr uint32_t MAX_CFDP_FUNNEL_QUEUE_DEPTH = 150;
+static constexpr uint32_t MAX_CFDP_FUNNEL_QUEUE_DEPTH = LIVE_CHANNEL_CFDP_QUEUE_SIZE;
 static constexpr uint32_t VERIFICATION_SERVICE_QUEUE_DEPTH = 120;
 static constexpr uint32_t HK_SERVICE_QUEUE_DEPTH = 60;
 static constexpr uint32_t ACTION_SERVICE_QUEUE_DEPTH = 60;
 
 static constexpr uint32_t UDP_MAX_STORED_CMDS = 200;
 static constexpr uint32_t UDP_MSG_QUEUE_DEPTH = UDP_MAX_STORED_CMDS;
-static constexpr uint32_t TCP_MAX_STORED_CMDS = 300;
+static constexpr uint32_t TCP_MAX_STORED_CMDS = 350;
 static constexpr uint32_t TCP_MSG_QUEUE_DEPTH = TCP_MAX_STORED_CMDS;
 static constexpr uint32_t TCP_MAX_NUMBER_TMS_SENT_PER_CYCLE = TCP_MSG_QUEUE_DEPTH;
 
@@ -113,6 +115,18 @@ static constexpr float SCHED_BLOCK_10_PERIOD =
 
 }  // namespace spiSched
 
+namespace pdec {
+
+// Pre FW v6.0.0
+static constexpr uint32_t PDEC_CONFIG_BASE_ADDR_LEGACY = 0x24000000;
+static constexpr uint32_t PDEC_RAM_ADDR_LEGACY = 0x26000000;
+
+// Post FW v6.0.0
+static constexpr uint32_t PDEC_CONFIG_BASE_ADDR = 0x4000000;
+static constexpr uint32_t PDEC_RAM_ADDR = 0x7000000;
+
+}  // namespace pdec
+
 }  // namespace config
 
 #endif /* COMMON_CONFIG_DEFINITIONS_H_ */

common/config/eive/eventSubsystemIds.h

@@ -41,6 +41,7 @@ enum : uint8_t {
   PERSISTENT_TM_STORE = 143,
   SYRLINKS_COM = 144,
   SUS_HANDLER = 145,
+  CFDP_APP = 146,
   COMMON_SUBSYSTEM_ID_END
 
 };

common/config/eive/objects.h

@@ -166,6 +166,7 @@ enum commonObjects : uint32_t {
   CFDP_TM_FUNNEL = 0x73000102,
   CFDP_HANDLER = 0x73000205,
   CFDP_DISTRIBUTOR = 0x73000206,
+  CFDP_FAULT_HANDLER = 0x73000207,
   MISC_TM_STORE = 0x73020001,
   OK_TM_STORE = 0x73020002,
   NOT_OK_TM_STORE = 0x73020003,

dummies/helperFactory.cpp

@@ -40,8 +40,8 @@
 #include "mission/genericFactory.h"
 #include "mission/system/acs/acsModeTree.h"
 #include "mission/system/com/comModeTree.h"
+#include "mission/system/payloadModeTree.h"
 #include "mission/system/tcs/tcsModeTree.h"
-#include "mission/system/tree/payloadModeTree.h"
 #include "mission/tcs/defs.h"
 
 void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpioIF,

generators/bsp_hosted_events.csv

@@ -93,9 +93,10 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11203;0x2bc3;MEKF_INVALID_INFO;INFO;MEKF was not able to compute a solution. P1: MEKF state on exit;mission/acs/defs.h
 11204;0x2bc4;MEKF_RECOVERY;INFO;MEKF is able to compute a solution again.;mission/acs/defs.h
 11205;0x2bc5;MEKF_AUTOMATIC_RESET;INFO;MEKF performed an automatic reset after detection of nonfinite values.;mission/acs/defs.h
-11206;0x2bc6;MEKF_INVALID_MODE_VIOLATION;HIGH;MEKF was not able to compute a solution during any pointing ACS mode for a prolonged time.;mission/acs/defs.h
+11206;0x2bc6;PTG_CTRL_NO_ATTITUDE_INFORMATION;HIGH;For a prolonged time, no attitude information was available for the Pointing Controller. Falling back to Safe Mode.;mission/acs/defs.h
 11207;0x2bc7;SAFE_MODE_CONTROLLER_FAILURE;HIGH;The ACS safe mode controller was not able to compute a solution and has failed. P1: Missing information about magnetic field, P2: Missing information about rotational rate;mission/acs/defs.h
 11208;0x2bc8;TLE_TOO_OLD;INFO;The TLE for the SGP4 Propagator has become too old.;mission/acs/defs.h
+11209;0x2bc9;TLE_FILE_READ_FAILED;LOW;The TLE could not be read from the filesystem.;mission/acs/defs.h
 11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/power/defs.h
 11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/power/defs.h
 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/power/defs.h
@@ -143,14 +144,16 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11901;0x2e7d;BOOTING_FIRMWARE_FAILED_EVENT;LOW;Failed to boot firmware;mission/acs/str/StarTrackerHandler.h
 11902;0x2e7e;BOOTING_BOOTLOADER_FAILED_EVENT;LOW;Failed to boot star tracker into bootloader mode;mission/acs/str/StarTrackerHandler.h
 11903;0x2e7f;COM_ERROR_REPLY_RECEIVED;LOW;Received COM error. P1:  Communication Error ID (datasheet p32);mission/acs/str/StarTrackerHandler.h
-12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux/payload/PlocSupervisorHandler.h
-12002;0x2ee2;SUPV_UNKNOWN_TM;LOW;Unhandled event. P1: APID, P2: Service ID;linux/payload/PlocSupervisorHandler.h
-12003;0x2ee3;SUPV_UNINIMPLEMENTED_TM;LOW;No description;linux/payload/PlocSupervisorHandler.h
-12004;0x2ee4;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;linux/payload/PlocSupervisorHandler.h
-12005;0x2ee5;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report P1: ID of command for which the execution failed P2: Status code sent by the supervisor handler;linux/payload/PlocSupervisorHandler.h
-12006;0x2ee6;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;linux/payload/PlocSupervisorHandler.h
-12007;0x2ee7;SUPV_HELPER_EXECUTING;LOW;Supervisor helper currently executing a command;linux/payload/PlocSupervisorHandler.h
-12008;0x2ee8;SUPV_MPSOC_SHUTDOWN_BUILD_FAILED;LOW;Failed to build the command to shutdown the MPSoC;linux/payload/PlocSupervisorHandler.h
+12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux/payload/plocSupvDefs.h
+12002;0x2ee2;SUPV_UNKNOWN_TM;LOW;Unhandled event. P1: APID, P2: Service ID;linux/payload/plocSupvDefs.h
+12003;0x2ee3;SUPV_UNINIMPLEMENTED_TM;LOW;No description;linux/payload/plocSupvDefs.h
+12004;0x2ee4;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;linux/payload/plocSupvDefs.h
+12005;0x2ee5;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report P1: ID of command for which the execution failed P2: Status code sent by the supervisor handler;linux/payload/plocSupvDefs.h
+12006;0x2ee6;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;linux/payload/plocSupvDefs.h
+12007;0x2ee7;SUPV_HELPER_EXECUTING;LOW;Supervisor helper currently executing a command;linux/payload/plocSupvDefs.h
+12008;0x2ee8;SUPV_MPSOC_SHUTDOWN_BUILD_FAILED;LOW;Failed to build the command to shutdown the MPSoC;linux/payload/plocSupvDefs.h
+12009;0x2ee9;SUPV_ACK_UNKNOWN_COMMAND;LOW;Received ACK, but no related command is unknown or has not been sent  by this software instance. P1: Module APID. P2: Service ID.;linux/payload/plocSupvDefs.h
+12010;0x2eea;SUPV_EXE_ACK_UNKNOWN_COMMAND;LOW;Received ACK EXE, but no related command is unknown or has not been sent  by this software instance. P1: Module APID. P2: Service ID.;linux/payload/plocSupvDefs.h
 12100;0x2f44;SANITIZATION_FAILED;LOW;No description;bsp_q7s/fs/SdCardManager.h
 12101;0x2f45;MOUNTED_SD_CARD;INFO;No description;bsp_q7s/fs/SdCardManager.h
 12300;0x300c;SEND_MRAM_DUMP_FAILED;LOW;Failed to send mram dump command to supervisor handler P1: Return value of commandAction function P2: Start address of MRAM to dump with this command;linux/payload/PlocMemoryDumper.h
@@ -312,4 +315,5 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 14313;0x37e9;DUMP_HK_CANCELLED;LOW;P1: Number of dumped packets. P2: Total dumped bytes.;mission/persistentTmStoreDefs.h
 14314;0x37ea;DUMP_CFDP_CANCELLED;LOW;P1: Number of dumped packets. P2: Total dumped bytes.;mission/persistentTmStoreDefs.h
 14500;0x38a4;TEMPERATURE_ALL_ONES_START;MEDIUM;Detected invalid values, starting invalid message counting;mission/acs/SusHandler.h
-14501;0x38a5;TEMPERATURE_ALL_ONES_RECOVERY;INFO;Detected valid values again, resetting invalid message counter. P1: Invalid message counter.;mission/acs/SusHandler.h
+14501;0x38a5;TEMPERATURE_ALL_ONES_RECOVERY;INFO;Detected valid values for a prolonged time again, resetting all counters. P1: Number of periods with invalid messages. P2: Maximum invalid message counter.;mission/acs/SusHandler.h
+14600;0x3908;FAULT_HANDLER_TRIGGERED;LOW;P1: CFDP fault handler code. P2: CFDP condition code.;mission/cfdp/defs.h

generators/bsp_hosted_objects.csv

@@ -153,6 +153,7 @@
 0x73000102;CFDP_TM_FUNNEL
 0x73000205;CFDP_HANDLER
 0x73000206;CFDP_DISTRIBUTOR
+0x73000207;CFDP_FAULT_HANDLER
 0x73010000;EIVE_SYSTEM
 0x73010001;ACS_SUBSYSTEM
 0x73010002;PL_SUBSYSTEM

generators/bsp_hosted_returnvalues.csv

@@ -387,6 +387,7 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x4304;PUS11_InvalidRelativeTime;No description;4;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4305;PUS11_ContainedTcTooSmall;No description;5;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4306;PUS11_ContainedTcCrcMissmatch;No description;6;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
+0x4307;PUS11_MapIsFull;No description;7;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4400;FILS_GenericFileError;No description;0;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
 0x4401;FILS_GenericDirError;No description;1;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
 0x4402;FILS_FilesystemInactive;No description;2;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
@@ -509,6 +510,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x67a3;SADPL_SwitchingDeplSa1Failed;No description;163;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
 0x67a4;SADPL_SwitchingDeplSa2Failed;No description;164;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
 0x6a00;ACSCTRL_FileDeletionFailed;File deletion failed and at least one file is still existent.;0;ACS_CTRL;mission/controller/AcsController.h
+0x6a01;ACSCTRL_WriteFileFailed;Writing the TLE to the file has failed.;1;ACS_CTRL;mission/controller/AcsController.h
+0x6a02;ACSCTRL_ReadFileFailed;Reading the TLE to the file has failed.;2;ACS_CTRL;mission/controller/AcsController.h
 0x6b02;ACSMEKF_MekfUninitialized;No description;2;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
 0x6b03;ACSMEKF_MekfNoGyrData;No description;3;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
 0x6b04;ACSMEKF_MekfNoModelVectors;No description;4;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
@@ -521,5 +524,6 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x6e01;PTM_BusyDumping;No description;1;PERSISTENT_TM_STORE;mission/tmtc/PersistentTmStore.h
 0x6f00;TMS_IsBusy;No description;0;TM_SINK;mission/tmtc/DirectTmSinkIF.h
 0x6f01;TMS_PartiallyWritten;No description;1;TM_SINK;mission/tmtc/DirectTmSinkIF.h
-0x6f02;TMS_IncompletePartialWrite;No description;2;TM_SINK;mission/tmtc/DirectTmSinkIF.h
+0x6f02;TMS_NoWriteActive;No description;2;TM_SINK;mission/tmtc/DirectTmSinkIF.h
+0x6f03;TMS_Timeout;No description;3;TM_SINK;mission/tmtc/DirectTmSinkIF.h
 0x7000;VCS_ChannelDoesNotExist;No description;0;VIRTUAL_CHANNEL;mission/com/VirtualChannel.h

generators/bsp_hosted_subsystems.csv

@@ -61,3 +61,4 @@
 143;PERSISTENT_TM_STORE
 144;SYRLINKS_COM
 145;SUS_HANDLER
+146;CFDP_APP

generators/bsp_q7s_events.csv

@@ -93,9 +93,10 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11203;0x2bc3;MEKF_INVALID_INFO;INFO;MEKF was not able to compute a solution. P1: MEKF state on exit;mission/acs/defs.h
 11204;0x2bc4;MEKF_RECOVERY;INFO;MEKF is able to compute a solution again.;mission/acs/defs.h
 11205;0x2bc5;MEKF_AUTOMATIC_RESET;INFO;MEKF performed an automatic reset after detection of nonfinite values.;mission/acs/defs.h
-11206;0x2bc6;MEKF_INVALID_MODE_VIOLATION;HIGH;MEKF was not able to compute a solution during any pointing ACS mode for a prolonged time.;mission/acs/defs.h
+11206;0x2bc6;PTG_CTRL_NO_ATTITUDE_INFORMATION;HIGH;For a prolonged time, no attitude information was available for the Pointing Controller. Falling back to Safe Mode.;mission/acs/defs.h
 11207;0x2bc7;SAFE_MODE_CONTROLLER_FAILURE;HIGH;The ACS safe mode controller was not able to compute a solution and has failed. P1: Missing information about magnetic field, P2: Missing information about rotational rate;mission/acs/defs.h
 11208;0x2bc8;TLE_TOO_OLD;INFO;The TLE for the SGP4 Propagator has become too old.;mission/acs/defs.h
+11209;0x2bc9;TLE_FILE_READ_FAILED;LOW;The TLE could not be read from the filesystem.;mission/acs/defs.h
 11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/power/defs.h
 11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/power/defs.h
 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/power/defs.h
@@ -143,14 +144,16 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11901;0x2e7d;BOOTING_FIRMWARE_FAILED_EVENT;LOW;Failed to boot firmware;mission/acs/str/StarTrackerHandler.h
 11902;0x2e7e;BOOTING_BOOTLOADER_FAILED_EVENT;LOW;Failed to boot star tracker into bootloader mode;mission/acs/str/StarTrackerHandler.h
 11903;0x2e7f;COM_ERROR_REPLY_RECEIVED;LOW;Received COM error. P1:  Communication Error ID (datasheet p32);mission/acs/str/StarTrackerHandler.h
-12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux/payload/PlocSupervisorHandler.h
-12002;0x2ee2;SUPV_UNKNOWN_TM;LOW;Unhandled event. P1: APID, P2: Service ID;linux/payload/PlocSupervisorHandler.h
-12003;0x2ee3;SUPV_UNINIMPLEMENTED_TM;LOW;No description;linux/payload/PlocSupervisorHandler.h
-12004;0x2ee4;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;linux/payload/PlocSupervisorHandler.h
-12005;0x2ee5;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report P1: ID of command for which the execution failed P2: Status code sent by the supervisor handler;linux/payload/PlocSupervisorHandler.h
-12006;0x2ee6;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;linux/payload/PlocSupervisorHandler.h
-12007;0x2ee7;SUPV_HELPER_EXECUTING;LOW;Supervisor helper currently executing a command;linux/payload/PlocSupervisorHandler.h
-12008;0x2ee8;SUPV_MPSOC_SHUTDOWN_BUILD_FAILED;LOW;Failed to build the command to shutdown the MPSoC;linux/payload/PlocSupervisorHandler.h
+12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux/payload/plocSupvDefs.h
+12002;0x2ee2;SUPV_UNKNOWN_TM;LOW;Unhandled event. P1: APID, P2: Service ID;linux/payload/plocSupvDefs.h
+12003;0x2ee3;SUPV_UNINIMPLEMENTED_TM;LOW;No description;linux/payload/plocSupvDefs.h
+12004;0x2ee4;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;linux/payload/plocSupvDefs.h
+12005;0x2ee5;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report P1: ID of command for which the execution failed P2: Status code sent by the supervisor handler;linux/payload/plocSupvDefs.h
+12006;0x2ee6;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;linux/payload/plocSupvDefs.h
+12007;0x2ee7;SUPV_HELPER_EXECUTING;LOW;Supervisor helper currently executing a command;linux/payload/plocSupvDefs.h
+12008;0x2ee8;SUPV_MPSOC_SHUTDOWN_BUILD_FAILED;LOW;Failed to build the command to shutdown the MPSoC;linux/payload/plocSupvDefs.h
+12009;0x2ee9;SUPV_ACK_UNKNOWN_COMMAND;LOW;Received ACK, but no related command is unknown or has not been sent  by this software instance. P1: Module APID. P2: Service ID.;linux/payload/plocSupvDefs.h
+12010;0x2eea;SUPV_EXE_ACK_UNKNOWN_COMMAND;LOW;Received ACK EXE, but no related command is unknown or has not been sent  by this software instance. P1: Module APID. P2: Service ID.;linux/payload/plocSupvDefs.h
 12100;0x2f44;SANITIZATION_FAILED;LOW;No description;bsp_q7s/fs/SdCardManager.h
 12101;0x2f45;MOUNTED_SD_CARD;INFO;No description;bsp_q7s/fs/SdCardManager.h
 12300;0x300c;SEND_MRAM_DUMP_FAILED;LOW;Failed to send mram dump command to supervisor handler P1: Return value of commandAction function P2: Start address of MRAM to dump with this command;linux/payload/PlocMemoryDumper.h
@@ -312,4 +315,5 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 14313;0x37e9;DUMP_HK_CANCELLED;LOW;P1: Number of dumped packets. P2: Total dumped bytes.;mission/persistentTmStoreDefs.h
 14314;0x37ea;DUMP_CFDP_CANCELLED;LOW;P1: Number of dumped packets. P2: Total dumped bytes.;mission/persistentTmStoreDefs.h
 14500;0x38a4;TEMPERATURE_ALL_ONES_START;MEDIUM;Detected invalid values, starting invalid message counting;mission/acs/SusHandler.h
-14501;0x38a5;TEMPERATURE_ALL_ONES_RECOVERY;INFO;Detected valid values again, resetting invalid message counter. P1: Invalid message counter.;mission/acs/SusHandler.h
+14501;0x38a5;TEMPERATURE_ALL_ONES_RECOVERY;INFO;Detected valid values for a prolonged time again, resetting all counters. P1: Number of periods with invalid messages. P2: Maximum invalid message counter.;mission/acs/SusHandler.h
+14600;0x3908;FAULT_HANDLER_TRIGGERED;LOW;P1: CFDP fault handler code. P2: CFDP condition code.;mission/cfdp/defs.h

generators/bsp_q7s_objects.csv

@@ -158,6 +158,7 @@
 0x73000102;CFDP_TM_FUNNEL
 0x73000205;CFDP_HANDLER
 0x73000206;CFDP_DISTRIBUTOR
+0x73000207;CFDP_FAULT_HANDLER
 0x73010000;EIVE_SYSTEM
 0x73010001;ACS_SUBSYSTEM
 0x73010002;PL_SUBSYSTEM

generators/bsp_q7s_returnvalues.csv

@@ -387,6 +387,7 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x4304;PUS11_InvalidRelativeTime;No description;4;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4305;PUS11_ContainedTcTooSmall;No description;5;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4306;PUS11_ContainedTcCrcMissmatch;No description;6;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
+0x4307;PUS11_MapIsFull;No description;7;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4400;FILS_GenericFileError;No description;0;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
 0x4401;FILS_GenericDirError;No description;1;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
 0x4402;FILS_FilesystemInactive;No description;2;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
@@ -593,6 +594,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x69c0;SPVRTVIF_BufTooSmall;No description;192;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
 0x69c1;SPVRTVIF_NoReplyTimeout;No description;193;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
 0x6a00;ACSCTRL_FileDeletionFailed;File deletion failed and at least one file is still existent.;0;ACS_CTRL;mission/controller/AcsController.h
+0x6a01;ACSCTRL_WriteFileFailed;Writing the TLE to the file has failed.;1;ACS_CTRL;mission/controller/AcsController.h
+0x6a02;ACSCTRL_ReadFileFailed;Reading the TLE to the file has failed.;2;ACS_CTRL;mission/controller/AcsController.h
 0x6b02;ACSMEKF_MekfUninitialized;No description;2;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
 0x6b03;ACSMEKF_MekfNoGyrData;No description;3;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
 0x6b04;ACSMEKF_MekfNoModelVectors;No description;4;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
@@ -616,6 +619,7 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x6e01;PTM_BusyDumping;No description;1;PERSISTENT_TM_STORE;mission/tmtc/PersistentTmStore.h
 0x6f00;TMS_IsBusy;No description;0;TM_SINK;mission/tmtc/DirectTmSinkIF.h
 0x6f01;TMS_PartiallyWritten;No description;1;TM_SINK;mission/tmtc/DirectTmSinkIF.h
-0x6f02;TMS_IncompletePartialWrite;No description;2;TM_SINK;mission/tmtc/DirectTmSinkIF.h
+0x6f02;TMS_NoWriteActive;No description;2;TM_SINK;mission/tmtc/DirectTmSinkIF.h
+0x6f03;TMS_Timeout;No description;3;TM_SINK;mission/tmtc/DirectTmSinkIF.h
 0x7000;VCS_ChannelDoesNotExist;No description;0;VIRTUAL_CHANNEL;mission/com/VirtualChannel.h
 0x7200;SCBU_KeyNotFound;No description;0;SCRATCH_BUFFER;bsp_q7s/memory/scratchApi.h

generators/bsp_q7s_subsystems.csv

@@ -61,3 +61,4 @@
 143;PERSISTENT_TM_STORE
 144;SYRLINKS_COM
 145;SUS_HANDLER
+146;CFDP_APP

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 314 translations.
+ * @brief    Auto-generated event translation file. Contains 318 translations.
  * @details
- * Generated on: 2023-10-13 09:44:05
+ * Generated on: 2023-12-13 11:29:45
  */
 #include "translateEvents.h"
 
@@ -99,9 +99,10 @@ const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
 const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
 const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY";
 const char *MEKF_AUTOMATIC_RESET_STRING = "MEKF_AUTOMATIC_RESET";
-const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
+const char *PTG_CTRL_NO_ATTITUDE_INFORMATION_STRING = "PTG_CTRL_NO_ATTITUDE_INFORMATION";
 const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
 const char *TLE_TOO_OLD_STRING = "TLE_TOO_OLD";
+const char *TLE_FILE_READ_FAILED_STRING = "TLE_FILE_READ_FAILED";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@@ -157,6 +158,8 @@ const char *SUPV_EXE_FAILURE_STRING = "SUPV_EXE_FAILURE";
 const char *SUPV_CRC_FAILURE_EVENT_STRING = "SUPV_CRC_FAILURE_EVENT";
 const char *SUPV_HELPER_EXECUTING_STRING = "SUPV_HELPER_EXECUTING";
 const char *SUPV_MPSOC_SHUTDOWN_BUILD_FAILED_STRING = "SUPV_MPSOC_SHUTDOWN_BUILD_FAILED";
+const char *SUPV_ACK_UNKNOWN_COMMAND_STRING = "SUPV_ACK_UNKNOWN_COMMAND";
+const char *SUPV_EXE_ACK_UNKNOWN_COMMAND_STRING = "SUPV_EXE_ACK_UNKNOWN_COMMAND";
 const char *SANITIZATION_FAILED_STRING = "SANITIZATION_FAILED";
 const char *MOUNTED_SD_CARD_STRING = "MOUNTED_SD_CARD";
 const char *SEND_MRAM_DUMP_FAILED_STRING = "SEND_MRAM_DUMP_FAILED";
@@ -319,6 +322,7 @@ const char *DUMP_HK_CANCELLED_STRING = "DUMP_HK_CANCELLED";
 const char *DUMP_CFDP_CANCELLED_STRING = "DUMP_CFDP_CANCELLED";
 const char *TEMPERATURE_ALL_ONES_START_STRING = "TEMPERATURE_ALL_ONES_START";
 const char *TEMPERATURE_ALL_ONES_RECOVERY_STRING = "TEMPERATURE_ALL_ONES_RECOVERY";
+const char *FAULT_HANDLER_TRIGGERED_STRING = "FAULT_HANDLER_TRIGGERED";
 
 const char *translateEvents(Event event) {
   switch ((event & 0xFFFF)) {
@@ -511,11 +515,13 @@ const char *translateEvents(Event event) {
     case (11205):
       return MEKF_AUTOMATIC_RESET_STRING;
     case (11206):
-      return MEKF_INVALID_MODE_VIOLATION_STRING;
+      return PTG_CTRL_NO_ATTITUDE_INFORMATION_STRING;
     case (11207):
       return SAFE_MODE_CONTROLLER_FAILURE_STRING;
     case (11208):
       return TLE_TOO_OLD_STRING;
+    case (11209):
+      return TLE_FILE_READ_FAILED_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):
@@ -626,6 +632,10 @@ const char *translateEvents(Event event) {
       return SUPV_HELPER_EXECUTING_STRING;
     case (12008):
       return SUPV_MPSOC_SHUTDOWN_BUILD_FAILED_STRING;
+    case (12009):
+      return SUPV_ACK_UNKNOWN_COMMAND_STRING;
+    case (12010):
+      return SUPV_EXE_ACK_UNKNOWN_COMMAND_STRING;
     case (12100):
       return SANITIZATION_FAILED_STRING;
     case (12101):
@@ -950,6 +960,8 @@ const char *translateEvents(Event event) {
       return TEMPERATURE_ALL_ONES_START_STRING;
     case (14501):
       return TEMPERATURE_ALL_ONES_RECOVERY_STRING;
+    case (14600):
+      return FAULT_HANDLER_TRIGGERED_STRING;
     default:
       return "UNKNOWN_EVENT";
   }

generators/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 178 translations.
- * Generated on: 2023-10-13 09:44:05
+ * Contains 179 translations.
+ * Generated on: 2023-12-13 11:29:45
  */
 #include "translateObjects.h"
 
@@ -166,6 +166,7 @@ const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL";
 const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL";
 const char *CFDP_HANDLER_STRING = "CFDP_HANDLER";
 const char *CFDP_DISTRIBUTOR_STRING = "CFDP_DISTRIBUTOR";
+const char *CFDP_FAULT_HANDLER_STRING = "CFDP_FAULT_HANDLER";
 const char *EIVE_SYSTEM_STRING = "EIVE_SYSTEM";
 const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
 const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
@@ -507,6 +508,8 @@ const char *translateObject(object_id_t object) {
       return CFDP_HANDLER_STRING;
     case 0x73000206:
       return CFDP_DISTRIBUTOR_STRING;
+    case 0x73000207:
+      return CFDP_FAULT_HANDLER_STRING;
     case 0x73010000:
       return EIVE_SYSTEM_STRING;
     case 0x73010001:

linux/ObjectFactory.cpp

@@ -24,14 +24,10 @@
 
 #include "OBSWConfig.h"
 #include "devConf.h"
-#include "devices/addresses.h"
 #include "devices/gpioIds.h"
-#include "eive/definitions.h"
 #include "mission/system/acs/acsModeTree.h"
+#include "mission/system/payloadModeTree.h"
 #include "mission/system/power/epsModeTree.h"
-#include "mission/system/tcs/tcsModeTree.h"
-#include "mission/system/tree/payloadModeTree.h"
-#include "mission/tcs/defs.h"
 
 void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF,
                                               PowerSwitchIF& pwrSwitcher, std::string spiDev,
@@ -206,74 +202,78 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
 
   GpioCallback* gpioRtdIc0 = new GpioCallback("Chip select RTD IC0", Direction::OUT, Levels::HIGH,
                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_3, gpioRtdIc0);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_0, gpioRtdIc0);
   GpioCallback* gpioRtdIc1 = new GpioCallback("Chip select RTD IC1", Direction::OUT, Levels::HIGH,
                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_4, gpioRtdIc1);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_1, gpioRtdIc1);
   GpioCallback* gpioRtdIc2 = new GpioCallback("Chip select RTD IC2", Direction::OUT, Levels::HIGH,
                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_5, gpioRtdIc2);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_2, gpioRtdIc2);
   GpioCallback* gpioRtdIc3 = new GpioCallback("Chip select RTD IC3", Direction::OUT, Levels::HIGH,
                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_6, gpioRtdIc3);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_3, gpioRtdIc3);
   GpioCallback* gpioRtdIc4 = new GpioCallback("Chip select RTD IC4", Direction::OUT, Levels::HIGH,
                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_7, gpioRtdIc4);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_4, gpioRtdIc4);
   GpioCallback* gpioRtdIc5 = new GpioCallback("Chip select RTD IC5", Direction::OUT, Levels::HIGH,
                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_8, gpioRtdIc5);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_5, gpioRtdIc5);
   GpioCallback* gpioRtdIc6 = new GpioCallback("Chip select RTD IC6", Direction::OUT, Levels::HIGH,
                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_9, gpioRtdIc6);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_6, gpioRtdIc6);
   GpioCallback* gpioRtdIc7 = new GpioCallback("Chip select RTD IC7", Direction::OUT, Levels::HIGH,
                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_10, gpioRtdIc7);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_7, gpioRtdIc7);
   GpioCallback* gpioRtdIc8 = new GpioCallback("Chip select RTD IC8", Direction::OUT, Levels::HIGH,
                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_11, gpioRtdIc8);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_8, gpioRtdIc8);
   GpioCallback* gpioRtdIc9 = new GpioCallback("Chip select RTD IC9", Direction::OUT, Levels::HIGH,
                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_12, gpioRtdIc9);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_9, gpioRtdIc9);
   GpioCallback* gpioRtdIc10 = new GpioCallback("Chip select RTD IC10", Direction::OUT, Levels::HIGH,
                                                &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_13, gpioRtdIc10);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_10, gpioRtdIc10);
   GpioCallback* gpioRtdIc11 = new GpioCallback("Chip select RTD IC11", Direction::OUT, Levels::HIGH,
                                                &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_14, gpioRtdIc11);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_11, gpioRtdIc11);
   GpioCallback* gpioRtdIc12 = new GpioCallback("Chip select RTD IC12", Direction::OUT, Levels::HIGH,
                                                &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_15, gpioRtdIc12);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_12, gpioRtdIc12);
   GpioCallback* gpioRtdIc13 = new GpioCallback("Chip select RTD IC13", Direction::OUT, Levels::HIGH,
                                                &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_16, gpioRtdIc13);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_13, gpioRtdIc13);
   GpioCallback* gpioRtdIc14 = new GpioCallback("Chip select RTD IC14", Direction::OUT, Levels::HIGH,
                                                &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_17, gpioRtdIc14);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_14, gpioRtdIc14);
   GpioCallback* gpioRtdIc15 = new GpioCallback("Chip select RTD IC15", Direction::OUT, Levels::HIGH,
                                                &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_18, gpioRtdIc15);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_15, gpioRtdIc15);
 
   gpioChecker(gpioComIF->addGpios(rtdGpioCookie), "RTDs");
 
 #if OBSW_ADD_RTD_DEVICES == 1
   using namespace EiveMax31855;
+  // ! NOTE !
+  // The chip selects for device 9 and 11 are swapped here. It is strongly suspected the cables
+  // for those devices were swapped during integration. This is probably the easiest way to
+  // fix the issue.
   std::array<std::pair<address_t, gpioId_t>, NUM_RTDS> cookieArgs = {{
+      {addresses::RTD_IC_0, gpioIds::RTD_IC_0},
+      {addresses::RTD_IC_1, gpioIds::RTD_IC_1},
+      {addresses::RTD_IC_2, gpioIds::RTD_IC_2},
       {addresses::RTD_IC_3, gpioIds::RTD_IC_3},
       {addresses::RTD_IC_4, gpioIds::RTD_IC_4},
       {addresses::RTD_IC_5, gpioIds::RTD_IC_5},
       {addresses::RTD_IC_6, gpioIds::RTD_IC_6},
       {addresses::RTD_IC_7, gpioIds::RTD_IC_7},
       {addresses::RTD_IC_8, gpioIds::RTD_IC_8},
-      {addresses::RTD_IC_9, gpioIds::RTD_IC_9},
-      {addresses::RTD_IC_10, gpioIds::RTD_IC_10},
       {addresses::RTD_IC_11, gpioIds::RTD_IC_11},
+      {addresses::RTD_IC_10, gpioIds::RTD_IC_10},
+      {addresses::RTD_IC_9, gpioIds::RTD_IC_9},
       {addresses::RTD_IC_12, gpioIds::RTD_IC_12},
       {addresses::RTD_IC_13, gpioIds::RTD_IC_13},
       {addresses::RTD_IC_14, gpioIds::RTD_IC_14},
       {addresses::RTD_IC_15, gpioIds::RTD_IC_15},
-      {addresses::RTD_IC_16, gpioIds::RTD_IC_16},
-      {addresses::RTD_IC_17, gpioIds::RTD_IC_17},
-      {addresses::RTD_IC_18, gpioIds::RTD_IC_18},
   }};
   // HSPD: Heatspreader
 
@@ -331,8 +331,9 @@ void ObjectFactory::createScexComponents(std::string uartDev, PowerSwitchIF* pwr
   scexHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
 }
 
-AcsController* ObjectFactory::createAcsController(bool connectSubsystem, bool enableHkSets) {
-  auto acsCtrl = new AcsController(objects::ACS_CONTROLLER, enableHkSets);
+AcsController* ObjectFactory::createAcsController(bool connectSubsystem, bool enableHkSets,
+                                                  SdCardMountedIF& mountedIF) {
+  auto acsCtrl = new AcsController(objects::ACS_CONTROLLER, enableHkSets, mountedIF);
   if (connectSubsystem) {
     acsCtrl->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
   }

linux/ObjectFactory.h

@@ -31,7 +31,8 @@ void createScexComponents(std::string uartDev, PowerSwitchIF* pwrSwitcher,
 
 void gpioChecker(ReturnValue_t result, std::string output);
 
-AcsController* createAcsController(bool connectSubsystem, bool enableHkSets);
+AcsController* createAcsController(bool connectSubsystem, bool enableHkSets,
+                                   SdCardMountedIF& mountedIF);
 PowerController* createPowerController(bool connectSubsystem, bool enableHkSets);
 
 }  // namespace ObjectFactory

linux/acs/StrComHandler.cpp

@@ -54,7 +54,7 @@ ReturnValue_t StrComHandler::performOperation(uint8_t operationCode) {
     switch (state) {
       case InternalState::POLL_ONE_REPLY: {
         // Stopwatch watch;
-        replyTimeout.setTimeout(200);
+        replyTimeout.setTimeout(400);
         readOneReply(static_cast<uint32_t>(state));
         {
           MutexGuard mg(lock);
@@ -720,7 +720,7 @@ ReturnValue_t StrComHandler::readReceivedMessage(CookieIF* cookie, uint8_t** buf
   {
     MutexGuard mg(lock);
     if (state != InternalState::SLEEPING) {
-      return returnvalue::OK;
+      return BUSY;
     }
     replyWasReceived = this->replyWasReceived;
   }
@@ -733,7 +733,7 @@ ReturnValue_t StrComHandler::readReceivedMessage(CookieIF* cookie, uint8_t** buf
     *size = replyLen;
   }
   replyLen = 0;
-  return returnvalue::OK;
+  return replyResult;
 }
 
 ReturnValue_t StrComHandler::unlockAndEraseRegions(uint32_t from, uint32_t to) {

linux/callbacks/gpioCallbacks.cpp

@@ -21,6 +21,18 @@ void gpioCallbacks::spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gp
 
   if (value == gpio::Levels::HIGH) {
     switch (gpioId) {
+      case (gpioIds::RTD_IC_0): {
+        disableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_1): {
+        disableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_2): {
+        disableDecoderTcsIc1(gpioIF);
+        break;
+      }
       case (gpioIds::RTD_IC_3): {
         disableDecoderTcsIc1(gpioIF);
         break;
@@ -42,15 +54,15 @@ void gpioCallbacks::spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gp
         break;
       }
       case (gpioIds::RTD_IC_8): {
-        disableDecoderTcsIc1(gpioIF);
+        disableDecoderTcsIc2(gpioIF);
         break;
       }
       case (gpioIds::RTD_IC_9): {
-        disableDecoderTcsIc1(gpioIF);
+        disableDecoderTcsIc2(gpioIF);
         break;
       }
       case (gpioIds::RTD_IC_10): {
-        disableDecoderTcsIc1(gpioIF);
+        disableDecoderTcsIc2(gpioIF);
         break;
       }
       case (gpioIds::RTD_IC_11): {
@@ -73,18 +85,6 @@ void gpioCallbacks::spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gp
         disableDecoderTcsIc2(gpioIF);
         break;
       }
-      case (gpioIds::RTD_IC_16): {
-        disableDecoderTcsIc2(gpioIF);
-        break;
-      }
-      case (gpioIds::RTD_IC_17): {
-        disableDecoderTcsIc2(gpioIF);
-        break;
-      }
-      case (gpioIds::RTD_IC_18): {
-        disableDecoderTcsIc2(gpioIF);
-        break;
-      }
       case (gpioIds::CS_SUS_0): {
         disableDecoderInterfaceBoardIc1(gpioIF);
         break;
@@ -154,82 +154,82 @@ void gpioCallbacks::spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gp
     }
   } else if (value == gpio::Levels::LOW) {
     switch (gpioId) {
-      case (gpioIds::RTD_IC_3): {
+      case (gpioIds::RTD_IC_0): {
         selectY7(gpioIF);
         enableDecoderTcsIc1(gpioIF);
         break;
       }
+      case (gpioIds::RTD_IC_1): {
+        selectY6(gpioIF);
+        enableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_2): {
+        selectY5(gpioIF);
+        enableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_3): {
+        selectY4(gpioIF);
+        enableDecoderTcsIc1(gpioIF);
+        break;
+      }
       case (gpioIds::RTD_IC_4): {
-        selectY6(gpioIF);
+        selectY3(gpioIF);
         enableDecoderTcsIc1(gpioIF);
         break;
       }
       case (gpioIds::RTD_IC_5): {
-        selectY5(gpioIF);
+        selectY2(gpioIF);
         enableDecoderTcsIc1(gpioIF);
         break;
       }
       case (gpioIds::RTD_IC_6): {
-        selectY4(gpioIF);
+        selectY1(gpioIF);
         enableDecoderTcsIc1(gpioIF);
         break;
       }
       case (gpioIds::RTD_IC_7): {
-        selectY3(gpioIF);
-        enableDecoderTcsIc1(gpioIF);
-        break;
-      }
-      case (gpioIds::RTD_IC_8): {
-        selectY2(gpioIF);
-        enableDecoderTcsIc1(gpioIF);
-        break;
-      }
-      case (gpioIds::RTD_IC_9): {
-        selectY1(gpioIF);
-        enableDecoderTcsIc1(gpioIF);
-        break;
-      }
-      case (gpioIds::RTD_IC_10): {
         selectY0(gpioIF);
         enableDecoderTcsIc1(gpioIF);
         break;
       }
-      case (gpioIds::RTD_IC_11): {
+      case (gpioIds::RTD_IC_8): {
         selectY7(gpioIF);
         enableDecoderTcsIc2(gpioIF);
         break;
       }
-      case (gpioIds::RTD_IC_12): {
+      case (gpioIds::RTD_IC_9): {
         selectY6(gpioIF);
         enableDecoderTcsIc2(gpioIF);
         break;
       }
-      case (gpioIds::RTD_IC_13): {
+      case (gpioIds::RTD_IC_10): {
         selectY5(gpioIF);
         enableDecoderTcsIc2(gpioIF);
         break;
       }
-      case (gpioIds::RTD_IC_14): {
+      case (gpioIds::RTD_IC_11): {
         selectY4(gpioIF);
         enableDecoderTcsIc2(gpioIF);
         break;
       }
-      case (gpioIds::RTD_IC_15): {
+      case (gpioIds::RTD_IC_12): {
         selectY3(gpioIF);
         enableDecoderTcsIc2(gpioIF);
         break;
       }
-      case (gpioIds::RTD_IC_16): {
+      case (gpioIds::RTD_IC_13): {
         selectY2(gpioIF);
         enableDecoderTcsIc2(gpioIF);
         break;
       }
-      case (gpioIds::RTD_IC_17): {
+      case (gpioIds::RTD_IC_14): {
         selectY1(gpioIF);
         enableDecoderTcsIc2(gpioIF);
         break;
       }
-      case (gpioIds::RTD_IC_18): {
+      case (gpioIds::RTD_IC_15): {
         selectY0(gpioIF);
         enableDecoderTcsIc2(gpioIF);
         break;

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 314 translations.
+ * @brief    Auto-generated event translation file. Contains 318 translations.
  * @details
- * Generated on: 2023-10-13 09:44:05
+ * Generated on: 2023-12-13 11:29:45
  */
 #include "translateEvents.h"
 
@@ -99,9 +99,10 @@ const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
 const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
 const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY";
 const char *MEKF_AUTOMATIC_RESET_STRING = "MEKF_AUTOMATIC_RESET";
-const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
+const char *PTG_CTRL_NO_ATTITUDE_INFORMATION_STRING = "PTG_CTRL_NO_ATTITUDE_INFORMATION";
 const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
 const char *TLE_TOO_OLD_STRING = "TLE_TOO_OLD";
+const char *TLE_FILE_READ_FAILED_STRING = "TLE_FILE_READ_FAILED";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@@ -157,6 +158,8 @@ const char *SUPV_EXE_FAILURE_STRING = "SUPV_EXE_FAILURE";
 const char *SUPV_CRC_FAILURE_EVENT_STRING = "SUPV_CRC_FAILURE_EVENT";
 const char *SUPV_HELPER_EXECUTING_STRING = "SUPV_HELPER_EXECUTING";
 const char *SUPV_MPSOC_SHUTDOWN_BUILD_FAILED_STRING = "SUPV_MPSOC_SHUTDOWN_BUILD_FAILED";
+const char *SUPV_ACK_UNKNOWN_COMMAND_STRING = "SUPV_ACK_UNKNOWN_COMMAND";
+const char *SUPV_EXE_ACK_UNKNOWN_COMMAND_STRING = "SUPV_EXE_ACK_UNKNOWN_COMMAND";
 const char *SANITIZATION_FAILED_STRING = "SANITIZATION_FAILED";
 const char *MOUNTED_SD_CARD_STRING = "MOUNTED_SD_CARD";
 const char *SEND_MRAM_DUMP_FAILED_STRING = "SEND_MRAM_DUMP_FAILED";
@@ -319,6 +322,7 @@ const char *DUMP_HK_CANCELLED_STRING = "DUMP_HK_CANCELLED";
 const char *DUMP_CFDP_CANCELLED_STRING = "DUMP_CFDP_CANCELLED";
 const char *TEMPERATURE_ALL_ONES_START_STRING = "TEMPERATURE_ALL_ONES_START";
 const char *TEMPERATURE_ALL_ONES_RECOVERY_STRING = "TEMPERATURE_ALL_ONES_RECOVERY";
+const char *FAULT_HANDLER_TRIGGERED_STRING = "FAULT_HANDLER_TRIGGERED";
 
 const char *translateEvents(Event event) {
   switch ((event & 0xFFFF)) {
@@ -511,11 +515,13 @@ const char *translateEvents(Event event) {
     case (11205):
       return MEKF_AUTOMATIC_RESET_STRING;
     case (11206):
-      return MEKF_INVALID_MODE_VIOLATION_STRING;
+      return PTG_CTRL_NO_ATTITUDE_INFORMATION_STRING;
     case (11207):
       return SAFE_MODE_CONTROLLER_FAILURE_STRING;
     case (11208):
       return TLE_TOO_OLD_STRING;
+    case (11209):
+      return TLE_FILE_READ_FAILED_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):
@@ -626,6 +632,10 @@ const char *translateEvents(Event event) {
       return SUPV_HELPER_EXECUTING_STRING;
     case (12008):
       return SUPV_MPSOC_SHUTDOWN_BUILD_FAILED_STRING;
+    case (12009):
+      return SUPV_ACK_UNKNOWN_COMMAND_STRING;
+    case (12010):
+      return SUPV_EXE_ACK_UNKNOWN_COMMAND_STRING;
     case (12100):
       return SANITIZATION_FAILED_STRING;
     case (12101):
@@ -950,6 +960,8 @@ const char *translateEvents(Event event) {
       return TEMPERATURE_ALL_ONES_START_STRING;
     case (14501):
       return TEMPERATURE_ALL_ONES_RECOVERY_STRING;
+    case (14600):
+      return FAULT_HANDLER_TRIGGERED_STRING;
     default:
       return "UNKNOWN_EVENT";
   }

linux/fsfwconfig/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 178 translations.
- * Generated on: 2023-10-13 09:44:05
+ * Contains 179 translations.
+ * Generated on: 2023-12-13 11:29:45
  */
 #include "translateObjects.h"
 
@@ -166,6 +166,7 @@ const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL";
 const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL";
 const char *CFDP_HANDLER_STRING = "CFDP_HANDLER";
 const char *CFDP_DISTRIBUTOR_STRING = "CFDP_DISTRIBUTOR";
+const char *CFDP_FAULT_HANDLER_STRING = "CFDP_FAULT_HANDLER";
 const char *EIVE_SYSTEM_STRING = "EIVE_SYSTEM";
 const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
 const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
@@ -507,6 +508,8 @@ const char *translateObject(object_id_t object) {
       return CFDP_HANDLER_STRING;
     case 0x73000206:
       return CFDP_DISTRIBUTOR_STRING;
+    case 0x73000207:
+      return CFDP_FAULT_HANDLER_STRING;
     case 0x73010000:
       return EIVE_SYSTEM_STRING;
     case 0x73010001:

linux/ipcore/PapbVcInterface.cpp

@@ -8,8 +8,12 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
 PapbVcInterface::PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbEmptyId,
-                                 std::string uioFile, int mapNum)
-    : gpioComIF(gpioComIF), papbEmptyId(papbEmptyId), uioFile(std::move(uioFile)), mapNum(mapNum) {}
+                                 std::string uioFile, int mapNum, size_t maxPacketSize)
+    : gpioComIF(gpioComIF),
+      papbEmptyId(papbEmptyId),
+      packetBuf(maxPacketSize),
+      uioFile(std::move(uioFile)),
+      mapNum(mapNum) {}
 
 PapbVcInterface::~PapbVcInterface() {}
 
@@ -26,30 +30,34 @@ ReturnValue_t PapbVcInterface::initialize() {
 ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size, size_t& writtenSize) {
   // There are no packets smaller than 4, this is considered a configuration error.
   if (size < 4) {
+    sif::warning << "PapbVcInterface::write: Passed packet smaller than 4 bytes" << std::endl;
     return returnvalue::FAILED;
   }
-  // The user must call finishWrite before starting a new packet transfer.
-  if (partialWriteActive) {
-    return INCOMPLETE_PARTIAL_WRITE;
+  // The user must call advance until completion before starting a new packet transfer.
+  if (writeActiveStatus) {
+    return IS_BUSY;
   }
+  if (size > packetBuf.capacity()) {
+    sif::error << "PapbVcInterface: Packet with size " << size << " larger than maximum configured"
+               << " byte size " << packetBuf.capacity() << std::endl;
+    return returnvalue::FAILED;
+  }
+  std::memcpy(packetBuf.data(), data, size);
+  currentPacketSize = size;
+  currentPacketIndex = 0;
   if (pollReadyForPacket()) {
     startPacketTransfer(ByteWidthCfg::ONE);
   } else {
     return DirectTmSinkIF::IS_BUSY;
   }
-  if (not pollReadyForOctet(MAX_BUSY_POLLS)) {
-    abortPacketTransfer();
-    return returnvalue::FAILED;
-  }
-  return finishWriteInternal(data, 0, size, writtenSize, false);
+  return advanceWrite(writtenSize);
 }
 
 void PapbVcInterface::startPacketTransfer(ByteWidthCfg initWidth) {
   *vcBaseReg = CONFIG_DATA_INPUT | initWidth;
+  writeActiveStatus = true;
 }
 
-void PapbVcInterface::completePacketTransfer() { *vcBaseReg = CONFIG_END; }
-
 bool PapbVcInterface::pollReadyForPacket() const {
   //  Check if PAPB interface is ready to receive data. Use the configuration register for this.
   //  Bit 5, see PTME ptme_001_01-0-7-r2 Table 31.
@@ -57,36 +65,28 @@ bool PapbVcInterface::pollReadyForPacket() const {
   return (reg >> 6) & 0b1;
 }
 
-ReturnValue_t PapbVcInterface::finishWrite(const uint8_t* data, size_t start,
-                                           size_t remainingSize) {
-  if (not pollReadyForPacket()) {
-    return returnvalue::FAILED;
+ReturnValue_t PapbVcInterface::advanceWrite(size_t& writtenSize) {
+  if (!writeActiveStatus) {
+    return NO_WRITE_ACTIVE;
   }
-  size_t dummy = 0;
-  return finishWriteInternal(data, start, remainingSize, dummy, true);
-}
-
-ReturnValue_t PapbVcInterface::finishWriteInternal(const uint8_t* data, size_t start,
-                                                   size_t remainingSize, size_t& writtenSize,
-                                                   bool abortOnPartialWrite) {
-  for (size_t idx = 0; idx < remainingSize; idx++) {
+  if (not pollReadyForPacket()) {
+    return IS_BUSY;
+  }
+  while (currentPacketIndex < currentPacketSize) {
     if (not pollReadyForOctet(MAX_BUSY_POLLS)) {
       if (not pollReadyForPacket()) {
-        writtenSize = start + idx;
-        partialWriteActive = true;
-        if (abortOnPartialWrite) {
-          abortPacketTransfer();
-          partialWriteActive = false;
-          return returnvalue::FAILED;
-        }
         return PARTIALLY_WRITTEN;
       }
       abortPacketTransfer();
       return returnvalue::FAILED;
     }
-    *(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(data[start + idx]);
+    *(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(packetBuf[currentPacketIndex++]);
+    writtenSize++;
   }
   if (not pollReadyForOctet(MAX_BUSY_POLLS)) {
+    if (not pollReadyForPacket()) {
+      return PARTIALLY_WRITTEN;
+    }
     abortPacketTransfer();
     return returnvalue::FAILED;
   }
@@ -94,6 +94,8 @@ ReturnValue_t PapbVcInterface::finishWriteInternal(const uint8_t* data, size_t s
   return returnvalue::OK;
 }
 
+bool PapbVcInterface::writeActive() const { return writeActiveStatus; }
+
 bool PapbVcInterface::isVcInterfaceBufferEmpty() {
   ReturnValue_t result = returnvalue::OK;
   gpio::Levels papbEmptyState = gpio::Levels::HIGH;
@@ -130,4 +132,16 @@ inline bool PapbVcInterface::pollReadyForOctet(uint32_t maxCycles) const {
   return false;
 }
 
-void PapbVcInterface::abortPacketTransfer() { *vcBaseReg = CONFIG_ABORT; }
+void PapbVcInterface::abortPacketTransfer() {
+  *vcBaseReg = CONFIG_ABORT;
+  writeActiveStatus = false;
+  currentPacketIndex = 0;
+  currentPacketSize = 0;
+}
+
+void PapbVcInterface::completePacketTransfer() {
+  *vcBaseReg = CONFIG_END;
+  writeActiveStatus = false;
+  currentPacketIndex = 0;
+  currentPacketSize = 0;
+}

linux/ipcore/PapbVcInterface.h

@@ -6,6 +6,7 @@
 #include <linux/ipcore/VirtualChannelIF.h>
 
 #include <atomic>
+#include <vector>
 
 #include "OBSWConfig.h"
 #include "fsfw/returnvalues/returnvalue.h"
@@ -30,24 +31,22 @@ class PapbVcInterface : public VirtualChannelIF {
    * @param uioFile       UIO file providing access to the PAPB bus
    * @param mapNum        Map number of UIO map associated with this virtual channel
    */
-  PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbEmptyId, std::string uioFile, int mapNum);
+  PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbEmptyId, std::string uioFile, int mapNum,
+                  size_t maxPacketSize);
   virtual ~PapbVcInterface();
 
+  // See interface function documentation for docs on these functions.
+
   bool isBusy() const override;
-  /**
-   *
-   * @param data
-   * @param size
-   * @return returnvalue::OK on successfull write, PAPB_BUSY if PAPB is busy.
-   */
+
   ReturnValue_t write(const uint8_t* data, size_t size, size_t& writtenSize) override;
 
-  ReturnValue_t finishWrite(const uint8_t* data, size_t start, size_t remainingSize) override;
-  ReturnValue_t finishWriteInternal(const uint8_t* data, size_t start, size_t remainingSize,
-                                    size_t& writtenSize, bool abortOnPartialWrite);
+  ReturnValue_t advanceWrite(size_t& remainingSize) override;
 
   void cancelTransfer() override;
 
+  bool writeActive() const override;
+
   ReturnValue_t initialize() override;
 
  private:
@@ -90,12 +89,14 @@ class PapbVcInterface : public VirtualChannelIF {
   /** High when external buffer memory of virtual channel is empty */
   gpioId_t papbEmptyId = gpio::NO_GPIO;
 
+  std::vector<uint8_t> packetBuf;
   std::string uioFile;
   int mapNum = 0;
-  bool partialWriteActive = false;
+  bool writeActiveStatus = false;
+  size_t currentPacketIndex = 0;
+  size_t currentPacketSize = 0;
   mutable struct timespec nextDelay = {.tv_sec = 0, .tv_nsec = 0};
   const struct timespec BETWEEN_POLL_DELAY = {.tv_sec = 0, .tv_nsec = 10};
-  mutable struct timespec remDelay;
 
   volatile uint32_t* vcBaseReg = nullptr;
 

linux/ipcore/PdecHandler.cpp

@@ -24,12 +24,15 @@ using namespace pdec;
 uint32_t PdecHandler::CURRENT_FAR = 0;
 
 PdecHandler::PdecHandler(object_id_t objectId, object_id_t tcDestinationId,
-                         LinuxLibgpioIF* gpioComIF, gpioId_t pdecReset, UioNames names)
+                         LinuxLibgpioIF* gpioComIF, gpioId_t pdecReset, UioNames names,
+                         uint32_t cfgMemPhyAddr, uint32_t pdecRamPhyAddr)
     : SystemObject(objectId),
       tcDestinationId(tcDestinationId),
       gpioComIF(gpioComIF),
       pdecReset(pdecReset),
       actionHelper(this, nullptr),
+      cfgMemBaseAddr(cfgMemPhyAddr),
+      pdecRamBaseAddr(pdecRamPhyAddr),
       uioNames(names),
       paramHelper(this) {
   auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
@@ -67,7 +70,7 @@ ReturnValue_t PdecHandler::initialize() {
   };
   memoryBaseAddress = static_cast<uint32_t*>(
       mmap(0, PDEC_CFG_MEM_SIZE, static_cast<int>(UioMapper::Permissions::READ_WRITE), MAP_SHARED,
-           fd, PDEC_CFG_MEM_PHY_ADDR));
+           fd, cfgMemBaseAddr));
   if (memoryBaseAddress == nullptr) {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
@@ -75,7 +78,7 @@ ReturnValue_t PdecHandler::initialize() {
 
   ramBaseAddress = static_cast<uint32_t*>(mmap(0, PDEC_RAM_SIZE,
                                                static_cast<int>(UioMapper::Permissions::READ_WRITE),
-                                               MAP_SHARED, fd, PDEC_RAM_PHY_ADDR));
+                                               MAP_SHARED, fd, pdecRamBaseAddr));
   if (ramBaseAddress == nullptr) {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
@@ -465,14 +468,7 @@ bool PdecHandler::newTcReceived() {
   return true;
 }
 
-void PdecHandler::doPeriodicWork() {
-  // scuffed test code
-  //  if(testCntr < 30) {
-  //    triggerEvent(pdec::INVALID_TC_FRAME, FRAME_DIRTY_RETVAL);
-  //    testCntr++;
-  //  }
-  checkLocks();
-}
+void PdecHandler::doPeriodicWork() { checkLocks(); }
 
 bool PdecHandler::checkFrameAna(uint32_t pdecFar) {
   bool frameValid = false;
@@ -645,7 +641,7 @@ void PdecHandler::handleNewTc() {
 }
 
 ReturnValue_t PdecHandler::readTc(uint32_t& tcLength) {
-  uint32_t tcOffset = (*(registerBaseAddress + PDEC_BPTR_OFFSET) - PHYSICAL_RAM_BASE_ADDRESS) / 4;
+  uint32_t tcOffset = (*(registerBaseAddress + PDEC_BPTR_OFFSET) - pdecRamBaseAddr) / 4;
 
 #if OBSW_DEBUG_PDEC_HANDLER == 1
   sif::debug << "PdecHandler::readTc: TC offset: 0x" << std::hex << tcOffset << std::endl;

linux/ipcore/PdecHandler.h

@@ -52,9 +52,7 @@ class PdecHandler : public SystemObject,
  public:
   static constexpr dur_millis_t IRQ_TIMEOUT_MS = 500;
   static constexpr uint32_t PDEC_CFG_MEM_SIZE = 0x1000;
-  static constexpr uint32_t PDEC_CFG_MEM_PHY_ADDR = 0x24000000;
   static constexpr uint32_t PDEC_RAM_SIZE = 0x10000;
-  static constexpr uint32_t PDEC_RAM_PHY_ADDR = 0x26000000;
 
   enum class Modes { POLLED, IRQ };
 
@@ -68,7 +66,7 @@ class PdecHandler : public SystemObject,
    * @param uioregsiters  String of uio device file same mapped to the PDEC register space
    */
   PdecHandler(object_id_t objectId, object_id_t tcDestinationId, LinuxLibgpioIF* gpioComIF,
-              gpioId_t pdecReset, UioNames names);
+              gpioId_t pdecReset, UioNames names, uint32_t cfgMemPhyAddr, uint32_t pdecRamPhyAddr);
 
   virtual ~PdecHandler();
 
@@ -103,12 +101,6 @@ class PdecHandler : public SystemObject,
   static const size_t MAX_TC_SEGMENT_SIZE = 1017;
   static const uint8_t MAP_ID_MASK = 0x3F;
 
-#ifdef TE0720_1CFA
-  static const uint32_t PHYSICAL_RAM_BASE_ADDRESS = 0x32000000;
-#else
-  static const uint32_t PHYSICAL_RAM_BASE_ADDRESS = 0x26000000;
-#endif
-
   // Expected value stored in FAR register after reset
   static const uint32_t FAR_RESET = 0x7FE0;
 
@@ -195,6 +187,9 @@ class PdecHandler : public SystemObject,
   MessageQueueId_t commandedBy = MessageQueueIF::NO_QUEUE;
   bool ptmeResetWithReinitializationPending = false;
 
+  uint32_t cfgMemBaseAddr;
+  uint32_t pdecRamBaseAddr;
+
   UioNames uioNames;
 
   ParameterHelper paramHelper;

linux/payload/CMakeLists.txt

@@ -2,9 +2,9 @@ target_sources(
   ${OBSW_NAME}
   PUBLIC PlocMemoryDumper.cpp
          PlocMpsocHandler.cpp
+         FreshSupvHandler.cpp
          PlocMpsocSpecialComHelper.cpp
          plocMpsocHelpers.cpp
-         PlocSupervisorHandler.cpp
          PlocSupvUartMan.cpp
          ScexDleParser.cpp
          ScexHelper.cpp

linux/payload/FreshSupvHandler.h

@@ -0,0 +1,188 @@
+#ifndef LINUX_PAYLOAD_FRESHSUPVHANDLER_H_
+#define LINUX_PAYLOAD_FRESHSUPVHANDLER_H_
+
+#include <fsfw/power/PowerSwitchIF.h>
+#include <mission/controller/controllerdefinitions/PowerCtrlDefinitions.h>
+
+#include <map>
+
+#include "PlocSupvUartMan.h"
+#include "fsfw/devicehandlers/FreshDeviceHandlerBase.h"
+#include "fsfw/power/definitions.h"
+#include "fsfw_hal/linux/gpio/Gpio.h"
+#include "plocSupvDefs.h"
+
+using supv::TcBase;
+
+class FreshSupvHandler : public FreshDeviceHandlerBase {
+ public:
+  enum OpCode { DEFAULT_OPERATION = 0, PARSE_TM = 1 };
+
+  FreshSupvHandler(DhbConfig cfg, CookieIF* comCookie, Gpio uartIsolatorSwitch,
+                   PowerSwitchIF& switchIF, power::Switch_t powerSwitch);
+  /**
+   * Periodic helper executed function, implemented by child class.
+   */
+  void performDeviceOperation(uint8_t opCode) override;
+
+  /**
+   * Implemented by child class. Handle all command messages which are
+   * not health, mode, action or housekeeping messages.
+   * @param message
+   * @return
+   */
+  ReturnValue_t handleCommandMessage(CommandMessage* message) override;
+
+  ReturnValue_t initialize() override;
+
+ private:
+  // HK manager abstract functions.
+  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                        LocalDataPoolManager& poolManager) override;
+
+  // Mode abstract functions
+  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+                                 uint32_t* msToReachTheMode) override;
+  // Action override. Forward to user.
+  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                              const uint8_t* data, size_t size) override;
+
+  /**
+   * @overload
+   * @param submode
+   */
+  void startTransition(Mode_t newMode, Submode_t submode) override;
+
+  ReturnValue_t performDeviceOperationPreQueueHandling(uint8_t opCode) override;
+  void handleTransitionToOn();
+  void handleTransitionToOff();
+
+ private:
+  static constexpr bool SET_TIME_DURING_BOOT = true;
+  static const uint8_t SIZE_NULL_TERMINATOR = 1;
+
+  enum class StartupState : uint8_t {
+    IDLE,
+    POWER_SWITCHING,
+    BOOTING,
+    SET_TIME,
+    WAIT_FOR_TIME_REPLY,
+    TIME_WAS_SET,
+    ON
+  };
+
+  StartupState startupState = StartupState::IDLE;
+  MessageQueueIF* eventQueue = nullptr;
+  supv::TmBase tmReader;
+
+  enum class ShutdownState : uint8_t { IDLE, POWER_SWITCHING };
+  ShutdownState shutdownState = ShutdownState::IDLE;
+
+  PlocSupvUartManager* uartManager;
+  CookieIF* comCookie;
+  PowerSwitchIF& switchIF;
+  power::Switch_t switchId;
+  Gpio uartIsolatorSwitch;
+
+  supv::HkSet hkSet;
+  supv::BootStatusReport bootStatusReport;
+  supv::LatchupStatusReport latchupStatusReport;
+  supv::CountersReport countersReport;
+  supv::AdcReport adcReport;
+
+  bool transitionActive = false;
+
+  Mode_t targetMode = HasModesIF::MODE_INVALID;
+  Submode_t targetSubmode = 0;
+
+  Countdown switchTimeout = Countdown(2000);
+  // Vorago nees some time to boot properly
+  Countdown bootTimeout = Countdown(supv::BOOT_TIMEOUT_MS);
+  // Countdown interCmdCd = Countdown(supv::INTER_COMMAND_DELAY);
+
+  PoolEntry<uint16_t> adcRawEntry = PoolEntry<uint16_t>(16);
+  PoolEntry<uint16_t> adcEngEntry = PoolEntry<uint16_t>(16);
+  PoolEntry<uint32_t> latchupCounters = PoolEntry<uint32_t>(7);
+  PoolEntry<uint8_t> fmcStateEntry = PoolEntry<uint8_t>(1);
+  PoolEntry<uint8_t> bootStateEntry = PoolEntry<uint8_t>(1);
+  PoolEntry<uint8_t> bootCyclesEntry = PoolEntry<uint8_t>(1);
+  PoolEntry<uint32_t> tempSupEntry = PoolEntry<uint32_t>(1);
+
+  pwrctrl::EnablePl enablePl = pwrctrl::EnablePl(objects::POWER_CONTROLLER);
+
+  struct ActiveCmdInfo {
+    ActiveCmdInfo(DeviceCommandId_t commandId, uint32_t cmdCountdownMs)
+        : commandId(commandId), cmdCountdown(cmdCountdownMs) {}
+
+    DeviceCommandId_t commandId = DeviceHandlerIF::NO_COMMAND_ID;
+    bool isPending = false;
+    bool ackRecv = false;
+    bool ackExeRecv = false;
+    bool replyPacketExpected = false;
+    bool replyPacketReceived = false;
+    MessageQueueId_t commandedBy = MessageQueueIF::NO_QUEUE;
+    bool requiresActionReply = false;
+    Countdown cmdCountdown;
+  };
+
+  uint32_t buildActiveCmdKey(uint16_t moduleApid, uint8_t serviceId);
+
+  // Map for Action commands. For normal commands, a separate static structure will be used.
+  std::map<uint32_t, ActiveCmdInfo> activeActionCmds;
+
+  std::array<uint8_t, supv::MAX_COMMAND_SIZE> commandBuffer{};
+  SpacePacketCreator creator;
+  supv::TcParams spParams = supv::TcParams(creator);
+  DeviceCommandId_t commandedByCached = MessageQueueIF::NO_QUEUE;
+
+  ReturnValue_t parseTmPackets();
+
+  ReturnValue_t sendCommand(DeviceCommandId_t commandId, TcBase& tc, bool replyPacketExpected,
+                            uint32_t cmdCountdownMs = 1000);
+  ReturnValue_t sendEmptyCmd(DeviceCommandId_t commandId, uint16_t apid, uint8_t serviceId,
+                             bool replyPacketExpected);
+  ReturnValue_t prepareSelBootImageCmd(const uint8_t* commandData);
+  ReturnValue_t prepareSetTimeRefCmd();
+  ReturnValue_t prepareSetBootTimeoutCmd(const uint8_t* commandData, size_t cmdDataLen);
+  ReturnValue_t prepareRestartTriesCmd(const uint8_t* commandData, size_t cmdDataLen);
+  ReturnValue_t prepareDisableHk();
+  ReturnValue_t prepareLatchupConfigCmd(const uint8_t* commandData, DeviceCommandId_t deviceCommand,
+                                        size_t cmdDataLen);
+  ReturnValue_t prepareSetAlertLimitCmd(const uint8_t* commandData, size_t cmdDataLen);
+  ReturnValue_t prepareFactoryResetCmd(const uint8_t* commandData, size_t len);
+  ReturnValue_t prepareSetShutdownTimeoutCmd(const uint8_t* commandData, size_t cmdDataLen);
+  ReturnValue_t prepareSetGpioCmd(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t prepareReadGpioCmd(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t prepareSetAdcEnabledChannelsCmd(const uint8_t* commandData);
+  ReturnValue_t prepareSetAdcWindowAndStrideCmd(const uint8_t* commandData);
+  ReturnValue_t prepareSetAdcThresholdCmd(const uint8_t* commandData);
+  ReturnValue_t prepareWipeMramCmd(const uint8_t* commandData, size_t cmdDataLen);
+  ReturnValue_t extractUpdateCommand(const uint8_t* commandData, size_t size,
+                                     supv::UpdateParams& params);
+  ReturnValue_t extractBaseParams(const uint8_t** commandData, size_t& remSize,
+                                  supv::UpdateParams& params);
+  void handleEvent(EventMessage* eventMessage);
+
+  void handleBadApidServiceCombination(Event event, unsigned int apid, unsigned int serviceId);
+  ReturnValue_t eventSubscription();
+  void handlePacketPrint();
+  bool isCommandAlreadyActive(ActionId_t actionId) const;
+  ReturnValue_t handleAckReport(const uint8_t* data);
+  void printAckFailureInfo(uint16_t statusCode, DeviceCommandId_t commandId);
+  ReturnValue_t handleExecutionReport(const uint8_t* data);
+  ReturnValue_t handleExecutionSuccessReport(ActiveCmdInfo& info, supv::ExecutionReport& report);
+  void handleExecutionFailureReport(ActiveCmdInfo& info, supv::ExecutionReport& report);
+  ReturnValue_t handleHkReport(const uint8_t* data);
+  ReturnValue_t verifyPacket(const uint8_t* start, size_t foundLen);
+  void confirmReplyPacketReceived(supv::Apid apid, uint8_t serviceId);
+  void performCommandCompletionHandling(supv::Apid apid, uint8_t serviceId, ActiveCmdInfo& info);
+  ReturnValue_t handleBootStatusReport(const uint8_t* data);
+  ReturnValue_t genericHandleTm(const char* contextString, const uint8_t* data,
+                                LocalPoolDataSetBase& set, supv::Apid apid, uint8_t serviceId);
+  ReturnValue_t handleLatchupStatusReport(const uint8_t* data);
+
+  bool isCommandPending() const;
+};
+
+#endif /* LINUX_PAYLOAD_FRESHSUPVHANDLER_H_ */

linux/payload/PlocMpsocHandler.cpp

@@ -20,9 +20,8 @@ PlocMpsocHandler::PlocMpsocHandler(object_id_t objectId, object_id_t uartComIFid
   if (comCookie == nullptr) {
     sif::error << "PlocMPSoCHandler: Invalid communication cookie" << std::endl;
   }
-  eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5);
-  commandActionHelperQueue =
-      QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5);
+  eventQueue = QueueFactory::instance()->createMessageQueue(10);
+  commandActionHelperQueue = QueueFactory::instance()->createMessageQueue(10);
   spParams.maxSize = sizeof(commandBuffer);
   spParams.buf = commandBuffer;
 }
@@ -91,6 +90,8 @@ ReturnValue_t PlocMpsocHandler::initialize() {
 
 void PlocMpsocHandler::performOperationHook() {
   if (commandIsPending and cmdCountdown.hasTimedOut()) {
+    sif::warning << "PlocMpsocHandler: Command " << getPendingCommand() << " has timed out"
+                 << std::endl;
     commandIsPending = false;
     // TODO: Better returnvalue?
     cmdDoneHandler(false, returnvalue::FAILED);
@@ -215,7 +216,6 @@ ReturnValue_t PlocMpsocHandler::buildNormalDeviceCommand(DeviceCommandId_t* id)
   if (not commandIsPending and not specialComHelperExecuting) {
     *id = mpsoc::TC_GET_HK_REPORT;
     commandIsPending = true;
-    cmdCountdown.resetTimer();
     return buildCommandFromCommand(*id, nullptr, 0);
   }
   return NOTHING_TO_SEND;
@@ -352,6 +352,11 @@ ReturnValue_t PlocMpsocHandler::scanForReply(const uint8_t* start, size_t remain
 
   SpacePacketReader spacePacket;
   spacePacket.setReadOnlyData(start, remainingSize);
+  if (DEBUG_MPSOC_COMMUNICATION) {
+    sif::debug << "RECV MPSOC packet. APID 0x" << std::hex << std::setw(3) << spacePacket.getApid()
+               << std::dec << " Size " << spacePacket.getFullPacketLen() << " SSC "
+               << spacePacket.getSequenceCount() << std::endl;
+  }
   if (spacePacket.isNull()) {
     return returnvalue::FAILED;
   }
@@ -467,7 +472,7 @@ void PlocMpsocHandler::setNormalDatapoolEntriesInvalid() {
   hkReport.setValidity(false, true);
 }
 
-uint32_t PlocMpsocHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 10000; }
+uint32_t PlocMpsocHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 15000; }
 
 ReturnValue_t PlocMpsocHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                         LocalDataPoolManager& poolManager) {
@@ -700,6 +705,13 @@ ReturnValue_t PlocMpsocHandler::finishTcPrep(mpsoc::TcBase& tcBase) {
   rawPacket = commandBuffer;
   rawPacketLen = tcBase.getFullPacketLen();
   sequenceCount++;
+
+  if (DEBUG_MPSOC_COMMUNICATION) {
+    sif::debug << "SEND MPSOC packet. APID 0x" << std::hex << std::setw(3) << tcBase.getApid()
+               << " Size " << std::dec << tcBase.getFullPacketLen() << " SSC "
+               << tcBase.getSeqCount() << std::endl;
+  }
+  cmdCountdown.resetTimer();
   return returnvalue::OK;
 }
 
@@ -1223,10 +1235,12 @@ void PlocMpsocHandler::dataReceived(ActionId_t actionId, const uint8_t* data, ui
 
 void PlocMpsocHandler::completionSuccessfulReceived(ActionId_t actionId) {
   if (actionId == supv::ACK_REPORT) {
-    sif::warning
-        << "PlocMpsocHandler::completionSuccessfulReceived: Only received ACK report. Consider "
-           "increasing the MPSoC boot timer."
-        << std::endl;
+    // I seriously don't know why this happens..
+    //    sif::warning
+    //        << "PlocMpsocHandler::completionSuccessfulReceived: Only received ACK report. Consider
+    //        "
+    //           "increasing the MPSoC boot timer."
+    //        << std::endl;
   } else if (actionId != supv::EXE_REPORT) {
     sif::warning << "PlocMpsocHandler::completionSuccessfulReceived: Did not expect the action "
                  << "ID " << actionId << std::endl;
@@ -1490,7 +1504,7 @@ LocalPoolDataSetBase* PlocMpsocHandler::getDataSetHandle(sid_t sid) {
 
 bool PlocMpsocHandler::dontCheckQueue() {
   // The TC and TMs need to be handled strictly sequentially, so while a command is pending,
-  // more specifically while replies are still expected, do not check the queue.s
+  // more specifically while replies are still expected, do not check the queue.
   return commandIsPending;
 }
 

linux/payload/PlocMpsocHandler.h

@@ -17,6 +17,8 @@
 #include "fsfw_hal/linux/gpio/Gpio.h"
 #include "fsfw_hal/linux/serial/SerialComIF.h"
 
+static constexpr bool DEBUG_MPSOC_COMMUNICATION = false;
+
 /**
  * @brief	This is the device handler for the MPSoC of the payload computer.
  *

linux/payload/PlocMpsocSpecialComHelper.cpp

@@ -504,7 +504,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::checkReceivedTm() {
     triggerEvent(MPSOC_TM_SIZE_ERROR);
     return result;
   }
-  spReader.checkCrc();
+  result = spReader.checkCrc();
   if (result != returnvalue::OK) {
     sif::warning << "PLOC MPSoC: CRC check failed" << std::endl;
     triggerEvent(MPSOC_TM_CRC_MISSMATCH, *sequenceCount);

linux/payload/PlocSupvUartMan.cpp

@@ -24,6 +24,7 @@
 #include "mission/utility/Filenaming.h"
 #include "mission/utility/ProgressPrinter.h"
 #include "mission/utility/Timestamp.h"
+#include "tas/crc.h"
 
 using namespace returnvalue;
 using namespace supv;
@@ -96,9 +97,10 @@ ReturnValue_t PlocSupvUartManager::initialize() {
 ReturnValue_t PlocSupvUartManager::performOperation(uint8_t operationCode) {
   bool putTaskToSleep = false;
   while (true) {
-    lock->lockMutex();
-    state = InternalState::SLEEPING;
-    lock->unlockMutex();
+    {
+      MutexGuard mg(lock);
+      state = InternalState::SLEEPING;
+    }
     semaphore->acquire();
     putTaskToSleep = false;
 #if OBSW_THREAD_TRACING == 1
@@ -110,9 +112,11 @@ ReturnValue_t PlocSupvUartManager::performOperation(uint8_t operationCode) {
         break;
       }
       handleUartReception();
-      lock->lockMutex();
-      InternalState currentState = state;
-      lock->unlockMutex();
+      InternalState currentState;
+      {
+        MutexGuard mg(lock);
+        currentState = state;
+      }
       switch (currentState) {
         case InternalState::SLEEPING:
         case InternalState::GO_TO_SLEEP: {
@@ -156,7 +160,7 @@ ReturnValue_t PlocSupvUartManager::handleUartReception() {
                << " bytes" << std::endl;
     return FAILED;
   } else if (bytesRead > 0) {
-    if (debugMode) {
+    if (DEBUG_MODE) {
       sif::info << "Received " << bytesRead << " bytes from the PLOC Supervisor:" << std::endl;
       arrayprinter::print(recBuf.data(), bytesRead);
     }
@@ -571,7 +575,7 @@ ReturnValue_t PlocSupvUartManager::handlePacketTransmissionNoReply(
       size_t packetLen = 0;
       decodedQueue.retrieve(&packetLen);
       decodedRingBuf.readData(decodedBuf.data(), packetLen, true);
-      tmReader.setData(decodedBuf.data(), packetLen);
+      tmReader.setReadOnlyData(decodedBuf.data(), packetLen);
       result = checkReceivedTm();
       if (result != returnvalue::OK) {
         continue;
@@ -617,7 +621,7 @@ int PlocSupvUartManager::handleAckReception(supv::TcBase& tc, size_t packetLen)
   if (serviceId == static_cast<uint8_t>(supv::tm::TmtcId::ACK) or
       serviceId == static_cast<uint8_t>(supv::tm::TmtcId::NAK)) {
     AcknowledgmentReport ackReport(tmReader);
-    ReturnValue_t result = ackReport.parse();
+    ReturnValue_t result = ackReport.parse(false);
     if (result != returnvalue::OK) {
       triggerEvent(ACK_RECEPTION_FAILURE);
       return -1;
@@ -627,7 +631,7 @@ int PlocSupvUartManager::handleAckReception(supv::TcBase& tc, size_t packetLen)
       if (serviceId == static_cast<uint8_t>(supv::tm::TmtcId::ACK)) {
         return 1;
       } else if (serviceId == static_cast<uint8_t>(supv::tm::TmtcId::NAK)) {
-        ackReport.printStatusInformation();
+        ackReport.printStatusInformationAck();
         triggerEvent(
             SUPV_ACK_FAILURE_REPORT,
             buildApidServiceParam1(ackReport.getRefModuleApid(), ackReport.getRefServiceId()),
@@ -649,7 +653,7 @@ int PlocSupvUartManager::handleExeAckReception(supv::TcBase& tc, size_t packetLe
   if (serviceId == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_ACK) or
       serviceId == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_NAK)) {
     ExecutionReport exeReport(tmReader);
-    ReturnValue_t result = exeReport.parse();
+    ReturnValue_t result = exeReport.parse(false);
     if (result != returnvalue::OK) {
       triggerEvent(EXE_RECEPTION_FAILURE);
       return -1;
@@ -659,7 +663,7 @@ int PlocSupvUartManager::handleExeAckReception(supv::TcBase& tc, size_t packetLe
       if (serviceId == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_ACK)) {
         return 1;
       } else if (serviceId == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_NAK)) {
-        exeReport.printStatusInformation();
+        exeReport.printStatusInformationExe();
         triggerEvent(
             SUPV_EXE_FAILURE_REPORT,
             buildApidServiceParam1(exeReport.getRefModuleApid(), exeReport.getRefServiceId()),
@@ -682,7 +686,7 @@ ReturnValue_t PlocSupvUartManager::checkReceivedTm() {
     triggerEvent(SUPV_REPLY_SIZE_MISSMATCH, rememberApid);
     return result;
   }
-  if (not tmReader.verifyCrc()) {
+  if (tmReader.checkCrc() != returnvalue::OK) {
     triggerEvent(SUPV_REPLY_CRC_MISSMATCH, rememberApid);
     return result;
   }
@@ -758,7 +762,7 @@ ReturnValue_t PlocSupvUartManager::handleCheckMemoryCommand(uint8_t failStep) {
       size_t packetLen = 0;
       decodedQueue.retrieve(&packetLen);
       decodedRingBuf.readData(decodedBuf.data(), packetLen, true);
-      tmReader.setData(decodedBuf.data(), packetLen);
+      tmReader.setReadOnlyData(decodedBuf.data(), packetLen);
       result = checkReceivedTm();
       if (result != returnvalue::OK) {
         continue;
@@ -786,7 +790,7 @@ ReturnValue_t PlocSupvUartManager::handleCheckMemoryCommand(uint8_t failStep) {
       } else if (tmReader.getModuleApid() == Apid::MEM_MAN) {
         if (ackReceived) {
           supv::UpdateStatusReport report(tmReader);
-          result = report.parse();
+          result = report.parse(false);
           if (result != returnvalue::OK) {
             return result;
           }
@@ -962,7 +966,7 @@ ReturnValue_t PlocSupvUartManager::handleRunningLongerRequest() {
 ReturnValue_t PlocSupvUartManager::encodeAndSendPacket(const uint8_t* sendData, size_t sendLen) {
   size_t encodedLen = 0;
   addHdlcFraming(sendData, sendLen, encodedSendBuf.data(), &encodedLen, encodedSendBuf.size());
-  if (printTc) {
+  if (PRINT_TC) {
     sif::debug << "Sending TC" << std::endl;
     arrayprinter::print(encodedSendBuf.data(), encodedLen);
   }
@@ -984,6 +988,9 @@ ReturnValue_t PlocSupvUartManager::readReceivedMessage(CookieIF* cookie, uint8_t
     return OK;
   }
   ipcQueue.retrieve(size);
+  if (*size > ipcBuffer.size()) {
+    return FAILED;
+  }
   *buffer = ipcBuffer.data();
   ReturnValue_t result = ipcRingBuf.readData(ipcBuffer.data(), *size, true);
   if (result != OK) {
@@ -1054,6 +1061,7 @@ ReturnValue_t PlocSupvUartManager::parseRecRingBufForHdlc(size_t& readSize, size
           triggerEvent(HDLC_CRC_ERROR);
         }
         if (retval != 0) {
+          readSize = ++idx;
           return HDLC_ERROR;
         }
         return returnvalue::OK;
@@ -1084,11 +1092,14 @@ void PlocSupvUartManager::performUartShutdown() {
   while (not decodedQueue.empty()) {
     decodedQueue.pop();
   }
-  MutexGuard mg(ipcLock);
-  ipcRingBuf.clear();
-  while (not ipcQueue.empty()) {
-    ipcQueue.pop();
+  {
+    MutexGuard mg0(ipcLock);
+    ipcRingBuf.clear();
+    while (not ipcQueue.empty()) {
+      ipcQueue.pop();
+    }
   }
+  MutexGuard mg1(lock);
   state = InternalState::GO_TO_SLEEP;
 }
 

linux/payload/PlocSupvUartMan.h

@@ -16,7 +16,6 @@
 #include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw_hal/linux/serial/SerialComIF.h"
-#include "tas/crc.h"
 
 #ifdef XIPHOS_Q7S
 #include "bsp_q7s/fs/SdCardManager.h"
@@ -121,6 +120,32 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
 
   PlocSupvUartManager(object_id_t objectId);
   virtual ~PlocSupvUartManager();
+  /**
+   * @brief Device specific initialization, using the cookie.
+   * @details
+   * The cookie is already prepared in the factory. If the communication
+   * interface needs to be set up in some way and requires cookie information,
+   * this can be performed in this function, which is called on device handler
+   * initialization.
+   * @param cookie
+   * @return
+   *  - @c returnvalue::OK if initialization was successfull
+   *  - Everything else triggers failure event with returnvalue as parameter 1
+   */
+  ReturnValue_t initializeInterface(CookieIF* cookie) override;
+  /**
+   * Called by DHB in the SEND_WRITE doSendWrite().
+   * This function is used to send data to the physical device
+   * by implementing and calling related drivers or wrapper functions.
+   * @param cookie
+   * @param data
+   * @param len If this is 0, nothing shall be sent.
+   * @return
+   *  - @c returnvalue::OK for successfull send
+   *  - Everything else triggers failure event with returnvalue as parameter 1
+   */
+  ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
+  ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
 
   ReturnValue_t initialize() override;
   ReturnValue_t performOperation(uint8_t operationCode = 0) override;
@@ -206,11 +231,11 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
 
   struct Update update;
 
+  int serialPort = 0;
   SemaphoreIF* semaphore;
   MutexIF* lock;
   MutexIF* ipcLock;
   supv::TmBase tmReader;
-  int serialPort = 0;
   struct termios tty = {};
 #if OBSW_THREAD_TRACING == 1
   uint32_t opCounter = 0;
@@ -257,8 +282,8 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
 
   std::array<uint8_t, supv::MAX_COMMAND_SIZE> tmBuf{};
 
-  bool printTc = false;
-  bool debugMode = false;
+  static constexpr bool PRINT_TC = false;
+  static constexpr bool DEBUG_MODE = false;
   bool timestamping = true;
 
   // Remembers APID to know at which command a procedure failed
@@ -319,32 +344,6 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
   void resetSpParams();
   void pushIpcData(const uint8_t* data, size_t len);
 
-  /**
-   * @brief Device specific initialization, using the cookie.
-   * @details
-   * The cookie is already prepared in the factory. If the communication
-   * interface needs to be set up in some way and requires cookie information,
-   * this can be performed in this function, which is called on device handler
-   * initialization.
-   * @param cookie
-   * @return
-   *  - @c returnvalue::OK if initialization was successfull
-   *  - Everything else triggers failure event with returnvalue as parameter 1
-   */
-  ReturnValue_t initializeInterface(CookieIF* cookie) override;
-
-  /**
-   * Called by DHB in the SEND_WRITE doSendWrite().
-   * This function is used to send data to the physical device
-   * by implementing and calling related drivers or wrapper functions.
-   * @param cookie
-   * @param data
-   * @param len If this is 0, nothing shall be sent.
-   * @return
-   *  - @c returnvalue::OK for successfull send
-   *  - Everything else triggers failure event with returnvalue as parameter 1
-   */
-  ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
   /**
    * Called by DHB in the GET_WRITE doGetWrite().
    * Get send confirmation that the data in sendMessage() was sent successfully.
@@ -369,7 +368,6 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
    *           returnvalue as parameter 1
    */
   ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
-  ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
 
   void performUartShutdown();
   void updateVtime(uint8_t vtime);

linux/payload/plocSupvDefs.h

@@ -11,13 +11,46 @@
 #include <mission/payload/plocSpBase.h>
 
 #include <atomic>
-#include <optional>
 
+#include "eive/eventSubsystemIds.h"
 #include "eive/resultClassIds.h"
 
 namespace supv {
 
+static constexpr bool DEBUG_PLOC_SUPV = false;
+static constexpr bool REDUCE_NORMAL_MODE_PRINTOUT = true;
+
+static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_SUPERVISOR_HANDLER;
+
+//! [EXPORT] : [COMMENT] PLOC supervisor crc failure in telemetry packet
+static const Event SUPV_MEMORY_READ_RPT_CRC_FAILURE = MAKE_EVENT(1, severity::LOW);
+//! [EXPORT] : [COMMENT] Unhandled event. P1: APID, P2: Service ID
+static constexpr Event SUPV_UNKNOWN_TM = MAKE_EVENT(2, severity::LOW);
+static constexpr Event SUPV_UNINIMPLEMENTED_TM = MAKE_EVENT(3, severity::LOW);
+//! [EXPORT] : [COMMENT] PLOC supervisor received acknowledgment failure report
+static const Event SUPV_ACK_FAILURE = MAKE_EVENT(4, severity::LOW);
+//! [EXPORT] : [COMMENT] PLOC received execution failure report
+//! P1: ID of command for which the execution failed
+//! P2: Status code sent by the supervisor handler
+static const Event SUPV_EXE_FAILURE = MAKE_EVENT(5, severity::LOW);
+//! [EXPORT] : [COMMENT] PLOC supervisor reply has invalid crc
+static const Event SUPV_CRC_FAILURE_EVENT = MAKE_EVENT(6, severity::LOW);
+//! [EXPORT] : [COMMENT] Supervisor helper currently executing a command
+static const Event SUPV_HELPER_EXECUTING = MAKE_EVENT(7, severity::LOW);
+//! [EXPORT] : [COMMENT] Failed to build the command to shutdown the MPSoC
+static const Event SUPV_MPSOC_SHUTDOWN_BUILD_FAILED = MAKE_EVENT(8, severity::LOW);
+//! [EXPORT] : [COMMENT] Received ACK, but no related command is unknown or has not been sent
+//  by this software instance. P1: Module APID. P2: Service ID.
+static const Event SUPV_ACK_UNKNOWN_COMMAND = MAKE_EVENT(9, severity::LOW);
+//! [EXPORT] : [COMMENT] Received ACK EXE, but no related command is unknown or has not been sent
+//  by this software instance. P1: Module APID. P2: Service ID.
+static const Event SUPV_EXE_ACK_UNKNOWN_COMMAND = MAKE_EVENT(10, severity::LOW);
+
 extern std::atomic_bool SUPV_ON;
+static constexpr uint32_t INTER_COMMAND_DELAY = 20;
+static constexpr uint32_t BOOT_TIMEOUT_MS = 4000;
+static constexpr uint32_t MAX_TRANSITION_TIME_TO_ON_MS = BOOT_TIMEOUT_MS + 2000;
+static constexpr uint32_t MAX_TRANSITION_TIME_TO_OFF_MS = 1000;
 
 namespace result {
 static const uint8_t INTERFACE_ID = CLASS_ID::SUPV_RETURN_VALUES_IF;
@@ -107,7 +140,7 @@ static const DeviceCommandId_t FIRST_MRAM_DUMP = 30;
 static const DeviceCommandId_t SET_GPIO = 34;
 static const DeviceCommandId_t READ_GPIO = 35;
 static const DeviceCommandId_t RESTART_SUPERVISOR = 36;
-static const DeviceCommandId_t LOGGING_REQUEST_COUNTERS = 38;
+static const DeviceCommandId_t REQUEST_LOGGING_COUNTERS = 38;
 static constexpr DeviceCommandId_t FACTORY_RESET = 39;
 static const DeviceCommandId_t CONSECUTIVE_MRAM_DUMP = 43;
 static const DeviceCommandId_t START_MPSOC_QUIET = 45;
@@ -120,7 +153,7 @@ static const DeviceCommandId_t DISABLE_AUTO_TM = 51;
 static const DeviceCommandId_t LOGGING_REQUEST_EVENT_BUFFERS = 54;
 static const DeviceCommandId_t LOGGING_CLEAR_COUNTERS = 55;
 static const DeviceCommandId_t LOGGING_SET_TOPIC = 56;
-static const DeviceCommandId_t REQUEST_ADC_REPORT = 57;
+static constexpr DeviceCommandId_t REQUEST_ADC_REPORT = 57;
 static const DeviceCommandId_t RESET_PL = 58;
 static const DeviceCommandId_t ENABLE_NVMS = 59;
 static const DeviceCommandId_t CONTINUE_UPDATE = 60;
@@ -134,7 +167,7 @@ enum ReplyId : DeviceCommandId_t {
   HK_REPORT = 102,
   BOOT_STATUS_REPORT = 103,
   LATCHUP_REPORT = 104,
-  LOGGING_REPORT = 105,
+  COUNTERS_REPORT = 105,
   ADC_REPORT = 106,
   UPDATE_STATUS_REPORT = 107,
 };
@@ -144,7 +177,7 @@ static const uint16_t SIZE_ACK_REPORT = 14;
 static const uint16_t SIZE_EXE_REPORT = 14;
 static const uint16_t SIZE_BOOT_STATUS_REPORT = 24;
 static const uint16_t SIZE_LATCHUP_STATUS_REPORT = 31;
-static const uint16_t SIZE_LOGGING_REPORT = 73;
+static const uint16_t SIZE_COUNTERS_REPORT = 120;
 static const uint16_t SIZE_ADC_REPORT = 72;
 
 // 2 bits APID SRC, 00 for OBC, 2 bits APID DEST, 01 for SUPV, 7 bits CMD ID -> Mask 0x080
@@ -207,12 +240,18 @@ enum class AdcMonId : uint8_t {
   SET_ENABLED_CHANNELS = 0x02,
   SET_WINDOW_STRIDE = 0x03,
   SET_ADC_THRESHOLD = 0x04,
-  COPY_ADC_DATA_TO_MRAM = 0x05
+  COPY_ADC_DATA_TO_MRAM = 0x05,
+  REQUEST_ADC_SAMPLE = 0x06
 };
 
 enum class MemManId : uint8_t { ERASE = 0x01, WRITE = 0x02, CHECK = 0x03 };
 
 enum class DataLoggerServiceId : uint8_t {
+  // Not implemented.
+  READ_MRAM_CFG_DATA_LOGGER = 0x00,
+  REQUEST_COUNTERS = 0x01,
+  // Not implemented.
+  EVENT_BUFFER_DOWNLOAD = 0x02,
   WIPE_MRAM = 0x05,
   DUMP_MRAM = 0x06,
   FACTORY_RESET = 0x07
@@ -231,10 +270,12 @@ enum class TmtcId : uint8_t { ACK = 0x01, NAK = 0x02, EXEC_ACK = 0x03, EXEC_NAK
 enum class HkId : uint8_t { REPORT = 0x01, HARDFAULTS = 0x02 };
 
 enum class BootManId : uint8_t { BOOT_STATUS_REPORT = 0x01 };
+enum class AdcMonId : uint8_t { ADC_REPORT = 0x01 };
 
 enum class MemManId : uint8_t { UPDATE_STATUS_REPORT = 0x01 };
 
 enum class LatchupMonId : uint8_t { LATCHUP_STATUS_REPORT = 0x01 };
+enum class DataLoggerId : uint8_t { COUNTERS_REPORT = 0x01 };
 
 }  // namespace tm
 
@@ -321,13 +362,13 @@ static const uint16_t SEQUENCE_COUNT_MASK = 0xFFF;
 static const uint8_t HK_SET_ENTRIES = 13;
 static const uint8_t BOOT_REPORT_SET_ENTRIES = 10;
 static const uint8_t LATCHUP_RPT_SET_ENTRIES = 16;
-static const uint8_t LOGGING_RPT_SET_ENTRIES = 16;
+static const uint8_t LOGGING_RPT_SET_ENTRIES = 30;
 static const uint8_t ADC_RPT_SET_ENTRIES = 32;
 
 static const uint32_t HK_SET_ID = HK_REPORT;
 static const uint32_t BOOT_REPORT_SET_ID = BOOT_STATUS_REPORT;
 static const uint32_t LATCHUP_RPT_ID = LATCHUP_REPORT;
-static const uint32_t LOGGING_RPT_ID = LOGGING_REPORT;
+static const uint32_t LOGGING_RPT_ID = COUNTERS_REPORT;
 static const uint32_t ADC_REPORT_SET_ID = ADC_REPORT;
 
 namespace timeout {
@@ -392,7 +433,7 @@ enum PoolIds : lp_id_t {
   BR_SOC_STATE,
   POWER_CYCLES,
   BOOT_AFTER_MS,
-  BOOT_TIMEOUT_MS,
+  BOOT_TIMEOUT_POOL_VAR_MS,
   ACTIVE_NVM,
   BP0_STATE,
   BP1_STATE,
@@ -417,13 +458,8 @@ enum PoolIds : lp_id_t {
   LATCHUP_RPT_TIME_MSEC,
   LATCHUP_RPT_IS_SET,
 
-  LATCHUP_HAPPENED_CNT_0,
-  LATCHUP_HAPPENED_CNT_1,
-  LATCHUP_HAPPENED_CNT_2,
-  LATCHUP_HAPPENED_CNT_3,
-  LATCHUP_HAPPENED_CNT_4,
-  LATCHUP_HAPPENED_CNT_5,
-  LATCHUP_HAPPENED_CNT_6,
+  SIGNATURE,
+  LATCHUP_HAPPENED_CNTS,
   ADC_DEVIATION_TRIGGERS_CNT,
   TC_RECEIVED_CNT,
   TM_AVAILABLE_CNT,
@@ -432,40 +468,22 @@ enum PoolIds : lp_id_t {
   MPSOC_BOOT_FAILED_ATTEMPTS,
   MPSOC_POWER_UP,
   MPSOC_UPDATES,
-  LAST_RECVD_TC,
+  MPSOC_HEARTBEAT_RESETS,
+  CPU_WDT_RESETS,
+  PS_HEARTBEATS_LOST,
+  PL_HEARTBEATS_LOST,
+  EB_TASK_LOST,
+  BM_TASK_LOST,
+  LM_TASK_LOST,
+  AM_TASK_LOST,
+  TCTMM_TASK_LOST,
+  MM_TASK_LOST,
+  HK_TASK_LOST,
+  DL_TASK_LOST,
+  RWS_TASKS_LOST,
 
-  ADC_RAW_0,
-  ADC_RAW_1,
-  ADC_RAW_2,
-  ADC_RAW_3,
-  ADC_RAW_4,
-  ADC_RAW_5,
-  ADC_RAW_6,
-  ADC_RAW_7,
-  ADC_RAW_8,
-  ADC_RAW_9,
-  ADC_RAW_10,
-  ADC_RAW_11,
-  ADC_RAW_12,
-  ADC_RAW_13,
-  ADC_RAW_14,
-  ADC_RAW_15,
-  ADC_ENG_0,
-  ADC_ENG_1,
-  ADC_ENG_2,
-  ADC_ENG_3,
-  ADC_ENG_4,
-  ADC_ENG_5,
-  ADC_ENG_6,
-  ADC_ENG_7,
-  ADC_ENG_8,
-  ADC_ENG_9,
-  ADC_ENG_10,
-  ADC_ENG_11,
-  ADC_ENG_12,
-  ADC_ENG_13,
-  ADC_ENG_14,
-  ADC_ENG_15
+  ADC_RAW,
+  ADC_ENG,
 };
 
 struct TcParams : public ploc::SpTcParams {
@@ -539,15 +557,6 @@ class TmBase : public ploc::SpTmReader {
     }
   }
 
-  bool verifyCrc() {
-    if (checkCrc() == returnvalue::OK) {
-      crcOk = true;
-    }
-    return crcOk;
-  }
-
-  bool crcIsOk() const { return crcOk; }
-
   uint8_t getServiceId() const { return getPacketData()[TIMESTAMP_LEN]; }
 
   uint16_t getModuleApid() const { return getApid() & APID_MODULE_MASK; }
@@ -559,9 +568,6 @@ class TmBase : public ploc::SpTmReader {
     }
     return 0;
   }
-
- private:
-  bool crcOk = false;
 };
 
 class NoPayloadPacket : public TcBase {
@@ -769,8 +775,6 @@ class SetRestartTries : public TcBase {
   }
 
  private:
-  uint8_t restartTries = 0;
-
   void initPacket(uint8_t restartTries) { payloadStart[0] = restartTries; }
 };
 
@@ -831,8 +835,6 @@ class LatchupAlert : public TcBase {
   }
 
  private:
-  uint8_t latchupId = 0;
-
   void initPacket(uint8_t latchupId) { payloadStart[0] = latchupId; }
 };
 
@@ -862,9 +864,6 @@ class SetAlertlimit : public TcBase {
   }
 
  private:
-  uint8_t latchupId = 0;
-  uint32_t dutycycle = 0;
-
   ReturnValue_t initPacket(uint8_t latchupId, uint32_t dutycycle) {
     payloadStart[0] = latchupId;
     size_t serLen = 0;
@@ -1295,8 +1294,8 @@ class VerificationReport {
 
   virtual ~VerificationReport() = default;
 
-  virtual ReturnValue_t parse() {
-    if (not readerBase.crcIsOk()) {
+  virtual ReturnValue_t parse(bool checkCrc) {
+    if (checkCrc and readerBase.checkCrc() != returnvalue::OK) {
       return result::CRC_FAILURE;
     }
     if (readerBase.getModuleApid() != Apid::TMTC_MAN) {
@@ -1313,27 +1312,27 @@ class VerificationReport {
     ReturnValue_t result = SerializeAdapter::deSerialize(&refApid, &payloadStart, &remLen,
                                                          SerializeIF::Endianness::BIG);
     if (result != returnvalue::OK) {
-      sif::debug << "VerificationReport: Failed to deserialize reference APID field" << std::endl;
+      sif::warning << "VerificationReport: Failed to deserialize reference APID field" << std::endl;
       return result;
     }
     result = SerializeAdapter::deSerialize(&refServiceId, &payloadStart, &remLen,
                                            SerializeIF::Endianness::BIG);
     if (result != returnvalue::OK) {
-      sif::debug << "VerificationReport: Failed to deserialize reference Service ID field"
-                 << std::endl;
+      sif::warning << "VerificationReport: Failed to deserialize reference Service ID field"
+                   << std::endl;
       return result;
     }
     result = SerializeAdapter::deSerialize(&refSeqCount, &payloadStart, &remLen,
                                            SerializeIF::Endianness::BIG);
     if (result != returnvalue::OK) {
-      sif::debug << "VerificationReport: Failed to deserialize reference sequence count field"
-                 << std::endl;
+      sif::warning << "VerificationReport: Failed to deserialize reference sequence count field"
+                   << std::endl;
       return result;
     }
     result = SerializeAdapter::deSerialize(&statusCode, &payloadStart, &remLen,
                                            SerializeIF::Endianness::BIG);
     if (result != returnvalue::OK) {
-      sif::debug << "VerificationReport: Failed to deserialize status code field" << std::endl;
+      sif::warning << "VerificationReport: Failed to deserialize status code field" << std::endl;
       return result;
     }
     return returnvalue::OK;
@@ -1350,7 +1349,7 @@ class VerificationReport {
 
   uint32_t getStatusCode() const { return statusCode; }
 
-  virtual void printStatusInformation(const char* prefix) {
+  virtual void printStatusInformation(const char* prefix) const {
     bool codeHandled = true;
     if (statusCode < 0x100) {
       GeneralStatusCode code = static_cast<GeneralStatusCode>(getStatusCode());
@@ -1637,15 +1636,15 @@ class AcknowledgmentReport : public VerificationReport {
  public:
   AcknowledgmentReport(TmBase& readerBase) : VerificationReport(readerBase) {}
 
-  virtual ReturnValue_t parse() override {
+  ReturnValue_t parse(bool checkCrc) override {
     if (readerBase.getServiceId() != static_cast<uint8_t>(tm::TmtcId::ACK) and
         readerBase.getServiceId() != static_cast<uint8_t>(tm::TmtcId::NAK)) {
       return result::INVALID_SERVICE_ID;
     }
-    return VerificationReport::parse();
+    return VerificationReport::parse(checkCrc);
   }
 
-  void printStatusInformation() {
+  void printStatusInformationAck() {
     VerificationReport::printStatusInformation(STATUS_PRINTOUT_PREFIX);
   }
 
@@ -1659,15 +1658,15 @@ class ExecutionReport : public VerificationReport {
 
   TmBase& getReader() { return readerBase; }
 
-  ReturnValue_t parse() override {
+  ReturnValue_t parse(bool checkCrc) override {
     if (readerBase.getServiceId() != static_cast<uint8_t>(tm::TmtcId::EXEC_ACK) and
         readerBase.getServiceId() != static_cast<uint8_t>(tm::TmtcId::EXEC_NAK)) {
       return returnvalue::FAILED;
     }
-    return VerificationReport::parse();
+    return VerificationReport::parse(checkCrc);
   }
 
-  void printStatusInformation() {
+  void printStatusInformationExe() {
     VerificationReport::printStatusInformation(STATUS_PRINTOUT_PREFIX);
   }
 
@@ -1679,8 +1678,8 @@ class UpdateStatusReport {
  public:
   UpdateStatusReport(TmBase& tmReader) : tmReader(tmReader) {}
 
-  ReturnValue_t parse() {
-    if (not tmReader.crcIsOk()) {
+  ReturnValue_t parse(bool checkCrc) {
+    if (checkCrc and tmReader.checkCrc() != returnvalue::OK) {
       return result::CRC_FAILURE;
     }
     if (tmReader.getModuleApid() != Apid::MEM_MAN) {
@@ -1742,7 +1741,7 @@ class BootStatusReport : public StaticLocalDataSet<BOOT_REPORT_SET_ENTRIES> {
   lp_var_t<uint32_t> bootAfterMs = lp_var_t<uint32_t>(sid.objectId, PoolIds::BOOT_AFTER_MS, this);
   /** The currently set boot timeout */
   lp_var_t<uint32_t> bootTimeoutMs =
-      lp_var_t<uint32_t>(sid.objectId, PoolIds::BOOT_TIMEOUT_MS, this);
+      lp_var_t<uint32_t>(sid.objectId, PoolIds::BOOT_TIMEOUT_POOL_VAR_MS, this);
   lp_var_t<uint8_t> activeNvm = lp_var_t<uint8_t>(sid.objectId, PoolIds::ACTIVE_NVM, this);
   /** States of the boot partition pins */
   lp_var_t<uint8_t> bp0State = lp_var_t<uint8_t>(sid.objectId, PoolIds::BP0_STATE, this);
@@ -1814,26 +1813,16 @@ class LatchupStatusReport : public StaticLocalDataSet<LATCHUP_RPT_SET_ENTRIES> {
 /**
  * @brief   This dataset stores the logging report.
  */
-class LoggingReport : public StaticLocalDataSet<LOGGING_RPT_SET_ENTRIES> {
+class CountersReport : public StaticLocalDataSet<LOGGING_RPT_SET_ENTRIES> {
  public:
-  LoggingReport(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, LOGGING_RPT_ID) {}
+  CountersReport(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, LOGGING_RPT_ID) {}
 
-  LoggingReport(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, LOGGING_RPT_ID)) {}
+  CountersReport(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, LOGGING_RPT_ID)) {}
 
-  lp_var_t<uint32_t> latchupHappenCnt0 =
-      lp_var_t<uint32_t>(sid.objectId, PoolIds::LATCHUP_HAPPENED_CNT_0, this);
-  lp_var_t<uint32_t> latchupHappenCnt1 =
-      lp_var_t<uint32_t>(sid.objectId, PoolIds::LATCHUP_HAPPENED_CNT_1, this);
-  lp_var_t<uint32_t> latchupHappenCnt2 =
-      lp_var_t<uint32_t>(sid.objectId, PoolIds::LATCHUP_HAPPENED_CNT_2, this);
-  lp_var_t<uint32_t> latchupHappenCnt3 =
-      lp_var_t<uint32_t>(sid.objectId, PoolIds::LATCHUP_HAPPENED_CNT_3, this);
-  lp_var_t<uint32_t> latchupHappenCnt4 =
-      lp_var_t<uint32_t>(sid.objectId, PoolIds::LATCHUP_HAPPENED_CNT_4, this);
-  lp_var_t<uint32_t> latchupHappenCnt5 =
-      lp_var_t<uint32_t>(sid.objectId, PoolIds::LATCHUP_HAPPENED_CNT_5, this);
-  lp_var_t<uint32_t> latchupHappenCnt6 =
-      lp_var_t<uint32_t>(sid.objectId, PoolIds::LATCHUP_HAPPENED_CNT_6, this);
+  lp_var_t<uint32_t> signature =
+      lp_var_t<uint32_t>(sid.objectId, PoolIds::LATCHUP_HAPPENED_CNTS, this);
+  lp_vec_t<uint32_t, 7> latchupHappenCnts =
+      lp_vec_t<uint32_t, 7>(sid.objectId, PoolIds::LATCHUP_HAPPENED_CNTS, this);
   lp_var_t<uint32_t> adcDeviationTriggersCnt =
       lp_var_t<uint32_t>(sid.objectId, PoolIds::ADC_DEVIATION_TRIGGERS_CNT, this);
   lp_var_t<uint32_t> tcReceivedCnt =
@@ -1847,23 +1836,31 @@ class LoggingReport : public StaticLocalDataSet<LOGGING_RPT_SET_ENTRIES> {
       lp_var_t<uint32_t>(sid.objectId, PoolIds::MPSOC_BOOT_FAILED_ATTEMPTS, this);
   lp_var_t<uint32_t> mpsocPowerup = lp_var_t<uint32_t>(sid.objectId, PoolIds::MPSOC_POWER_UP, this);
   lp_var_t<uint32_t> mpsocUpdates = lp_var_t<uint32_t>(sid.objectId, PoolIds::MPSOC_UPDATES, this);
-  lp_var_t<uint32_t> lastRecvdTc = lp_var_t<uint32_t>(sid.objectId, PoolIds::LAST_RECVD_TC, this);
+  lp_var_t<uint32_t> mpsocHeartbeatResets =
+      lp_var_t<uint32_t>(sid.objectId, PoolIds::MPSOC_HEARTBEAT_RESETS, this);
+  lp_var_t<uint32_t> cpuWdtResets =
+      lp_var_t<uint32_t>(sid.objectId, PoolIds::MPSOC_HEARTBEAT_RESETS, this);
+  lp_var_t<uint32_t> psHeartbeatsLost =
+      lp_var_t<uint32_t>(sid.objectId, PoolIds::PS_HEARTBEATS_LOST, this);
+  lp_var_t<uint32_t> plHeartbeatsLost =
+      lp_var_t<uint32_t>(sid.objectId, PoolIds::PL_HEARTBEATS_LOST, this);
+  lp_var_t<uint32_t> ebTaskLost = lp_var_t<uint32_t>(sid.objectId, PoolIds::EB_TASK_LOST, this);
+  lp_var_t<uint32_t> bmTaskLost = lp_var_t<uint32_t>(sid.objectId, PoolIds::BM_TASK_LOST, this);
+  lp_var_t<uint32_t> lmTaskLost = lp_var_t<uint32_t>(sid.objectId, PoolIds::LM_TASK_LOST, this);
+  lp_var_t<uint32_t> amTaskLost = lp_var_t<uint32_t>(sid.objectId, PoolIds::AM_TASK_LOST, this);
+  lp_var_t<uint32_t> tctmmTaskLost =
+      lp_var_t<uint32_t>(sid.objectId, PoolIds::TCTMM_TASK_LOST, this);
+  lp_var_t<uint32_t> mmTaskLost = lp_var_t<uint32_t>(sid.objectId, PoolIds::MM_TASK_LOST, this);
+  lp_var_t<uint32_t> hkTaskLost = lp_var_t<uint32_t>(sid.objectId, PoolIds::HK_TASK_LOST, this);
+  lp_var_t<uint32_t> dlTaskLost = lp_var_t<uint32_t>(sid.objectId, PoolIds::DL_TASK_LOST, this);
+  lp_vec_t<uint32_t, 3> rwsTasksLost =
+      lp_vec_t<uint32_t, 3>(sid.objectId, PoolIds::RWS_TASKS_LOST, this);
 
   void printSet() {
-    sif::info << "LoggingReport: Latchup happened count 0: " << this->latchupHappenCnt0
-              << std::endl;
-    sif::info << "LoggingReport: Latchup happened count 1: " << this->latchupHappenCnt1
-              << std::endl;
-    sif::info << "LoggingReport: Latchup happened count 2: " << this->latchupHappenCnt2
-              << std::endl;
-    sif::info << "LoggingReport: Latchup happened count 3: " << this->latchupHappenCnt3
-              << std::endl;
-    sif::info << "LoggingReport: Latchup happened count 4: " << this->latchupHappenCnt4
-              << std::endl;
-    sif::info << "LoggingReport: Latchup happened count 5: " << this->latchupHappenCnt5
-              << std::endl;
-    sif::info << "LoggingReport: Latchup happened count 6: " << this->latchupHappenCnt6
-              << std::endl;
+    for (unsigned i = 0; i < 7; i++) {
+      sif::info << "LoggingReport: Latchup happened count " << i << ": "
+                << this->latchupHappenCnts[i] << std::endl;
+    }
     sif::info << "LoggingReport: ADC deviation triggers count: " << this->adcDeviationTriggersCnt
               << std::endl;
     sif::info << "LoggingReport: TC received count: " << this->tcReceivedCnt << std::endl;
@@ -1874,88 +1871,29 @@ class LoggingReport : public StaticLocalDataSet<LOGGING_RPT_SET_ENTRIES> {
               << std::endl;
     sif::info << "LoggingReport: MPSoC power up: " << this->mpsocPowerup << std::endl;
     sif::info << "LoggingReport: MPSoC updates: " << this->mpsocUpdates << std::endl;
-    sif::info << "LoggingReport: APID of last received TC: 0x" << std::hex << this->lastRecvdTc
-              << std::endl;
   }
 };
 
 /**
  * @brief   This dataset stores the ADC report.
  */
-class AdcReport : public StaticLocalDataSet<ADC_RPT_SET_ENTRIES> {
+class AdcReport : public StaticLocalDataSet<3> {
  public:
   AdcReport(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, ADC_REPORT_SET_ID) {}
 
   AdcReport(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, ADC_REPORT_SET_ID)) {}
 
-  lp_var_t<uint16_t> adcRaw0 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_0, this);
-  lp_var_t<uint16_t> adcRaw1 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_1, this);
-  lp_var_t<uint16_t> adcRaw2 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_2, this);
-  lp_var_t<uint16_t> adcRaw3 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_3, this);
-  lp_var_t<uint16_t> adcRaw4 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_4, this);
-  lp_var_t<uint16_t> adcRaw5 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_5, this);
-  lp_var_t<uint16_t> adcRaw6 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_6, this);
-  lp_var_t<uint16_t> adcRaw7 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_7, this);
-  lp_var_t<uint16_t> adcRaw8 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_8, this);
-  lp_var_t<uint16_t> adcRaw9 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_9, this);
-  lp_var_t<uint16_t> adcRaw10 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_10, this);
-  lp_var_t<uint16_t> adcRaw11 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_11, this);
-  lp_var_t<uint16_t> adcRaw12 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_12, this);
-  lp_var_t<uint16_t> adcRaw13 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_13, this);
-  lp_var_t<uint16_t> adcRaw14 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_14, this);
-  lp_var_t<uint16_t> adcRaw15 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_15, this);
-  lp_var_t<uint16_t> adcEng0 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_0, this);
-  lp_var_t<uint16_t> adcEng1 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_1, this);
-  lp_var_t<uint16_t> adcEng2 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_2, this);
-  lp_var_t<uint16_t> adcEng3 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_3, this);
-  lp_var_t<uint16_t> adcEng4 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_4, this);
-  lp_var_t<uint16_t> adcEng5 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_5, this);
-  lp_var_t<uint16_t> adcEng6 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_6, this);
-  lp_var_t<uint16_t> adcEng7 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_7, this);
-  lp_var_t<uint16_t> adcEng8 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_8, this);
-  lp_var_t<uint16_t> adcEng9 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_9, this);
-  lp_var_t<uint16_t> adcEng10 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_10, this);
-  lp_var_t<uint16_t> adcEng11 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_11, this);
-  lp_var_t<uint16_t> adcEng12 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_12, this);
-  lp_var_t<uint16_t> adcEng13 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_13, this);
-  lp_var_t<uint16_t> adcEng14 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_14, this);
-  lp_var_t<uint16_t> adcEng15 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_15, this);
+  lp_vec_t<uint16_t, 16> adcRaw = lp_vec_t<uint16_t, 16>(sid.objectId, PoolIds::ADC_RAW, this);
+  lp_vec_t<uint16_t, 16> adcEng = lp_vec_t<uint16_t, 16>(sid.objectId, PoolIds::ADC_ENG, this);
 
   void printSet() {
     sif::info << "---- Adc Report: Raw values ----" << std::endl;
-    sif::info << "AdcReport: ADC raw 0: " << std::dec << this->adcRaw0 << std::endl;
-    sif::info << "AdcReport: ADC raw 1: " << this->adcRaw1 << std::endl;
-    sif::info << "AdcReport: ADC raw 2: " << this->adcRaw2 << std::endl;
-    sif::info << "AdcReport: ADC raw 3: " << this->adcRaw3 << std::endl;
-    sif::info << "AdcReport: ADC raw 4: " << this->adcRaw4 << std::endl;
-    sif::info << "AdcReport: ADC raw 5: " << this->adcRaw5 << std::endl;
-    sif::info << "AdcReport: ADC raw 6: " << this->adcRaw6 << std::endl;
-    sif::info << "AdcReport: ADC raw 7: " << this->adcRaw7 << std::endl;
-    sif::info << "AdcReport: ADC raw 8: " << this->adcRaw8 << std::endl;
-    sif::info << "AdcReport: ADC raw 9: " << this->adcRaw9 << std::endl;
-    sif::info << "AdcReport: ADC raw 10: " << this->adcRaw10 << std::endl;
-    sif::info << "AdcReport: ADC raw 11: " << this->adcRaw11 << std::endl;
-    sif::info << "AdcReport: ADC raw 12: " << this->adcRaw12 << std::endl;
-    sif::info << "AdcReport: ADC raw 13: " << this->adcRaw13 << std::endl;
-    sif::info << "AdcReport: ADC raw 14: " << this->adcRaw14 << std::endl;
-    sif::info << "AdcReport: ADC raw 15: " << this->adcRaw15 << std::endl;
-    sif::info << "---- Adc Report: Engineering values ----" << std::endl;
-    sif::info << "AdcReport: ADC eng 0: " << this->adcEng0 << std::endl;
-    sif::info << "AdcReport: ADC eng 1: " << this->adcEng1 << std::endl;
-    sif::info << "AdcReport: ADC eng 2: " << this->adcEng2 << std::endl;
-    sif::info << "AdcReport: ADC eng 3: " << this->adcEng3 << std::endl;
-    sif::info << "AdcReport: ADC eng 4: " << this->adcEng4 << std::endl;
-    sif::info << "AdcReport: ADC eng 5: " << this->adcEng5 << std::endl;
-    sif::info << "AdcReport: ADC eng 6: " << this->adcEng6 << std::endl;
-    sif::info << "AdcReport: ADC eng 7: " << this->adcEng7 << std::endl;
-    sif::info << "AdcReport: ADC eng 8: " << this->adcEng8 << std::endl;
-    sif::info << "AdcReport: ADC eng 9: " << this->adcEng9 << std::endl;
-    sif::info << "AdcReport: ADC eng 10: " << this->adcEng10 << std::endl;
-    sif::info << "AdcReport: ADC eng 11: " << this->adcEng11 << std::endl;
-    sif::info << "AdcReport: ADC eng 12: " << this->adcEng12 << std::endl;
-    sif::info << "AdcReport: ADC eng 13: " << this->adcEng13 << std::endl;
-    sif::info << "AdcReport: ADC eng 14: " << this->adcEng14 << std::endl;
-    sif::info << "AdcReport: ADC eng 15: " << this->adcEng15 << std::endl;
+    for (unsigned i = 0; i < 16; i++) {
+      sif::info << "AdcReport: ADC raw " << i << ": " << std::dec << this->adcRaw[i] << std::endl;
+    }
+    for (unsigned i = 0; i < 16; i++) {
+      sif::info << "AdcReport: ADC eng " << i << ": " << std::dec << this->adcEng[i] << std::endl;
+    }
   }
 };
 
@@ -2045,11 +1983,7 @@ class EnableNvms : public TcBase {
  */
 class EnableAutoTm : public TcBase {
  public:
-  EnableAutoTm(TcParams params) : TcBase(params) {
-    spParams.setFullPayloadLen(PAYLOAD_LENGTH + 2);
-    // spParams.creator.setApid(APID_AUTO_TM);
-    // spParams.creator.setSeqCount(DEFAULT_SEQUENCE_COUNT);
-  }
+  EnableAutoTm(TcParams params) : TcBase(params) { spParams.setFullPayloadLen(PAYLOAD_LENGTH + 2); }
 
   ReturnValue_t buildPacket() {
     auto res = checkSizeAndSerializeHeader();

linux/scheduling.cpp

@@ -47,35 +47,3 @@ void scheduling::addMpsocSupvHandlers(PeriodicTaskIF* plTask) {
   plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::SEND_READ);
   plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::GET_READ);
 }
-
-void scheduling::scheduleScexDev(PeriodicTaskIF*& scexDevHandler) {
-  ReturnValue_t result =
-      scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::PERFORM_OPERATION);
-  if (result != returnvalue::OK) {
-    printAddObjectError("SCEX_DEV", objects::SCEX);
-  }
-  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::SEND_WRITE);
-  if (result != returnvalue::OK) {
-    printAddObjectError("SCEX_DEV", objects::SCEX);
-  }
-  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::GET_WRITE);
-  if (result != returnvalue::OK) {
-    printAddObjectError("SCEX_DEV", objects::SCEX);
-  }
-  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::SEND_READ);
-  if (result != returnvalue::OK) {
-    printAddObjectError("SCEX_DEV", objects::SCEX);
-  }
-  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::GET_READ);
-  if (result != returnvalue::OK) {
-    printAddObjectError("SCEX_DEV", objects::SCEX);
-  }
-  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::SEND_READ);
-  if (result != returnvalue::OK) {
-    printAddObjectError("SCEX_DEV", objects::SCEX);
-  }
-  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::GET_READ);
-  if (result != returnvalue::OK) {
-    printAddObjectError("SCEX_DEV", objects::SCEX);
-  }
-}

linux/scheduling.h

@@ -8,7 +8,6 @@ namespace scheduling {
 extern PosixThreadArgs RR_SCHEDULING;
 extern PosixThreadArgs NORMAL_SCHEDULING;
 
-void scheduleScexDev(PeriodicTaskIF*& scexDevHandler);
 void scheduleScexReader(TaskFactory& factory, PeriodicTaskIF*& scexReaderTask);
 void addMpsocSupvHandlers(PeriodicTaskIF* task);
 }  // namespace scheduling

mission/acs/SusHandler.cpp

@@ -97,7 +97,7 @@ ReturnValue_t SusHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8
   // appear sometimes for the SUS device: Allow invalid message up to a certain threshold
   // before triggering FDIR reactions.
   if (reply->tempRaw == 0xfff and not waitingForRecovery) {
-    if (invalidMsgCounter == 0) {
+    if (invalidMsgCounter == 0 and invalidMsgPeriodCounter == 0) {
       triggerEvent(TEMPERATURE_ALL_ONES_START);
     } else if (invalidMsgCounter == susMax1227::MAX_INVALID_MSG_COUNT) {
       triggerEvent(DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT);
@@ -110,8 +110,17 @@ ReturnValue_t SusHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8
     return returnvalue::OK;
   }
   if (invalidMsgCounter > 0) {
-    triggerEvent(TEMPERATURE_ALL_ONES_RECOVERY, invalidMsgCounter);
+    invalidMsgPeriodCounter++;
+    if (invalidMsgCounter > invalidMsgCounterMax) {
+      invalidMsgCounterMax = invalidMsgCounter;
+    }
     invalidMsgCounter = 0;
+    invalidMsgCountdown.resetTimer();
+  }
+  if (invalidMsgCountdown.hasTimedOut() and invalidMsgPeriodCounter > 0) {
+    triggerEvent(TEMPERATURE_ALL_ONES_RECOVERY, invalidMsgPeriodCounter, invalidMsgCounterMax);
+    invalidMsgPeriodCounter = 0;
+    invalidMsgCounterMax = 0;
   }
   dataset.setValidity(true, true);
   dataset.tempC = max1227::getTemperature(reply->tempRaw);

mission/acs/SusHandler.h

@@ -20,8 +20,9 @@ class SusHandler : public DeviceHandlerBase {
   //! [EXPORT] : [COMMENT] Detected invalid values, starting invalid message counting
   static constexpr Event TEMPERATURE_ALL_ONES_START =
       event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
-  //! [EXPORT] : [COMMENT] Detected valid values again, resetting invalid message counter.
-  //! P1: Invalid message counter.
+  //! [EXPORT] : [COMMENT] Detected valid values for a prolonged time again, resetting all counters.
+  //! P1: Number of periods with invalid messages.
+  //! P2: Maximum invalid message counter.
   static constexpr Event TEMPERATURE_ALL_ONES_RECOVERY =
       event::makeEvent(SUBSYSTEM_ID, 1, severity::INFO);
 
@@ -54,8 +55,13 @@ class SusHandler : public DeviceHandlerBase {
   susMax1227::SusDataset dataset;
   acs::SusRequest request{};
   uint8_t susIdx;
+
+  //  After 1 minute, trigger the event for the invalid messages.
+  Countdown invalidMsgCountdown = Countdown(60000);
   bool waitingForRecovery = true;
   uint32_t invalidMsgCounter = 0;
+  uint32_t invalidMsgCounterMax = 0;
+  uint32_t invalidMsgPeriodCounter = 0;
 
   uint32_t transitionDelay = 1000;
   bool goToNormalMode = false;

mission/acs/defs.h

@@ -22,10 +22,10 @@ enum AcsMode : Mode_t {
 
 enum SafeSubmode : Submode_t { DEFAULT = 0, DETUMBLE = 1 };
 
-enum SafeModeStrategy : uint8_t {
-  SAFECTRL_OFF = 0,
-  SAFECTRL_NO_MAG_FIELD_FOR_CONTROL = 1,
-  SAFECTRL_NO_SENSORS_FOR_CONTROL = 2,
+enum ControlModeStrategy : uint8_t {
+  CTRL_OFF = 0,
+  CTRL_NO_MAG_FIELD_FOR_CONTROL = 1,
+  CTRL_NO_SENSORS_FOR_CONTROL = 2,
   // OBSW version <= v6.1.0
   LEGACY_SAFECTRL_ACTIVE_MEKF = 10,
   LEGACY_SAFECTRL_WITHOUT_MEKF = 11,
@@ -40,14 +40,28 @@ enum SafeModeStrategy : uint8_t {
   SAFECTRL_ECLIPSE_IDELING = 19,
   SAFECTRL_DETUMBLE_FULL = 20,
   SAFECTRL_DETUMBLE_DETERIORATED = 21,
+  // Added in vNext
+  PTGCTRL_MEKF = 100,
+  PTGCTRL_STR = 101,
+  PTGCTRL_QUEST = 102,
 };
-
-enum GpsSource : uint8_t {
+namespace gps {
+enum Source : uint8_t {
   NONE,
   GPS,
   GPS_EXTRAPOLATED,
   SPG4,
 };
+}
+
+namespace rotrate {
+enum Source : uint8_t {
+  NONE,
+  SUSMGM,
+  QUEST,
+  STR,
+};
+}
 
 static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
 //! [EXPORT] : [COMMENT] The limits for the rotation in safe mode were violated.
@@ -64,15 +78,17 @@ static constexpr Event MEKF_INVALID_INFO = MAKE_EVENT(3, severity::INFO);
 static constexpr Event MEKF_RECOVERY = MAKE_EVENT(4, severity::INFO);
 //! [EXPORT] : [COMMENT] MEKF performed an automatic reset after detection of nonfinite values.
 static constexpr Event MEKF_AUTOMATIC_RESET = MAKE_EVENT(5, severity::INFO);
-//! [EXPORT] : [COMMENT] MEKF was not able to compute a solution during any pointing ACS mode for a
-//! prolonged time.
-static constexpr Event MEKF_INVALID_MODE_VIOLATION = MAKE_EVENT(6, severity::HIGH);
+//! [EXPORT] : [COMMENT] For a prolonged time, no attitude information was available for the
+//! Pointing Controller. Falling back to Safe Mode.
+static constexpr Event PTG_CTRL_NO_ATTITUDE_INFORMATION = MAKE_EVENT(6, severity::HIGH);
 //! [EXPORT] : [COMMENT] The ACS safe mode controller was not able to compute a solution and has
 //! failed.
 //! P1: Missing information about magnetic field, P2: Missing information about rotational rate
 static constexpr Event SAFE_MODE_CONTROLLER_FAILURE = MAKE_EVENT(7, severity::HIGH);
 //! [EXPORT] : [COMMENT] The TLE for the SGP4 Propagator has become too old.
 static constexpr Event TLE_TOO_OLD = MAKE_EVENT(8, severity::INFO);
+//! [EXPORT] : [COMMENT] The TLE could not be read from the filesystem.
+static constexpr Event TLE_FILE_READ_FAILED = MAKE_EVENT(9, severity::LOW);
 
 extern const char* getModeStr(AcsMode mode);
 

mission/acs/str/ArcsecJsonParamBase.cpp

@@ -65,7 +65,7 @@ void ArcsecJsonParamBase::addSetParamHeader(uint8_t* buffer, uint8_t setId) {
   *(buffer + 1) = setId;
 }
 
-ReturnValue_t ArcsecJsonParamBase::init(const std::string filename) {
+ReturnValue_t ArcsecJsonParamBase::init(const std::string& filename) {
   ReturnValue_t result = returnvalue::OK;
   if (not std::filesystem::exists(filename)) {
     sif::warning << "ArcsecJsonParamBase::init: JSON file " << filename << " does not exist"

mission/acs/str/ArcsecJsonParamBase.h

@@ -46,7 +46,7 @@ class ArcsecJsonParamBase {
    * @param return    JSON_FILE_NOT_EXISTS if specified file does not exist, otherwise
    *                  returnvalue::OK
    */
-  ReturnValue_t init(const std::string filename);
+  ReturnValue_t init(const std::string& filename);
 
   /**
    * @brief   Fills a buffer with a parameter set

mission/acs/str/StarTrackerHandler.cpp

@@ -5,6 +5,8 @@
 #include <mission/acs/str/strHelpers.h>
 #include <mission/acs/str/strJsonCommands.h>
 
+#include "fsfw/ipc/MessageQueueIF.h"
+
 extern "C" {
 #include <sagitta/client/actionreq.h>
 #include <sagitta/client/client_tm_structs.h>
@@ -24,8 +26,8 @@ extern "C" {
 std::atomic_bool JCFG_DONE(false);
 
 StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-                                       const char* jsonFileStr, StrComHandler* strHelper,
-                                       power::Switch_t powerSwitch)
+                                       StrComHandler* strHelper, power::Switch_t powerSwitch,
+                                       startracker::SdCardConfigPathGetter& cfgPathGetter)
     : DeviceHandlerBase(objectId, comIF, comCookie),
       temperatureSet(this),
       versionSet(this),
@@ -49,9 +51,16 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
       subscriptionSet(this),
       logSubscriptionSet(this),
       debugCameraSet(this),
+      autoBlobSet(this),
+      matchedCentroidsSet(this),
+      blobSet(this),
+      blobsSet(this),
+      centroidSet(this),
+      centroidsSet(this),
+      contrastSet(this),
       strHelper(strHelper),
-      paramJsonFile(jsonFileStr),
-      powerSwitch(powerSwitch) {
+      powerSwitch(powerSwitch),
+      cfgPathGetter(cfgPathGetter) {
   if (comCookie == nullptr) {
     sif::error << "StarTrackerHandler: Invalid com cookie" << std::endl;
   }
@@ -59,6 +68,8 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
     sif::error << "StarTrackerHandler: Invalid str image loader" << std::endl;
   }
   eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5);
+  additionalRequestedTm.emplace(startracker::REQ_TEMPERATURE);
+  currentSecondaryTmIter = additionalRequestedTm.begin();
 }
 
 StarTrackerHandler::~StarTrackerHandler() {}
@@ -73,17 +84,12 @@ void StarTrackerHandler::doStartUp() {
       // the device handler's submode to the star tracker's mode
       return;
     case StartupState::DONE:
-      if (jcfgCountdown.isBusy()) {
+      if (!JCFG_DONE) {
         startupState = StartupState::WAIT_JCFG;
         return;
       }
-      startupState = StartupState::IDLE;
       break;
     case StartupState::WAIT_JCFG: {
-      if (jcfgCountdown.hasTimedOut()) {
-        startupState = StartupState::IDLE;
-        break;
-      }
       return;
     }
     default:
@@ -130,8 +136,7 @@ ReturnValue_t StarTrackerHandler::initialize() {
 
   // Spin up a thread to do the JSON initialization, takes 200-250 ms which would
   // delay whole satellite boot process.
-  jcfgCountdown.resetTimer();
-  jsonCfgTask = std::thread{setUpJsonCfgs, std::ref(jcfgs), paramJsonFile.c_str()};
+  reloadJsonCfgFile();
 
   EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
   if (manager == nullptr) {
@@ -160,11 +165,54 @@ ReturnValue_t StarTrackerHandler::initialize() {
   return returnvalue::OK;
 }
 
+bool StarTrackerHandler::reloadJsonCfgFile() {
+  jcfgCountdown.resetTimer();
+  auto strCfgPath = cfgPathGetter.getCfgPath();
+  if (strCfgPath.has_value()) {
+    jcfgPending = true;
+    JCFG_DONE = false;
+    jsonCfgTask = std::thread{setUpJsonCfgs, std::ref(jcfgs), strCfgPath.value()};
+    return true;
+  }
+  // Simplified FDIR: Just continue as usual..
+  JCFG_DONE = true;
+  return false;
+}
+
 ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                                                 const uint8_t* data, size_t size) {
   ReturnValue_t result = returnvalue::OK;
 
   switch (actionId) {
+    case (startracker::ADD_SECONDARY_TM_TO_NORMAL_MODE): {
+      if (size < 4) {
+        return HasActionsIF::INVALID_PARAMETERS;
+      }
+      DeviceCommandId_t idToAdd;
+      result =
+          SerializeAdapter::deSerialize(&idToAdd, data, &size, SerializeIF::Endianness::NETWORK);
+      if (result != returnvalue::OK) {
+        return result;
+      }
+      addSecondaryTmForNormalMode(idToAdd);
+      return EXECUTION_FINISHED;
+    }
+    case (startracker::RESET_SECONDARY_TM_SET): {
+      resetSecondaryTmSet();
+      return EXECUTION_FINISHED;
+    }
+    case (startracker::READ_SECONDARY_TM_SET): {
+      std::vector<uint8_t> dataVec(additionalRequestedTm.size() * 4);
+      unsigned idx = 0;
+      size_t serLen = 0;
+      for (const auto& cmd : additionalRequestedTm) {
+        SerializeAdapter::serialize(&cmd, dataVec.data() + idx * 4, &serLen, dataVec.size(),
+                                    SerializeIF::Endianness::NETWORK);
+        idx++;
+      }
+      actionHelper.reportData(commandedBy, actionId, dataVec.data(), dataVec.size());
+      return EXECUTION_FINISHED;
+    }
     case (startracker::STOP_IMAGE_LOADER): {
       strHelper->stopProcess();
       return EXECUTION_FINISHED;
@@ -297,6 +345,24 @@ void StarTrackerHandler::performOperationHook() {
         break;
     }
   }
+  if (jcfgPending) {
+    if (JCFG_DONE) {
+      if (startupState == StartupState::WAIT_JCFG) {
+        startupState = StartupState::DONE;
+      }
+      jsonCfgTask.join();
+      jcfgPending = false;
+      auto iter = deviceCommandMap.find(startracker::RELOAD_JSON_CFG_FILE);
+      if (iter != deviceCommandMap.end() and iter->second.sendReplyTo != MessageQueueIF::NO_QUEUE) {
+        actionHelper.finish(true, iter->second.sendReplyTo, startracker::RELOAD_JSON_CFG_FILE);
+      }
+    } else if (jcfgCountdown.hasTimedOut()) {
+      auto iter = deviceCommandMap.find(startracker::RELOAD_JSON_CFG_FILE);
+      if (iter != deviceCommandMap.end() and iter->second.sendReplyTo != MessageQueueIF::NO_QUEUE) {
+        actionHelper.finish(false, iter->second.sendReplyTo, startracker::RELOAD_JSON_CFG_FILE);
+      }
+    }
+  }
 }
 
 Submode_t StarTrackerHandler::getInitialSubmode() { return startracker::SUBMODE_BOOTLOADER; }
@@ -306,13 +372,20 @@ ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t* id
     return NOTHING_TO_SEND;
   }
   switch (normalState) {
-    case NormalState::TEMPERATURE_REQUEST:
-      *id = startracker::REQ_TEMPERATURE;
+    case NormalState::SECONDARY_REQUEST:
+      if (additionalRequestedTm.size() == 0) {
+        break;
+      }
+      *id = *currentSecondaryTmIter;
+      currentSecondaryTmIter++;
+      if (currentSecondaryTmIter == additionalRequestedTm.end()) {
+        currentSecondaryTmIter = additionalRequestedTm.begin();
+      }
       normalState = NormalState::SOLUTION_REQUEST;
       break;
     case NormalState::SOLUTION_REQUEST:
       *id = startracker::REQ_SOLUTION;
-      normalState = NormalState::TEMPERATURE_REQUEST;
+      normalState = NormalState::SECONDARY_REQUEST;
       break;
     default:
       sif::debug << "StarTrackerHandler::buildNormalDeviceCommand: Invalid normal step"
@@ -454,6 +527,16 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
       preparePingRequest();
       return returnvalue::OK;
     }
+    case (startracker::RELOAD_JSON_CFG_FILE): {
+      if (jcfgPending) {
+        return HasActionsIF::IS_BUSY;
+      }
+      // It should be noted that this just reloads the JSON config structure in memory from the
+      // JSON file. The configuration still needs to be sent to the STR. The easiest way to achieve
+      // this is to simply reboot the device after a reload.
+      reloadJsonCfgFile();
+      return returnvalue::OK;
+    }
     case (startracker::SET_TIME_FROM_SYS_TIME): {
       SetTimeActionRequest setTimeRequest{};
       timeval tv;
@@ -468,10 +551,23 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
       rawPacket = commandBuffer;
       return returnvalue::OK;
     }
+
     case (startracker::REQ_TIME): {
       prepareTimeRequest();
       return returnvalue::OK;
     }
+    case (startracker::REQ_CENTROID): {
+      prepareRequestCentroidTm();
+      return returnvalue::OK;
+    }
+    case (startracker::REQ_CENTROIDS): {
+      prepareRequestCentroidsTm();
+      return returnvalue::OK;
+    }
+    case (startracker::REQ_CONTRAST): {
+      prepareRequestContrastTm();
+      return returnvalue::OK;
+    }
     case (startracker::BOOT): {
       prepareBootCommand();
       return returnvalue::OK;
@@ -607,6 +703,22 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
       result = prepareRequestLisaParams();
       return result;
     }
+    case (startracker::REQ_MATCHED_CENTROIDS): {
+      result = prepareRequestMatchedCentroidsTm();
+      return result;
+    }
+    case (startracker::REQ_BLOB): {
+      result = prepareRequestBlobTm();
+      return result;
+    }
+    case (startracker::REQ_BLOBS): {
+      result = prepareRequestBlobsTm();
+      return result;
+    }
+    case (startracker::REQ_AUTO_BLOB): {
+      result = prepareRequestAutoBlobTm();
+      return returnvalue::OK;
+    }
     case (startracker::REQ_MATCHING): {
       result = prepareRequestMatchingParams();
       return result;
@@ -653,6 +765,7 @@ void StarTrackerHandler::fillCommandAndReplyMap() {
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
   this->insertInCommandMap(startracker::UPLOAD_IMAGE);
   this->insertInCommandMap(startracker::DOWNLOAD_IMAGE);
+  this->insertInCommandMap(startracker::RELOAD_JSON_CFG_FILE);
   this->insertInCommandAndReplyMap(startracker::REQ_POWER, 3, &powerSet,
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
   this->insertInCommandAndReplyMap(startracker::REQ_INTERFACE, 3, &interfaceSet,
@@ -729,6 +842,20 @@ void StarTrackerHandler::fillCommandAndReplyMap() {
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
   this->insertInCommandAndReplyMap(startracker::REQ_DEBUG_CAMERA, 3, &debugCameraSet,
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
+  this->insertInCommandAndReplyMap(startracker::REQ_AUTO_BLOB, 3, &autoBlobSet,
+                                   startracker::MAX_FRAME_SIZE * 2 + 2);
+  this->insertInCommandAndReplyMap(startracker::REQ_MATCHED_CENTROIDS, 3, &matchedCentroidsSet,
+                                   startracker::MAX_FRAME_SIZE * 2 + 2);
+  this->insertInCommandAndReplyMap(startracker::REQ_BLOB, 3, &blobSet,
+                                   startracker::MAX_FRAME_SIZE * 2 + 2);
+  this->insertInCommandAndReplyMap(startracker::REQ_BLOBS, 3, &blobsSet,
+                                   startracker::MAX_FRAME_SIZE * 2 + 2);
+  this->insertInCommandAndReplyMap(startracker::REQ_CENTROID, 3, &centroidSet,
+                                   startracker::MAX_FRAME_SIZE * 2 + 2);
+  this->insertInCommandAndReplyMap(startracker::REQ_CENTROIDS, 3, &centroidsSet,
+                                   startracker::MAX_FRAME_SIZE * 2 + 2);
+  this->insertInCommandAndReplyMap(startracker::REQ_CONTRAST, 3, &contrastSet,
+                                   startracker::MAX_FRAME_SIZE * 2 + 2);
 }
 
 ReturnValue_t StarTrackerHandler::isModeCombinationValid(Mode_t mode, Submode_t submode) {
@@ -841,7 +968,7 @@ void StarTrackerHandler::bootFirmware(Mode_t toMode) {
   }
 }
 
-void StarTrackerHandler::setUpJsonCfgs(JsonConfigs& cfgs, const char* paramJsonFile) {
+void StarTrackerHandler::setUpJsonCfgs(JsonConfigs& cfgs, std::string paramJsonFile) {
   cfgs.tracking.init(paramJsonFile);
   cfgs.logLevel.init(paramJsonFile);
   cfgs.logSubscription.init(paramJsonFile);
@@ -860,6 +987,74 @@ void StarTrackerHandler::setUpJsonCfgs(JsonConfigs& cfgs, const char* paramJsonF
   JCFG_DONE = true;
 }
 
+ReturnValue_t StarTrackerHandler::statusFieldCheck(const uint8_t* rawFrame) {
+  uint8_t status = startracker::getStatusField(rawFrame);
+  if (status != startracker::STATUS_OK) {
+    sif::warning << "StarTrackerHandler::handleTm: Reply error: "
+                 << static_cast<unsigned int>(status) << std::endl;
+    return REPLY_ERROR;
+  }
+  return returnvalue::OK;
+}
+
+void StarTrackerHandler::addSecondaryTmForNormalMode(DeviceCommandId_t cmd) {
+  additionalRequestedTm.emplace(cmd);
+}
+
+void StarTrackerHandler::resetSecondaryTmSet() {
+  additionalRequestedTm.clear();
+  additionalRequestedTm.emplace(startracker::REQ_TEMPERATURE);
+  currentSecondaryTmIter = additionalRequestedTm.begin();
+  {
+    PoolReadGuard pg(&autoBlobSet);
+    if (pg.getReadResult() == returnvalue::OK) {
+      autoBlobSet.setValidity(false, true);
+    }
+  }
+  {
+    PoolReadGuard pg(&matchedCentroidsSet);
+    if (pg.getReadResult() == returnvalue::OK) {
+      matchedCentroidsSet.setValidity(false, true);
+    }
+  }
+  {
+    PoolReadGuard pg(&blobSet);
+    if (pg.getReadResult() == returnvalue::OK) {
+      blobSet.setValidity(false, true);
+    }
+  }
+  {
+    PoolReadGuard pg(&blobsSet);
+    if (pg.getReadResult() == returnvalue::OK) {
+      blobsSet.setValidity(false, true);
+    }
+  }
+  {
+    PoolReadGuard pg(&centroidSet);
+    if (pg.getReadResult() == returnvalue::OK) {
+      centroidSet.setValidity(false, true);
+    }
+  }
+  {
+    PoolReadGuard pg(&contrastSet);
+    if (pg.getReadResult() == returnvalue::OK) {
+      contrastSet.setValidity(false, true);
+    }
+  }
+  {
+    PoolReadGuard pg(&centroidsSet);
+    if (pg.getReadResult() == returnvalue::OK) {
+      centroidsSet.setValidity(false, true);
+    }
+  }
+  {
+    PoolReadGuard pg(&histogramSet);
+    if (pg.getReadResult() == returnvalue::OK) {
+      histogramSet.setValidity(false, true);
+    }
+  }
+}
+
 void StarTrackerHandler::bootBootloader() {
   if (internalState == InternalState::IDLE) {
     internalState = InternalState::BOOT_BOOTLOADER;
@@ -896,24 +1091,24 @@ ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t* start, size_t rema
     }
     case TMTC_ACTIONREPLY: {
       *foundLen = remainingSize;
+      fullPacketLen = remainingSize;
       return scanForActionReply(startracker::getId(start), foundId);
-      break;
     }
     case TMTC_SETPARAMREPLY: {
       *foundLen = remainingSize;
+      fullPacketLen = remainingSize;
       return scanForSetParameterReply(startracker::getId(start), foundId);
-      break;
     }
     case TMTC_PARAMREPLY: {
       *foundLen = remainingSize;
+      fullPacketLen = remainingSize;
       return scanForGetParameterReply(startracker::getId(start), foundId);
-      break;
     }
     case TMTC_TELEMETRYREPLYA:
     case TMTC_TELEMETRYREPLY: {
       *foundLen = remainingSize;
+      fullPacketLen = remainingSize;
       return scanForTmReply(startracker::getId(start), foundId);
-      break;
     }
     default: {
       sif::debug << "StarTrackerHandler::scanForReply: Reply has invalid type id" << std::endl;
@@ -933,7 +1128,7 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
       break;
     }
     case (startracker::REQ_TIME): {
-      result = handleTm(packet, timeSet, startracker::TimeSet::SIZE, "REQ_TIME");
+      result = handleTm(packet, timeSet, "REQ_TIME");
       break;
     }
     case (startracker::PING_REQUEST): {
@@ -948,7 +1143,7 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
       break;
     }
     case (startracker::REQ_VERSION): {
-      result = handleTm(packet, versionSet, startracker::VersionSet::SIZE, "REQ_VERSION");
+      result = handleTm(packet, versionSet, "REQ_VERSION");
       if (result != returnvalue::OK) {
         return result;
       }
@@ -959,23 +1154,51 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
       break;
     }
     case (startracker::REQ_INTERFACE): {
-      result = handleTm(packet, interfaceSet, startracker::InterfaceSet::SIZE, "REQ_INTERFACE");
+      result = handleTm(packet, interfaceSet, "REQ_INTERFACE");
       break;
     }
     case (startracker::REQ_POWER): {
-      result = handleTm(packet, powerSet, startracker::PowerSet::SIZE, "REQ_POWER");
+      result = handleTm(packet, powerSet, "REQ_POWER");
       break;
     }
     case (startracker::REQ_SOLUTION): {
-      result = handleTm(packet, solutionSet, startracker::SolutionSet::SIZE, "REQ_SOLUTION");
+      result = handleTm(packet, solutionSet, "REQ_SOLUTION");
+      break;
+    }
+    case (startracker::REQ_CONTRAST): {
+      result = handleTm(packet, contrastSet, "REQ_CONTRAST");
+      break;
+    }
+    case (startracker::REQ_AUTO_BLOB): {
+      result = handleAutoBlobTm(packet);
+      break;
+    }
+    case (startracker::REQ_MATCHED_CENTROIDS): {
+      result = handleMatchedCentroidTm(packet);
+      break;
+    }
+    case (startracker::REQ_BLOB): {
+      result = handleBlobTm(packet);
+      break;
+    }
+    case (startracker::REQ_BLOBS): {
+      result = handleBlobsTm(packet);
+      break;
+    }
+    case (startracker::REQ_CENTROID): {
+      result = handleCentroidTm(packet);
+      break;
+    }
+    case (startracker::REQ_CENTROIDS): {
+      result = handleCentroidsTm(packet);
       break;
     }
     case (startracker::REQ_TEMPERATURE): {
-      result = handleTm(packet, temperatureSet, startracker::TemperatureSet::SIZE, "REQ_TEMP");
+      result = handleTm(packet, temperatureSet, "REQ_TEMP");
       break;
     }
     case (startracker::REQ_HISTOGRAM): {
-      result = handleTm(packet, histogramSet, startracker::HistogramSet::SIZE, "REQ_HISTO");
+      result = handleTm(packet, histogramSet, "REQ_HISTO");
       break;
     }
     case (startracker::SUBSCRIPTION):
@@ -1329,6 +1552,56 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
 
   localDataPoolMap.emplace(startracker::CHKSUM, new PoolEntry<uint32_t>({0}));
 
+  localDataPoolMap.emplace(startracker::TICKS_AUTO_BLOB, new PoolEntry<uint32_t>());
+  localDataPoolMap.emplace(startracker::TIME_AUTO_BLOB, new PoolEntry<uint64_t>());
+  localDataPoolMap.emplace(startracker::AUTO_BLOB_THRESHOLD, new PoolEntry<float>());
+
+  localDataPoolMap.emplace(startracker::PoolIds::NUM_MATCHED_CENTROIDS, new PoolEntry<uint8_t>());
+  localDataPoolMap.emplace(startracker::PoolIds::MATCHED_CENTROIDS_STAR_IDS,
+                           new PoolEntry<uint32_t>(16));
+  localDataPoolMap.emplace(startracker::PoolIds::MATCHED_CENTROIDS_X_COORDS,
+                           new PoolEntry<float>(16));
+  localDataPoolMap.emplace(startracker::PoolIds::MATCHED_CENTROIDS_Y_COORDS,
+                           new PoolEntry<float>(16));
+  localDataPoolMap.emplace(startracker::PoolIds::MATCHED_CENTROIDS_X_ERRORS,
+                           new PoolEntry<float>(16));
+  localDataPoolMap.emplace(startracker::PoolIds::MATCHED_CENTROIDS_Y_ERRORS,
+                           new PoolEntry<float>(16));
+  localDataPoolMap.emplace(startracker::PoolIds::TICKS_MATCHED_CENTROIDS,
+                           new PoolEntry<uint32_t>());
+  localDataPoolMap.emplace(startracker::PoolIds::TIME_MATCHED_CENTROIDS, new PoolEntry<uint64_t>());
+
+  localDataPoolMap.emplace(startracker::PoolIds::BLOB_TICKS, new PoolEntry<uint32_t>());
+  localDataPoolMap.emplace(startracker::PoolIds::BLOB_TIME, new PoolEntry<uint64_t>());
+  localDataPoolMap.emplace(startracker::PoolIds::BLOB_COUNT, new PoolEntry<uint32_t>());
+
+  localDataPoolMap.emplace(startracker::PoolIds::BLOBS_TICKS, new PoolEntry<uint32_t>());
+  localDataPoolMap.emplace(startracker::PoolIds::BLOBS_TIME, new PoolEntry<uint64_t>());
+  localDataPoolMap.emplace(startracker::PoolIds::BLOBS_COUNT, new PoolEntry<uint16_t>());
+  localDataPoolMap.emplace(startracker::PoolIds::BLOBS_COUNT_USED, new PoolEntry<uint16_t>());
+  localDataPoolMap.emplace(startracker::PoolIds::BLOBS_NR_4LINES_SKIPPED,
+                           new PoolEntry<uint16_t>());
+  localDataPoolMap.emplace(startracker::PoolIds::BLOBS_X_COORDS, new PoolEntry<uint16_t>(8));
+  localDataPoolMap.emplace(startracker::PoolIds::BLOBS_Y_COORDS, new PoolEntry<uint16_t>(8));
+
+  localDataPoolMap.emplace(startracker::PoolIds::CENTROID_TICKS, new PoolEntry<uint32_t>());
+  localDataPoolMap.emplace(startracker::PoolIds::CENTROID_TIME, new PoolEntry<uint64_t>());
+  localDataPoolMap.emplace(startracker::PoolIds::CENTROID_COUNT, new PoolEntry<uint32_t>());
+
+  localDataPoolMap.emplace(startracker::PoolIds::CENTROIDS_TICKS, new PoolEntry<uint32_t>());
+  localDataPoolMap.emplace(startracker::PoolIds::CENTROIDS_TIME, new PoolEntry<uint64_t>());
+  localDataPoolMap.emplace(startracker::PoolIds::CENTROIDS_COUNT, new PoolEntry<uint16_t>());
+  localDataPoolMap.emplace(startracker::PoolIds::CENTROIDS_X_COORDS, new PoolEntry<float>(16));
+  localDataPoolMap.emplace(startracker::PoolIds::CENTROIDS_Y_COORDS, new PoolEntry<float>(16));
+  localDataPoolMap.emplace(startracker::PoolIds::CENTROIDS_MAGNITUDES, new PoolEntry<uint8_t>(16));
+
+  localDataPoolMap.emplace(startracker::PoolIds::CONTRAST_TICKS, new PoolEntry<uint32_t>());
+  localDataPoolMap.emplace(startracker::PoolIds::CONTRAST_TIME, new PoolEntry<uint64_t>());
+  localDataPoolMap.emplace(startracker::PoolIds::CONTRAST_A, new PoolEntry<uint32_t>(9));
+  localDataPoolMap.emplace(startracker::PoolIds::CONTRAST_B, new PoolEntry<uint32_t>(9));
+  localDataPoolMap.emplace(startracker::PoolIds::CONTRAST_C, new PoolEntry<uint32_t>(9));
+  localDataPoolMap.emplace(startracker::PoolIds::CONTRAST_D, new PoolEntry<uint32_t>(9));
+
   poolManager.subscribeForDiagPeriodicPacket(
       subdp::DiagnosticsHkPeriodicParams(temperatureSet.getSid(), false, 10.0));
   poolManager.subscribeForRegularPeriodicPacket(
@@ -1343,6 +1616,20 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
       subdp::RegularHkPeriodicParams(histogramSet.getSid(), false, 10.0));
   poolManager.subscribeForRegularPeriodicPacket(
       subdp::RegularHkPeriodicParams(lisaSet.getSid(), false, 10.0));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(autoBlobSet.getSid(), false, 10.0));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(matchedCentroidsSet.getSid(), false, 10.0));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(blobSet.getSid(), false, 10.0));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(blobsSet.getSid(), false, 10.0));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(centroidSet.getSid(), false, 10.0));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(centroidsSet.getSid(), false, 10.0));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(contrastSet.getSid(), false, 10.0));
   return returnvalue::OK;
 }
 
@@ -1584,8 +1871,36 @@ ReturnValue_t StarTrackerHandler::scanForTmReply(uint8_t replyId, DeviceCommandI
       *foundId = startracker::REQ_SOLUTION;
       break;
     }
+    case (startracker::ID::BLOB): {
+      *foundId = startracker::REQ_BLOB;
+      break;
+    }
+    case (startracker::ID::BLOBS): {
+      *foundId = startracker::REQ_BLOBS;
+      break;
+    }
+    case (startracker::ID::CENTROID): {
+      *foundId = startracker::REQ_CENTROID;
+      break;
+    }
+    case (startracker::ID::CENTROIDS): {
+      *foundId = startracker::REQ_CENTROIDS;
+      break;
+    }
+    case (startracker::ID::AUTO_BLOB): {
+      *foundId = startracker::REQ_AUTO_BLOB;
+      break;
+    }
+    case (startracker::ID::MATCHED_CENTROIDS): {
+      *foundId = startracker::REQ_MATCHED_CENTROIDS;
+      break;
+    }
+    case (startracker::ID::CONTRAST): {
+      *foundId = startracker::REQ_CONTRAST;
+      break;
+    }
     default: {
-      sif::debug << "StarTrackerHandler::scanForTmReply: Reply contains invalid reply id: "
+      sif::debug << "StarTrackerHandler::scanForTmReply: Reply contains invalid reply ID: "
                  << static_cast<unsigned int>(replyId) << std::endl;
       return returnvalue::FAILED;
       break;
@@ -1760,6 +2075,62 @@ void StarTrackerHandler::prepareHistogramRequest() {
   rawPacketLen = length;
 }
 
+ReturnValue_t StarTrackerHandler::prepareRequestAutoBlobTm() {
+  uint32_t length = 0;
+  arc_tm_pack_autoblob_req(commandBuffer, &length);
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
+  return returnvalue::OK;
+}
+
+ReturnValue_t StarTrackerHandler::prepareRequestMatchedCentroidsTm() {
+  uint32_t length = 0;
+  arc_tm_pack_matchedcentroids_req(commandBuffer, &length);
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
+  return returnvalue::OK;
+}
+
+ReturnValue_t StarTrackerHandler::prepareRequestBlobTm() {
+  uint32_t length = 0;
+  arc_tm_pack_blob_req(commandBuffer, &length);
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
+  return returnvalue::OK;
+}
+
+ReturnValue_t StarTrackerHandler::prepareRequestBlobsTm() {
+  uint32_t length = 0;
+  arc_tm_pack_blobs_req(commandBuffer, &length);
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
+  return returnvalue::OK;
+}
+
+ReturnValue_t StarTrackerHandler::prepareRequestCentroidTm() {
+  uint32_t length = 0;
+  arc_tm_pack_centroid_req(commandBuffer, &length);
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
+  return returnvalue::OK;
+}
+
+ReturnValue_t StarTrackerHandler::prepareRequestCentroidsTm() {
+  uint32_t length = 0;
+  arc_tm_pack_centroids_req(commandBuffer, &length);
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
+  return returnvalue::OK;
+}
+
+ReturnValue_t StarTrackerHandler::prepareRequestContrastTm() {
+  uint32_t length = 0;
+  arc_tm_pack_contrast_req(commandBuffer, &length);
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
+  return returnvalue::OK;
+}
+
 ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData,
                                                       size_t commandDataLen,
                                                       ArcsecJsonParamBase& paramSet,
@@ -2038,13 +2409,10 @@ ReturnValue_t StarTrackerHandler::checkProgram() {
 }
 
 ReturnValue_t StarTrackerHandler::handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset,
-                                           size_t size, const char* context) {
-  ReturnValue_t result = returnvalue::OK;
-  uint8_t status = startracker::getStatusField(rawFrame);
-  if (status != startracker::STATUS_OK) {
-    sif::warning << "StarTrackerHandler::handleTm: Reply error: "
-                 << static_cast<unsigned int>(status) << std::endl;
-    return REPLY_ERROR;
+                                           const char* context) {
+  ReturnValue_t result = statusFieldCheck(rawFrame);
+  if (result != returnvalue::OK) {
+    return result;
   }
   result = dataset.read(TIMEOUT_TYPE, MUTEX_TIMEOUT);
   if (result != returnvalue::OK) {
@@ -2052,10 +2420,11 @@ ReturnValue_t StarTrackerHandler::handleTm(const uint8_t* rawFrame, LocalPoolDat
   }
   const uint8_t* reply = rawFrame + TICKS_OFFSET;
   dataset.setValidityBufferGeneration(false);
-  result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE);
+  size_t sizeLeft = fullPacketLen;
+  result = dataset.deSerialize(&reply, &sizeLeft, SerializeIF::Endianness::LITTLE);
   if (result != returnvalue::OK) {
-    sif::warning << "StarTrackerHandler::handleTm: Deserialization failed for " << context
-                 << std::endl;
+    sif::warning << "StarTrackerHandler::handleTm: Deserialization failed for " << context << ": 0x"
+                 << std::hex << std::setw(4) << result << std::dec << std::endl;
   }
   dataset.setValidityBufferGeneration(true);
   dataset.setValidity(true, true);
@@ -2069,6 +2438,262 @@ ReturnValue_t StarTrackerHandler::handleTm(const uint8_t* rawFrame, LocalPoolDat
   return result;
 }
 
+ReturnValue_t StarTrackerHandler::handleAutoBlobTm(const uint8_t* rawFrame) {
+  ReturnValue_t result = statusFieldCheck(rawFrame);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  rawFrame += TICKS_OFFSET;
+  size_t remainingLen = fullPacketLen;
+  PoolReadGuard pg(&autoBlobSet);
+  result = pg.getReadResult();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = SerializeAdapter::deSerialize(&autoBlobSet.ticks, &rawFrame, &remainingLen,
+                                         SerializeIF::Endianness::LITTLE);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = SerializeAdapter::deSerialize(&autoBlobSet.timeUs, &rawFrame, &remainingLen,
+                                         SerializeIF::Endianness::LITTLE);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = SerializeAdapter::deSerialize(&autoBlobSet.threshold, &rawFrame, &remainingLen,
+                                         SerializeIF::Endianness::LITTLE);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  autoBlobSet.setValidity(true, true);
+  return returnvalue::OK;
+}
+
+ReturnValue_t StarTrackerHandler::handleMatchedCentroidTm(const uint8_t* rawFrame) {
+  ReturnValue_t result = statusFieldCheck(rawFrame);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  rawFrame += TICKS_OFFSET;
+  size_t remainingLen = fullPacketLen;
+  PoolReadGuard pg(&matchedCentroidsSet);
+  result = pg.getReadResult();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = SerializeAdapter::deSerialize(&matchedCentroidsSet.ticks, &rawFrame, &remainingLen,
+                                         SerializeIF::Endianness::LITTLE);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = SerializeAdapter::deSerialize(&matchedCentroidsSet.timeUs, &rawFrame, &remainingLen,
+                                         SerializeIF::Endianness::LITTLE);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = SerializeAdapter::deSerialize(&matchedCentroidsSet.numberOfMatchedCentroids, &rawFrame,
+                                         &remainingLen, SerializeIF::Endianness::LITTLE);
+
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  // Yeah, we serialize it like that because I can't model anything with that local datapool crap.
+  for (unsigned idx = 0; idx < 16; idx++) {
+    result = SerializeAdapter::deSerialize(&matchedCentroidsSet.starIds[idx], &rawFrame,
+                                           &remainingLen, SerializeIF::Endianness::LITTLE);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = SerializeAdapter::deSerialize(&matchedCentroidsSet.xCoords[idx], &rawFrame,
+                                           &remainingLen, SerializeIF::Endianness::LITTLE);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = SerializeAdapter::deSerialize(&matchedCentroidsSet.yCoords[idx], &rawFrame,
+                                           &remainingLen, SerializeIF::Endianness::LITTLE);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = SerializeAdapter::deSerialize(&matchedCentroidsSet.xErrors[idx], &rawFrame,
+                                           &remainingLen, SerializeIF::Endianness::LITTLE);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = SerializeAdapter::deSerialize(&matchedCentroidsSet.yErrors[idx], &rawFrame,
+                                           &remainingLen, SerializeIF::Endianness::LITTLE);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+  }
+  matchedCentroidsSet.setValidity(true, true);
+  return returnvalue::OK;
+}
+
+ReturnValue_t StarTrackerHandler::handleBlobTm(const uint8_t* rawFrame) {
+  ReturnValue_t result = statusFieldCheck(rawFrame);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  rawFrame += TICKS_OFFSET;
+  size_t remainingLen = fullPacketLen;
+  PoolReadGuard pg(&blobsSet);
+  result = pg.getReadResult();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = SerializeAdapter::deSerialize(&blobSet.ticks, &rawFrame, &remainingLen,
+                                         SerializeIF::Endianness::LITTLE);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = SerializeAdapter::deSerialize(&blobSet.timeUs, &rawFrame, &remainingLen,
+                                         SerializeIF::Endianness::LITTLE);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = SerializeAdapter::deSerialize(&blobSet.blobCount, &rawFrame, &remainingLen,
+                                         SerializeIF::Endianness::LITTLE);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  blobSet.setValidity(true, true);
+  return returnvalue::OK;
+}
+
+ReturnValue_t StarTrackerHandler::handleBlobsTm(const uint8_t* rawFrame) {
+  ReturnValue_t result = statusFieldCheck(rawFrame);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  rawFrame += TICKS_OFFSET;
+  size_t remainingLen = fullPacketLen;
+  PoolReadGuard pg(&blobsSet);
+  result = pg.getReadResult();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = SerializeAdapter::deSerialize(&blobsSet.ticks, &rawFrame, &remainingLen,
+                                         SerializeIF::Endianness::LITTLE);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = SerializeAdapter::deSerialize(&blobsSet.timeUs, &rawFrame, &remainingLen,
+                                         SerializeIF::Endianness::LITTLE);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = SerializeAdapter::deSerialize(&blobsSet.blobsCount, &rawFrame, &remainingLen,
+                                         SerializeIF::Endianness::LITTLE);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = SerializeAdapter::deSerialize(&blobsSet.blobsCountUsed, &rawFrame, &remainingLen,
+                                         SerializeIF::Endianness::LITTLE);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = SerializeAdapter::deSerialize(&blobsSet.nr4LinesSkipped, &rawFrame, &remainingLen,
+                                         SerializeIF::Endianness::LITTLE);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  for (unsigned idx = 0; idx < 8; idx++) {
+    result = SerializeAdapter::deSerialize(&blobsSet.xCoords[idx], &rawFrame, &remainingLen,
+                                           SerializeIF::Endianness::LITTLE);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = SerializeAdapter::deSerialize(&blobsSet.yCoords[idx], &rawFrame, &remainingLen,
+                                           SerializeIF::Endianness::LITTLE);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+  }
+  blobsSet.setValidity(true, true);
+  return returnvalue::OK;
+}
+
+ReturnValue_t StarTrackerHandler::handleCentroidTm(const uint8_t* rawFrame) {
+  ReturnValue_t result = statusFieldCheck(rawFrame);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  rawFrame += TICKS_OFFSET;
+  size_t remainingLen = fullPacketLen;
+  PoolReadGuard pg(&centroidsSet);
+  result = pg.getReadResult();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+
+  result = SerializeAdapter::deSerialize(&centroidSet.ticks, &rawFrame, &remainingLen,
+                                         SerializeIF::Endianness::LITTLE);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = SerializeAdapter::deSerialize(&centroidSet.timeUs, &rawFrame, &remainingLen,
+                                         SerializeIF::Endianness::LITTLE);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = SerializeAdapter::deSerialize(&centroidSet.centroidCount, &rawFrame, &remainingLen,
+                                         SerializeIF::Endianness::LITTLE);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  centroidSet.setValidity(true, true);
+  return returnvalue::OK;
+}
+
+ReturnValue_t StarTrackerHandler::handleCentroidsTm(const uint8_t* rawFrame) {
+  ReturnValue_t result = statusFieldCheck(rawFrame);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  rawFrame += TICKS_OFFSET;
+  size_t remainingLen = fullPacketLen;
+  PoolReadGuard pg(&centroidsSet);
+  result = pg.getReadResult();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+
+  result = SerializeAdapter::deSerialize(&centroidsSet.ticksCentroidsTm, &rawFrame, &remainingLen,
+                                         SerializeIF::Endianness::LITTLE);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = SerializeAdapter::deSerialize(&centroidsSet.timeUsCentroidsTm, &rawFrame, &remainingLen,
+                                         SerializeIF::Endianness::LITTLE);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = SerializeAdapter::deSerialize(&centroidsSet.centroidsCount, &rawFrame, &remainingLen,
+                                         SerializeIF::Endianness::LITTLE);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  for (unsigned idx = 0; idx < 16; idx++) {
+    result = SerializeAdapter::deSerialize(&centroidsSet.centroidsXCoords[idx], &rawFrame,
+                                           &remainingLen, SerializeIF::Endianness::LITTLE);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = SerializeAdapter::deSerialize(&centroidsSet.centroidsYCoords[idx], &rawFrame,
+                                           &remainingLen, SerializeIF::Endianness::LITTLE);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = SerializeAdapter::deSerialize(&centroidsSet.centroidsMagnitudes[idx], &rawFrame,
+                                           &remainingLen, SerializeIF::Endianness::LITTLE);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+  }
+  centroidsSet.setValidity(true, true);
+  return returnvalue::OK;
+}
+
 ReturnValue_t StarTrackerHandler::handleActionReplySet(const uint8_t* rawFrame,
                                                        LocalPoolDataSetBase& dataset, size_t size) {
   ReturnValue_t result = returnvalue::OK;
@@ -2204,10 +2829,17 @@ ReturnValue_t StarTrackerHandler::checkCommand(ActionId_t actionId) {
     case startracker::REQ_SUBSCRIPTION:
     case startracker::REQ_LOG_SUBSCRIPTION:
     case startracker::REQ_DEBUG_CAMERA:
+    case startracker::REQ_MATCHED_CENTROIDS:
+    case startracker::REQ_BLOB:
+    case startracker::REQ_BLOBS:
+    case startracker::REQ_CENTROID:
+    case startracker::REQ_CENTROIDS:
+    case startracker::REQ_CONTRAST: {
       if (getMode() == MODE_ON and getSubmode() != startracker::Program::FIRMWARE) {
         return STARTRACKER_NOT_RUNNING_FIRMWARE;
       }
       break;
+    }
     case startracker::FIRMWARE_UPDATE:
     case startracker::FLASH_READ:
       if (getMode() != MODE_ON or getSubmode() != startracker::Program::BOOTLOADER) {
@@ -2219,3 +2851,5 @@ ReturnValue_t StarTrackerHandler::checkCommand(ActionId_t actionId) {
   }
   return returnvalue::OK;
 }
+
+ReturnValue_t StarTrackerHandler::acceptExternalDeviceCommands() { return returnvalue::OK; }

mission/acs/str/StarTrackerHandler.h

@@ -8,6 +8,7 @@
 #include <mission/acs/str/strJsonCommands.h>
 #include <thirdparty/sagittactl/wire/common/genericstructs.h>
 
+#include <set>
 #include <thread>
 
 #include "OBSWConfig.h"
@@ -26,7 +27,9 @@ extern "C" {
  * @details Datasheet: https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/
  *                     Arbeitsdaten/08_Used%20Components/ArcSec_KULeuven_Startracker/
  *                     Sagitta%201.0%20Datapack&fileid=659181
- * @author	J. Meier
+ * @note The STR code is a chaotic inconsistent mess and should be re-written with a simpler base
+ *       class. DO NOT USE THIS AS REFERENCE. Stay away from it.
+ * @author	J. Meier, R. Mueller
  */
 class StarTrackerHandler : public DeviceHandlerBase {
  public:
@@ -41,8 +44,8 @@ class StarTrackerHandler : public DeviceHandlerBase {
    * 						to high to enable the device.
    */
   StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-                     const char* jsonFileStr, StrComHandler* strHelper,
-                     power::Switch_t powerSwitch);
+                     StrComHandler* strHelper, power::Switch_t powerSwitch,
+                     startracker::SdCardConfigPathGetter& cfgPathGetter);
   virtual ~StarTrackerHandler();
 
   ReturnValue_t initialize() override;
@@ -151,6 +154,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
   static const uint8_t PARAMS_OFFSET = 2;
   static const uint8_t TICKS_OFFSET = 3;
   static const uint8_t TIME_OFFSET = 7;
+  static const uint8_t TM_PARAM_OFFSET = 15;
   static const uint8_t PARAMETER_ID_OFFSET = 1;
   static const uint8_t ACTION_ID_OFFSET = 1;
   static const uint8_t ACTION_DATA_OFFSET = 3;
@@ -204,6 +208,13 @@ class StarTrackerHandler : public DeviceHandlerBase {
   startracker::SubscriptionSet subscriptionSet;
   startracker::LogSubscriptionSet logSubscriptionSet;
   startracker::DebugCameraSet debugCameraSet;
+  startracker::AutoBlobSet autoBlobSet;
+  startracker::MatchedCentroidsSet matchedCentroidsSet;
+  startracker::BlobSet blobSet;
+  startracker::BlobsSet blobsSet;
+  startracker::CentroidSet centroidSet;
+  startracker::CentroidsSet centroidsSet;
+  startracker::ContrastSet contrastSet;
 
   // Pointer to object responsible for uploading and downloading images to/from the star tracker
   StrComHandler* strHelper = nullptr;
@@ -231,17 +242,18 @@ class StarTrackerHandler : public DeviceHandlerBase {
     Subscription subscription;
     AutoThreshold autoThreshold;
   };
+  bool jcfgPending = false;
   JsonConfigs jcfgs;
-  Countdown jcfgCountdown = Countdown(250);
+  Countdown jcfgCountdown = Countdown(1000);
   bool commandExecuted = false;
   std::thread jsonCfgTask;
-  static void setUpJsonCfgs(JsonConfigs& cfgs, const char* paramJsonFile);
+  static void setUpJsonCfgs(JsonConfigs& cfgs, std::string paramJsonFile);
 
   std::string paramJsonFile;
 
-  enum class NormalState { TEMPERATURE_REQUEST, SOLUTION_REQUEST };
+  enum class NormalState { SECONDARY_REQUEST, SOLUTION_REQUEST };
 
-  NormalState normalState = NormalState::TEMPERATURE_REQUEST;
+  NormalState normalState = NormalState::SECONDARY_REQUEST;
 
   enum class StartupState {
     IDLE,
@@ -297,6 +309,13 @@ class StarTrackerHandler : public DeviceHandlerBase {
 
   const power::Switch_t powerSwitch = power::NO_SWITCH;
 
+  size_t fullPacketLen = 0;
+
+  std::set<DeviceCommandId_t> additionalRequestedTm{};
+  std::set<DeviceCommandId_t>::iterator currentSecondaryTmIter;
+
+  startracker::SdCardConfigPathGetter& cfgPathGetter;
+
   /**
    * @brief   Handles internal state
    */
@@ -345,6 +364,18 @@ class StarTrackerHandler : public DeviceHandlerBase {
    */
   ReturnValue_t executeFlashReadCommand(const uint8_t* commandData, size_t commandDataLen);
 
+  /**
+   * Add a TM request to the list of telemetry which will be polled in the secondary step of
+   * the device communication.
+   * @param cmd
+   */
+  void addSecondaryTmForNormalMode(DeviceCommandId_t cmd);
+
+  /**
+   * Reset the secondary set, which will only contain a TEMPERATURE set request after the reset.
+   */
+  void resetSecondaryTmSet();
+
   /**
    * @brief   Fills command buffer with data to boot image (works only when star tracker is
    *          in bootloader mode).
@@ -429,6 +460,13 @@ class StarTrackerHandler : public DeviceHandlerBase {
   ReturnValue_t prepareRequestCentroidingParams();
   ReturnValue_t prepareRequestLisaParams();
   ReturnValue_t prepareRequestMatchingParams();
+  ReturnValue_t prepareRequestAutoBlobTm();
+  ReturnValue_t prepareRequestMatchedCentroidsTm();
+  ReturnValue_t prepareRequestBlobTm();
+  ReturnValue_t prepareRequestBlobsTm();
+  ReturnValue_t prepareRequestCentroidTm();
+  ReturnValue_t prepareRequestCentroidsTm();
+  ReturnValue_t prepareRequestContrastTm();
   ReturnValue_t prepareRequestTrackingParams();
   ReturnValue_t prepareRequestValidationParams();
   ReturnValue_t prepareRequestAlgoParams();
@@ -477,6 +515,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
    */
   void handleStartup(uint8_t tmType, uint8_t parameterId);
 
+  ReturnValue_t statusFieldCheck(const uint8_t* rawFrame);
   /**
    * @brief   Handles telemtry replies and fills the appropriate dataset
    *
@@ -485,9 +524,16 @@ class StarTrackerHandler : public DeviceHandlerBase {
    *
    * @return  returnvalue::OK if successful, otherwise error return value
    */
-  ReturnValue_t handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset, size_t size,
+  ReturnValue_t handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset,
                          const char* context);
 
+  ReturnValue_t handleAutoBlobTm(const uint8_t* rawFrame);
+  ReturnValue_t handleMatchedCentroidTm(const uint8_t* rawFrame);
+  ReturnValue_t handleBlobTm(const uint8_t* rawFrame);
+  ReturnValue_t handleBlobsTm(const uint8_t* rawFrame);
+  ReturnValue_t handleCentroidTm(const uint8_t* rawFrame);
+  ReturnValue_t handleCentroidsTm(const uint8_t* rawFrame);
+
   /**
    * @brief Checks if star tracker is in valid mode for executing the received command.
    *
@@ -501,6 +547,8 @@ class StarTrackerHandler : public DeviceHandlerBase {
   void doNormalTransition(Mode_t modeFrom, Submode_t subModeFrom);
   void bootFirmware(Mode_t toMode);
   void bootBootloader();
+  bool reloadJsonCfgFile();
+  ReturnValue_t acceptExternalDeviceCommands() override;
 };
 
 #endif /* MISSION_DEVICES_STARTRACKERHANDLER_H_ */

mission/acs/str/strHelpers.h

@@ -7,13 +7,19 @@
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
 
-#include "objects/systemObjectList.h"
+#include <optional>
 
 namespace startracker {
 
 static const Submode_t SUBMODE_BOOTLOADER = 1;
 static const Submode_t SUBMODE_FIRMWARE = 2;
 
+class SdCardConfigPathGetter {
+ public:
+  virtual ~SdCardConfigPathGetter() = default;
+  virtual std::optional<std::string> getCfgPath() = 0;
+};
+
 /**
  * @brief    Returns the frame type field of a decoded frame.
  */
@@ -272,7 +278,50 @@ enum PoolIds : lp_id_t {
   LOG_SUBSCRIPTION_LEVEL2,
   LOG_SUBSCRIPTION_MODULE2,
   DEBUG_CAMERA_TIMING,
-  DEBUG_CAMERA_TEST
+  DEBUG_CAMERA_TEST,
+
+  TICKS_AUTO_BLOB,
+  TIME_AUTO_BLOB,
+  AUTO_BLOB_THRESHOLD,
+
+  TICKS_MATCHED_CENTROIDS,
+  TIME_MATCHED_CENTROIDS,
+  NUM_MATCHED_CENTROIDS,
+  MATCHED_CENTROIDS_STAR_IDS,
+  MATCHED_CENTROIDS_X_COORDS,
+  MATCHED_CENTROIDS_Y_COORDS,
+  MATCHED_CENTROIDS_X_ERRORS,
+  MATCHED_CENTROIDS_Y_ERRORS,
+
+  BLOB_TICKS,
+  BLOB_TIME,
+  BLOB_COUNT,
+
+  BLOBS_TICKS,
+  BLOBS_TIME,
+  BLOBS_COUNT,
+  BLOBS_COUNT_USED,
+  BLOBS_NR_4LINES_SKIPPED,
+  BLOBS_X_COORDS,
+  BLOBS_Y_COORDS,
+
+  CENTROID_TICKS,
+  CENTROID_TIME,
+  CENTROID_COUNT,
+
+  CENTROIDS_TICKS,
+  CENTROIDS_TIME,
+  CENTROIDS_COUNT,
+  CENTROIDS_X_COORDS,
+  CENTROIDS_Y_COORDS,
+  CENTROIDS_MAGNITUDES,
+
+  CONTRAST_TICKS,
+  CONTRAST_TIME,
+  CONTRAST_A,
+  CONTRAST_B,
+  CONTRAST_C,
+  CONTRAST_D,
 };
 
 static const DeviceCommandId_t PING_REQUEST = 0;
@@ -291,6 +340,7 @@ static const DeviceCommandId_t IMAGE_PROCESSOR = 19;
 static const DeviceCommandId_t REQ_SOLUTION = 24;
 static const DeviceCommandId_t REQ_TEMPERATURE = 25;
 static const DeviceCommandId_t REQ_HISTOGRAM = 28;
+static constexpr DeviceCommandId_t REQ_CONTRAST = 29;
 static const DeviceCommandId_t LIMITS = 40;
 static const DeviceCommandId_t MOUNTING = 41;
 static const DeviceCommandId_t CAMERA = 42;
@@ -328,6 +378,16 @@ static const DeviceCommandId_t DISABLE_TIMESTAMP_GENERATION = 85;
 static const DeviceCommandId_t ENABLE_TIMESTAMP_GENERATION = 86;
 static constexpr DeviceCommandId_t SET_TIME_FROM_SYS_TIME = 87;
 static constexpr DeviceCommandId_t AUTO_THRESHOLD = 88;
+static constexpr DeviceCommandId_t REQ_AUTO_BLOB = 89;
+static constexpr DeviceCommandId_t REQ_MATCHED_CENTROIDS = 90;
+static constexpr DeviceCommandId_t REQ_BLOB = 91;
+static constexpr DeviceCommandId_t REQ_BLOBS = 92;
+static constexpr DeviceCommandId_t REQ_CENTROID = 93;
+static constexpr DeviceCommandId_t REQ_CENTROIDS = 94;
+static constexpr DeviceCommandId_t ADD_SECONDARY_TM_TO_NORMAL_MODE = 95;
+static constexpr DeviceCommandId_t RESET_SECONDARY_TM_SET = 96;
+static constexpr DeviceCommandId_t READ_SECONDARY_TM_SET = 97;
+static constexpr DeviceCommandId_t RELOAD_JSON_CFG_FILE = 100;
 static const DeviceCommandId_t NONE = 0xFFFFFFFF;
 
 static const uint32_t VERSION_SET_ID = REQ_VERSION;
@@ -352,6 +412,13 @@ static const uint32_t ALGO_SET_ID = REQ_ALGO;
 static const uint32_t SUBSCRIPTION_SET_ID = REQ_SUBSCRIPTION;
 static const uint32_t LOG_SUBSCRIPTION_SET_ID = REQ_LOG_SUBSCRIPTION;
 static const uint32_t DEBUG_CAMERA_SET_ID = REQ_DEBUG_CAMERA;
+static const uint32_t AUTO_BLOB_SET_ID = REQ_AUTO_BLOB;
+static const uint32_t MATCHED_CENTROIDS_SET_ID = REQ_MATCHED_CENTROIDS;
+static const uint32_t BLOB_SET_ID = REQ_BLOB;
+static const uint32_t BLOBS_SET_ID = REQ_BLOBS;
+static const uint32_t CENTROID_SET_ID = REQ_CENTROID;
+static const uint32_t CENTROIDS_SET_ID = REQ_CENTROIDS;
+static const uint32_t CONTRAST_SET_ID = REQ_CONTRAST;
 
 /** Max size of unencoded frame */
 static const size_t MAX_FRAME_SIZE = 1200;
@@ -412,6 +479,12 @@ static const uint8_t LOG_LEVEL = 3;
 static const uint8_t LOG_SUBSCRIPTION = 19;
 static const uint8_t DEBUG_CAMERA = 20;
 static const uint8_t AUTO_THRESHOLD = 23;
+static constexpr uint8_t BLOB = 25;
+static constexpr uint8_t BLOBS = 36;
+static constexpr uint8_t CENTROID = 26;
+static constexpr uint8_t CENTROIDS = 37;
+static constexpr uint8_t AUTO_BLOB = 39;
+static constexpr uint8_t MATCHED_CENTROIDS = 40;
 }  // namespace ID
 
 namespace Program {
@@ -474,8 +547,6 @@ static const uint32_t FLASH_REGION_SIZE = 0x20000;
  */
 class TemperatureSet : public StaticLocalDataSet<TEMPERATURE_SET_ENTRIES> {
  public:
-  static const size_t SIZE = 24;
-
   TemperatureSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, TEMPERATURE_SET_ID) {}
 
   TemperatureSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, TEMPERATURE_SET_ID)) {}
@@ -505,8 +576,6 @@ class TemperatureSet : public StaticLocalDataSet<TEMPERATURE_SET_ENTRIES> {
  */
 class VersionSet : public StaticLocalDataSet<VERSION_SET_ENTRIES> {
  public:
-  static const size_t SIZE = 15;
-
   VersionSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, VERSION_SET_ID) {}
 
   VersionSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, VERSION_SET_ID)) {}
@@ -536,8 +605,6 @@ class VersionSet : public StaticLocalDataSet<VERSION_SET_ENTRIES> {
  */
 class InterfaceSet : public StaticLocalDataSet<INTERFACE_SET_ENTRIES> {
  public:
-  static const size_t SIZE = 20;
-
   InterfaceSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, REQ_INTERFACE) {}
 
   InterfaceSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, REQ_INTERFACE)) {}
@@ -565,8 +632,6 @@ class InterfaceSet : public StaticLocalDataSet<INTERFACE_SET_ENTRIES> {
  */
 class PowerSet : public StaticLocalDataSet<POWER_SET_ENTRIES> {
  public:
-  static const size_t SIZE = 76;
-
   PowerSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, REQ_INTERFACE) {}
 
   PowerSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, REQ_INTERFACE)) {}
@@ -630,8 +695,6 @@ class PowerSet : public StaticLocalDataSet<POWER_SET_ENTRIES> {
  */
 class TimeSet : public StaticLocalDataSet<TIME_SET_ENTRIES> {
  public:
-  static const size_t SIZE = 24;
-
   TimeSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, TIME_SET_ID) {}
 
   TimeSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, TIME_SET_ID)) {}
@@ -658,15 +721,13 @@ class TimeSet : public StaticLocalDataSet<TIME_SET_ENTRIES> {
  */
 class SolutionSet : public StaticLocalDataSet<SOLUTION_SET_ENTRIES> {
  public:
-  static const size_t SIZE = 79;
-
   SolutionSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, SOLUTION_SET_ID) {}
 
   SolutionSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, SOLUTION_SET_ID)) {}
 
   // Ticks timestamp
   lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_SOLUTION_SET, this);
-  /// Unix time stamp
+  // Unix time stamp
   lp_var_t<uint64_t> timeUs = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_SOLUTION_SET, this);
   // Calibrated quaternion (takes into account the mounting quaternion), typically same as
   // track q values
@@ -1381,6 +1442,123 @@ class ValidationSet : public StaticLocalDataSet<VALIDATION_SET_ENTRIES> {
   }
 };
 
+class AutoBlobSet : public StaticLocalDataSet<3> {
+ public:
+  AutoBlobSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, AUTO_BLOB_SET_ID) {}
+  // Ticks timestamp
+  lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_AUTO_BLOB, this);
+  // Unix time stamp
+  lp_var_t<uint64_t> timeUs = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_AUTO_BLOB, this);
+  lp_var_t<float> threshold = lp_var_t<float>(sid.objectId, PoolIds::AUTO_BLOB_THRESHOLD, this);
+
+ private:
+};
+
+class MatchedCentroidsSet : public StaticLocalDataSet<20> {
+ public:
+  MatchedCentroidsSet(HasLocalDataPoolIF* owner)
+      : StaticLocalDataSet(owner, MATCHED_CENTROIDS_SET_ID) {}
+  MatchedCentroidsSet(object_id_t objectId)
+      : StaticLocalDataSet(sid_t(objectId, MATCHED_CENTROIDS_SET_ID)) {}
+  // Ticks timestamp
+  lp_var_t<uint32_t> ticks =
+      lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_MATCHED_CENTROIDS, this);
+  // Unix time stamp
+  lp_var_t<uint64_t> timeUs =
+      lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_MATCHED_CENTROIDS, this);
+  lp_var_t<uint8_t> numberOfMatchedCentroids =
+      lp_var_t<uint8_t>(sid.objectId, PoolIds::NUM_MATCHED_CENTROIDS, this);
+  lp_vec_t<uint32_t, 16> starIds =
+      lp_vec_t<uint32_t, 16>(sid.objectId, PoolIds::MATCHED_CENTROIDS_STAR_IDS, this);
+  lp_vec_t<float, 16> xCoords =
+      lp_vec_t<float, 16>(sid.objectId, PoolIds::MATCHED_CENTROIDS_X_COORDS, this);
+  lp_vec_t<float, 16> yCoords =
+      lp_vec_t<float, 16>(sid.objectId, PoolIds::MATCHED_CENTROIDS_Y_COORDS, this);
+  lp_vec_t<float, 16> xErrors =
+      lp_vec_t<float, 16>(sid.objectId, PoolIds::MATCHED_CENTROIDS_X_ERRORS, this);
+  lp_vec_t<float, 16> yErrors =
+      lp_vec_t<float, 16>(sid.objectId, PoolIds::MATCHED_CENTROIDS_Y_ERRORS, this);
+
+ private:
+};
+
+class BlobSet : public StaticLocalDataSet<5> {
+ public:
+  BlobSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, BLOB_SET_ID) {}
+  // The blob count received from the Blob Telemetry Set (ID 25)
+  // Ticks timestamp
+  lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOB_TICKS, this);
+  // Unix time stamp
+  lp_var_t<uint64_t> timeUs = lp_var_t<uint64_t>(sid.objectId, PoolIds::BLOB_TIME, this);
+  lp_var_t<uint32_t> blobCount = lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOB_COUNT, this);
+};
+
+class BlobsSet : public StaticLocalDataSet<10> {
+ public:
+  BlobsSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, BLOBS_SET_ID) {}
+  // Ticks timestamp
+  lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOBS_TICKS, this);
+  // Unix time stamp
+  lp_var_t<uint64_t> timeUs = lp_var_t<uint64_t>(sid.objectId, PoolIds::BLOBS_TIME, this);
+  lp_var_t<uint16_t> blobsCount = lp_var_t<uint16_t>(sid.objectId, PoolIds::BLOBS_COUNT, this);
+  lp_var_t<uint16_t> blobsCountUsed =
+      lp_var_t<uint16_t>(sid.objectId, PoolIds::BLOBS_COUNT_USED, this);
+  lp_var_t<uint16_t> nr4LinesSkipped =
+      lp_var_t<uint16_t>(sid.objectId, PoolIds::BLOBS_NR_4LINES_SKIPPED, this);
+  lp_vec_t<uint16_t, 8> xCoords =
+      lp_vec_t<uint16_t, 8>(sid.objectId, PoolIds::BLOBS_X_COORDS, this);
+  lp_vec_t<uint16_t, 8> yCoords =
+      lp_vec_t<uint16_t, 8>(sid.objectId, PoolIds::BLOBS_Y_COORDS, this);
+};
+
+class CentroidSet : public StaticLocalDataSet<5> {
+ public:
+  CentroidSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, CENTROID_SET_ID) {}
+
+  // Data received from the Centroid Telemetry Set (ID 26)
+  // Ticks timestamp
+  lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::CENTROID_TICKS, this);
+  // Unix time stamp
+  lp_var_t<uint64_t> timeUs = lp_var_t<uint64_t>(sid.objectId, PoolIds::CENTROID_TIME, this);
+  // The centroid count received from the Centroid Telemetry Set (ID 26)
+  lp_var_t<uint32_t> centroidCount =
+      lp_var_t<uint32_t>(sid.objectId, PoolIds::CENTROID_COUNT, this);
+};
+
+class CentroidsSet : public StaticLocalDataSet<10> {
+ public:
+  CentroidsSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, CENTROIDS_SET_ID) {}
+
+  // Data received from the Centroids Telemetry Set (ID 37)
+  lp_var_t<uint32_t> ticksCentroidsTm =
+      lp_var_t<uint32_t>(sid.objectId, PoolIds::CENTROIDS_TICKS, this);
+  // Unix time stamp
+  lp_var_t<uint64_t> timeUsCentroidsTm =
+      lp_var_t<uint64_t>(sid.objectId, PoolIds::CENTROIDS_TIME, this);
+  lp_var_t<uint16_t> centroidsCount =
+      lp_var_t<uint16_t>(sid.objectId, PoolIds::CENTROIDS_COUNT, this);
+  lp_vec_t<float, 16> centroidsXCoords =
+      lp_vec_t<float, 16>(sid.objectId, PoolIds::CENTROIDS_X_COORDS, this);
+  lp_vec_t<float, 16> centroidsYCoords =
+      lp_vec_t<float, 16>(sid.objectId, PoolIds::CENTROIDS_Y_COORDS, this);
+  lp_vec_t<uint8_t, 16> centroidsMagnitudes =
+      lp_vec_t<uint8_t, 16>(sid.objectId, PoolIds::CENTROIDS_MAGNITUDES, this);
+};
+
+class ContrastSet : public StaticLocalDataSet<8> {
+ public:
+  ContrastSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, CONTRAST_SET_ID) {}
+
+  // Data received from the Centroids Telemetry Set (ID 29)
+  lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_TICKS, this);
+  // Unix time stamp
+  lp_var_t<uint64_t> timeUs = lp_var_t<uint64_t>(sid.objectId, PoolIds::CONTRAST_TIME, this);
+  lp_vec_t<uint32_t, 9> contrastA = lp_vec_t<uint32_t, 9>(sid.objectId, PoolIds::CONTRAST_A, this);
+  lp_vec_t<uint32_t, 9> contrastB = lp_vec_t<uint32_t, 9>(sid.objectId, PoolIds::CONTRAST_B, this);
+  lp_vec_t<uint32_t, 9> contrastC = lp_vec_t<uint32_t, 9>(sid.objectId, PoolIds::CONTRAST_C, this);
+  lp_vec_t<uint32_t, 9> contrastD = lp_vec_t<uint32_t, 9>(sid.objectId, PoolIds::CONTRAST_D, this);
+};
+
 /**
  * @brief   Will store the requested algo parameters
  */

mission/cfdp/CfdpFaultHandler.h

@@ -1,28 +1,35 @@
 #ifndef MISSION_CFDP_CFDPFAULTHANDLER_H_
 #define MISSION_CFDP_CFDPFAULTHANDLER_H_
 
+#include "defs.h"
 #include "fsfw/cfdp.h"
 
 namespace cfdp {
 
-class EiveFaultHandler : public cfdp::FaultHandlerBase {
+class EiveFaultHandler : public cfdp::FaultHandlerBase, public SystemObject {
  public:
+  EiveFaultHandler(object_id_t objectId) : SystemObject(objectId) {}
+
   void noticeOfSuspensionCb(cfdp::TransactionId& id, cfdp::ConditionCode code) override {
     sif::warning << "Notice of suspension detected for transaction " << id
                  << " with condition code: " << cfdp::getConditionCodeString(code) << std::endl;
+    triggerEvent(cfdp::FAULT_HANDLER_TRIGGERED, FaultHandlerCode::NOTICE_OF_SUSPENSION, code);
   }
   void noticeOfCancellationCb(cfdp::TransactionId& id, cfdp::ConditionCode code) override {
     sif::warning << "Notice of suspension detected for transaction " << id
                  << " with condition code: " << cfdp::getConditionCodeString(code) << std::endl;
+    triggerEvent(cfdp::FAULT_HANDLER_TRIGGERED, FaultHandlerCode::NOTICE_OF_CANCELLATION, code);
   }
   void abandonCb(cfdp::TransactionId& id, cfdp::ConditionCode code) override {
     sif::warning << "Transaction " << id
                  << " was abandoned, condition code : " << cfdp::getConditionCodeString(code)
                  << std::endl;
+    triggerEvent(cfdp::FAULT_HANDLER_TRIGGERED, FaultHandlerCode::ABANDON_TRANSACTION, code);
   }
   void ignoreCb(cfdp::TransactionId& id, cfdp::ConditionCode code) override {
     sif::warning << "Fault ignored for transaction " << id
                  << ", condition code: " << cfdp::getConditionCodeString(code) << std::endl;
+    triggerEvent(cfdp::FAULT_HANDLER_TRIGGERED, FaultHandlerCode::IGNORE_ERROR, code);
   }
 };
 

mission/cfdp/CfdpHandler.cpp

@@ -16,7 +16,7 @@ using namespace returnvalue;
 using namespace cfdp;
 
 CfdpHandler::CfdpHandler(const FsfwHandlerParams& fsfwHandlerParams, const CfdpHandlerCfg& cfdpCfg,
-    const std::atomic_bool& throttleSignal)
+                         const std::atomic_bool& throttleSignal)
     : SystemObject(fsfwHandlerParams.objectId),
       pduQueue(fsfwHandlerParams.tmtcQueue),
       cfdpRequestQueue(fsfwHandlerParams.cfdpQueue),
@@ -60,7 +60,7 @@ ReturnValue_t CfdpHandler::initialize() {
     result = handleCfdpMessages();
     if (result != OK) {
     }
-    uint32_t fsmCount = 0;
+    uint32_t fsmCount = 1;
     const DestHandler::FsmResult& destResult = destHandler.stateMachine();
     while (destResult.callStatus == CallStatus::CALL_AGAIN) {
       if (fsmCount == config::CFDP_MAX_FSM_CALL_COUNT_DEST_HANDLER) {
@@ -70,16 +70,17 @@ ReturnValue_t CfdpHandler::initialize() {
       destHandler.stateMachine();
       fsmCount++;
     }
-    fsmCount = 0;
+    fsmCount = 1;
 
-    if (throttleSignal) {
-      throttlePeriodOngoing = true;
-    }
+    throttlePeriodOngoing = throttleSignal;
 
     // CFDP can be throttled by the slowest live TM handler to handle back pressure in a sensible
     // way without requiring huge amounts of memory for large files.
     if (!throttlePeriodOngoing) {
       const SourceHandler::FsmResult& srcResult = srcHandler.stateMachine();
+      if (srcResult.packetsSent > 0) {
+        signals::CFDP_MSG_COUNTER.fetch_add(srcResult.packetsSent, std::memory_order_relaxed);
+      }
       while (srcResult.callStatus == CallStatus::CALL_AGAIN) {
         // Limit number of messages.
         if (fsmCount == config::CFDP_MAX_FSM_CALL_COUNT_SRC_HANDLER) {
@@ -87,6 +88,9 @@ ReturnValue_t CfdpHandler::initialize() {
           break;
         }
         srcHandler.stateMachine();
+        if (srcResult.packetsSent > 0) {
+          signals::CFDP_MSG_COUNTER.fetch_add(srcResult.packetsSent, std::memory_order_relaxed);
+        }
         if (srcResult.result == cfdp::TM_STORE_FULL) {
           sif::warning << "CFDP Source Handler: TM store is full" << std::endl;
         } else if (srcResult.result == cfdp::TARGET_MSG_QUEUE_FULL) {

mission/cfdp/CfdpHandler.h

@@ -63,7 +63,7 @@ struct CfdpHandlerCfg {
 class CfdpHandler : public SystemObject, public ExecutableObjectIF, public AcceptsTelecommandsIF {
  public:
   explicit CfdpHandler(const FsfwHandlerParams& fsfwParams, const CfdpHandlerCfg& cfdpCfg,
-      const std::atomic_bool& throttleSignal);
+                       const std::atomic_bool& throttleSignal);
 
   [[nodiscard]] const char* getName() const override;
   [[nodiscard]] uint32_t getIdentifier() const override;

mission/cfdp/defs.h

@@ -0,0 +1,16 @@
+#ifndef MISSION_CFDP_DEFS_H_
+#define MISSION_CFDP_DEFS_H_
+
+#include "eive/eventSubsystemIds.h"
+#include "fsfw/events/Event.h"
+
+namespace cfdp {
+
+static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CFDP_APP;
+
+//! [EXPORT] : [COMMENT] P1: CFDP fault handler code. P2: CFDP condition code.
+static constexpr Event FAULT_HANDLER_TRIGGERED = event::makeEvent(SUBSYSTEM_ID, 0, severity::LOW);
+
+}  // namespace cfdp
+
+#endif /* MISSION_CFDP_DEFS_H_ */

mission/com/LiveTmTask.cpp

@@ -9,6 +9,7 @@
 
 static constexpr bool DEBUG_TM_QUEUE_SPEED = false;
 std::atomic_bool signals::CFDP_CHANNEL_THROTTLE_SIGNAL = false;
+std::atomic_uint32_t signals::CFDP_MSG_COUNTER = 0;
 
 LiveTmTask::LiveTmTask(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel,
                        VirtualChannel& channel, const std::atomic_bool& ptmeLocked,
@@ -36,7 +37,8 @@ ReturnValue_t LiveTmTask::performOperation(uint8_t opCode) {
     // TODO: Must read CFDP TM queue and regular TM queue and forward them. Handle regular queue
     //       first.
     handledTm = false;
-    if (!channel.isBusy()) {
+    updateBusyFlag();
+    if (!channelIsBusy) {
       result = handleRegularTmQueue();
       if (result == MessageQueueIF::EMPTY) {
         result = handleCfdpTmQueue();
@@ -51,17 +53,19 @@ ReturnValue_t LiveTmTask::performOperation(uint8_t opCode) {
             consecutiveRegularCounter++;
           }
         }
+      } else if (result != MessageQueueIF::EMPTY) {
+        const char* contextStr = "Regular TM queue";
+        if (isCfdp) {
+          contextStr = "CFDP TM queue";
+        }
+        sif::warning << "LiveTmTask: " << contextStr << " handling failure, returncode 0x"
+                     << std::setfill('0') << std::hex << std::setw(4) << result << std::dec
+                     << std::endl;
       }
     }
-    if (channel.isBusy() and !throttlePeriodOngoing) {
-      // Throttle CFDP packet creator. It is by far the most relevant data creator, so throttling
-      // it is the easiest way to handle back pressure for now in a sensible way.
-      throttleCfdp();
-    } else if(!channel.isBusy() and throttlePeriodOngoing) {
-      if(minimumPeriodThrottleCd.hasTimedOut()) {
-        releaseCfdp();
-      }
-    }
+
+    cfdpBackpressureHandling();
+
     if (!handledTm) {
       if (tmFunnelCd.hasTimedOut()) {
         pusFunnel.performOperation(0);
@@ -72,10 +76,10 @@ ReturnValue_t LiveTmTask::performOperation(uint8_t opCode) {
       readCommandQueue();
       if (DEBUG_TM_QUEUE_SPEED) {
         if (consecutiveCfdpCounter > 0) {
-          sif::debug << "Concecutive CFDP TM handled: " << consecutiveCfdpCounter << std::endl;
+          sif::debug << "Consecutive CFDP TM handled: " << consecutiveCfdpCounter << std::endl;
         }
         if (consecutiveRegularCounter > 0) {
-          sif::debug << "Concecutive regular TM handled: " << consecutiveRegularCounter
+          sif::debug << "Consecutive regular TM handled: " << consecutiveRegularCounter
                      << std::endl;
         }
         consecutiveRegularCounter = 0;
@@ -141,16 +145,24 @@ void LiveTmTask::readCommandQueue(void) {
   }
 }
 
-ReturnValue_t LiveTmTask::handleRegularTmQueue() { return handleGenericTmQueue(*regularTmQueue); }
+ReturnValue_t LiveTmTask::handleRegularTmQueue() {
+  return handleGenericTmQueue(*regularTmQueue, false);
+}
 
-ReturnValue_t LiveTmTask::handleCfdpTmQueue() { return handleGenericTmQueue(*cfdpTmQueue); }
+ReturnValue_t LiveTmTask::handleCfdpTmQueue() { return handleGenericTmQueue(*cfdpTmQueue, true); }
 
-ReturnValue_t LiveTmTask::handleGenericTmQueue(MessageQueueIF& queue) {
+ReturnValue_t LiveTmTask::handleGenericTmQueue(MessageQueueIF& queue, bool isCfdp) {
   TmTcMessage message;
   ReturnValue_t result = queue.receiveMessage(&message);
   if (result == MessageQueueIF::EMPTY) {
     return result;
   }
+  if (isCfdp and signals::CFDP_MSG_COUNTER > 0) {
+    signals::CFDP_MSG_COUNTER--;
+  }
+  if (DEBUG_CFDP_TO_LIVE_TM_TASK and signals::CFDP_MSG_COUNTER > 0) {
+    sif::debug << "LiveTmTask: CFDP message counter: " << signals::CFDP_MSG_COUNTER << std::endl;
+  }
   store_address_t storeId = message.getStorageId();
   const uint8_t* data = nullptr;
   size_t size = 0;
@@ -163,18 +175,19 @@ ReturnValue_t LiveTmTask::handleGenericTmQueue(MessageQueueIF& queue) {
   }
 
   if (!ptmeLocked) {
-    size_t partiallyWrittenSize = 0;
-    result = channel.write(data, size, partiallyWrittenSize);
+    size_t writtenSize = 0;
+    result = channel.write(data, size, writtenSize);
     if (result == DirectTmSinkIF::PARTIALLY_WRITTEN) {
-      // Already throttle CFDP.
-      throttleCfdp();
-      result = channel.handleLastWriteSynchronously(data, size, partiallyWrittenSize, 200);
+      result = channel.handleWriteCompletionSynchronously(writtenSize, 400);
       if (result != returnvalue::OK) {
         // TODO: Event? Might lead to dangerous spam though..
-        sif::warning
-            << "LiveTmTask: Synchronous write of last segment failed with code 0x"
-            << std::setw(4) << std::hex << result << std::dec << std::endl;
+        sif::warning << "LiveTmTask: Synchronous write of last segment failed with code 0x"
+                     << std::setfill('0') << std::setw(4) << std::hex << result << std::dec
+                     << std::endl;
       }
+    } else if (result != returnvalue::OK) {
+      sif::error << "LiveTmTask: Channel write failed with code 0x" << std::setfill('0') << std::hex
+                 << std::setw(4) << result << std::dec << std::endl;
     }
   }
   // Try delete in any case, ignore failures (which should not happen), it is more important to
@@ -185,13 +198,38 @@ ReturnValue_t LiveTmTask::handleGenericTmQueue(MessageQueueIF& queue) {
 
 void LiveTmTask::throttleCfdp() {
   throttlePeriodOngoing = true;
-  minimumPeriodThrottleCd.resetTimer();
   signals::CFDP_CHANNEL_THROTTLE_SIGNAL = true;
+  if (DEBUG_CFDP_TO_LIVE_TM_TASK) {
+    sif::debug << "Throttling CFDP" << std::endl;
+  }
 }
 
 void LiveTmTask::releaseCfdp() {
   throttlePeriodOngoing = false;
   signals::CFDP_CHANNEL_THROTTLE_SIGNAL = false;
+  if (DEBUG_CFDP_TO_LIVE_TM_TASK) {
+    sif::debug << "Releasing CFDP" << std::endl;
+  }
+}
+
+void LiveTmTask::updateBusyFlag() {
+  // We cache this as a member, because the busy bit can toggle very quickly..
+  channelIsBusy = channel.isBusy();
+}
+
+void LiveTmTask::cfdpBackpressureHandling() {
+  if (channelIsBusy and !throttlePeriodOngoing) {
+    // Throttle CFDP packet creator. It is by far the most relevant data creator, so throttling
+    // it is the easiest way to handle back pressure for now in a sensible way.
+    if (signals::CFDP_MSG_COUNTER >= (config::LIVE_CHANNEL_CFDP_QUEUE_SIZE / 2)) {
+      throttleCfdp();
+    }
+  } else if (!channelIsBusy and throttlePeriodOngoing) {
+    // Half full/empty flow control: Release the CFDP is the queue is empty enough.
+    if (signals::CFDP_MSG_COUNTER <= (config::LIVE_CHANNEL_CFDP_QUEUE_SIZE / 4)) {
+      releaseCfdp();
+    }
+  }
 }
 
 ModeTreeChildIF& LiveTmTask::getModeTreeChildIF() { return *this; }

mission/com/LiveTmTask.h

@@ -11,6 +11,12 @@
 #include <mission/tmtc/CfdpTmFunnel.h>
 #include <mission/tmtc/PusTmFunnel.h>
 
+#include <cstdint>
+
+#include "eive/definitions.h"
+
+static constexpr bool DEBUG_CFDP_TO_LIVE_TM_TASK = false;
+
 class LiveTmTask : public SystemObject,
                    public HasModesIF,
                    public ExecutableObjectIF,
@@ -39,21 +45,21 @@ class LiveTmTask : public SystemObject,
   CfdpTmFunnel& cfdpFunnel;
   VirtualChannel& channel;
   const std::atomic_bool& ptmeLocked;
-  // This countdown ensures that the CFDP is always throttled with a minimum period. Only after
-  // this period, the CFDP can be released if the channel is not busy.
-  Countdown minimumPeriodThrottleCd = Countdown(40);
   bool throttlePeriodOngoing = false;
+  bool channelIsBusy = false;
 
   void readCommandQueue(void);
 
   ReturnValue_t handleRegularTmQueue();
   ReturnValue_t handleCfdpTmQueue();
-  ReturnValue_t handleGenericTmQueue(MessageQueueIF& queue);
+  ReturnValue_t handleGenericTmQueue(MessageQueueIF& queue, bool isCfdp);
 
   MessageQueueId_t getCommandQueue() const override;
 
   void getMode(Mode_t* mode, Submode_t* submode) override;
 
+  void cfdpBackpressureHandling();
+
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
                                  uint32_t* msToReachTheMode) override;
 
@@ -62,6 +68,7 @@ class LiveTmTask : public SystemObject,
   void announceMode(bool recursive) override;
   void throttleCfdp();
   void releaseCfdp();
+  void updateBusyFlag();
 
   object_id_t getObjectId() const override;
   const HasHealthIF* getOptHealthIF() const override;

mission/com/TmStoreTaskBase.cpp

@@ -138,15 +138,15 @@ ReturnValue_t TmStoreTaskBase::performDump(PersistentTmStoreWithTmQueue& store,
     return result;
   }
   dumpedLen = tmReader.getFullPacketLen();
-  size_t partiallyWrittenSize = 0;
-  result = channel.write(tmReader.getFullData(), dumpedLen, partiallyWrittenSize);
+  size_t writtenSize = 0;
+  result = channel.write(tmReader.getFullData(), dumpedLen, writtenSize);
   if (result == VirtualChannelIF::PARTIALLY_WRITTEN) {
-    result = channel.handleLastWriteSynchronously(tmReader.getFullData(), partiallyWrittenSize,
-                                                  dumpedLen - partiallyWrittenSize, 200);
+    result = channel.handleWriteCompletionSynchronously(writtenSize, 400);
     if (result != returnvalue::OK) {
       // TODO: Event? Might lead to dangerous spam though..
-      sif::warning << "PersistentTmStore: Synchronous write of last segment failed with code 0x"
-                   << std::setw(4) << std::hex << result << std::dec << std::endl;
+      sif::warning << "LiveTmTask: Synchronous write of last segment failed with code 0x"
+                   << std::setfill('0') << std::setw(4) << std::hex << result << std::dec
+                   << std::endl;
     }
   } else if (result == DirectTmSinkIF::IS_BUSY) {
     sif::warning << "PersistentTmStore: Unexpected VC channel busy" << std::endl;

mission/com/VirtualChannel.cpp

@@ -21,11 +21,18 @@ ReturnValue_t VirtualChannel::write(const uint8_t* data, size_t size, size_t& wr
 
 uint8_t VirtualChannel::getVcid() const { return vcId; }
 
-ReturnValue_t VirtualChannel::finishWrite(const uint8_t* data, size_t start, size_t remainingSize) {
+ReturnValue_t VirtualChannel::advanceWrite(size_t& writtenSize) {
   if (!ptme.containsVc(vcId)) {
     return CHANNEL_DOES_NOT_EXIST;
   }
-  return ptme.getVirtChannel(vcId)->finishWrite(data, start, remainingSize);
+  return ptme.getVirtChannel(vcId)->advanceWrite(writtenSize);
+}
+
+bool VirtualChannel::writeActive() const {
+  if (!ptme.containsVc(vcId)) {
+    return CHANNEL_DOES_NOT_EXIST;
+  }
+  return ptme.getVirtChannel(vcId)->writeActive();
 }
 
 const char* VirtualChannel::getName() const { return vcName.c_str(); }
@@ -46,20 +53,28 @@ void VirtualChannel::cancelTransfer() {
 
 bool VirtualChannel::isTxOn() const { return txOn; }
 
-ReturnValue_t VirtualChannel::handleLastWriteSynchronously(const uint8_t* data, size_t start,
-                                                           size_t remLen, unsigned maxDelayMs) {
+ReturnValue_t VirtualChannel::handleWriteCompletionSynchronously(size_t& writtenSize,
+                                                                 unsigned maxCompletionTimeMs) {
   unsigned delayMs = 0;
   while (true) {
     if (isBusy()) {
-      if (delayMs >= maxDelayMs) {
+      if (delayMs >= maxCompletionTimeMs) {
         break;
       }
       TaskFactory::delayTask(10);
       delayMs += 10;
       continue;
     }
-    sif::debug << "last write after" << delayMs << std::endl;
-    return finishWrite(data, start, remLen);
+    ReturnValue_t result = advanceWrite(writtenSize);
+    if (result == returnvalue::OK) {
+      // Transfer complete
+      return result;
+    } else if (result != PARTIALLY_WRITTEN) {
+      // Some error where we can not or should not continue the transfer.
+      return result;
+    }
   }
-  return returnvalue::FAILED;
+  // Timeout. Cancel the transfer
+  cancelTransfer();
+  return TIMEOUT;
 }

mission/com/VirtualChannel.h

@@ -32,9 +32,10 @@ class VirtualChannel : public SystemObject, public VirtualChannelIF {
   ReturnValue_t sendNextTm(const uint8_t* data, size_t size, size_t& writtenSize);
   bool isBusy() const override;
   ReturnValue_t write(const uint8_t* data, size_t size, size_t& writtenSize) override;
-  ReturnValue_t finishWrite(const uint8_t* data, size_t start, size_t remainingSize) override;
-  ReturnValue_t handleLastWriteSynchronously(const uint8_t* data, size_t start, size_t remLen,
-                                             unsigned maxDelayMs);
+  ReturnValue_t advanceWrite(size_t& writtenSize) override;
+  ReturnValue_t handleWriteCompletionSynchronously(size_t& writtenSize,
+                                                   unsigned maxCompletionTimeMs);
+  bool writeActive() const override;
   void cancelTransfer() override;
   uint8_t getVcid() const;
   bool isTxOn() const;

mission/com/VirtualChannelWithQueue.cpp

@@ -37,11 +37,11 @@ ReturnValue_t VirtualChannelWithQueue::handleNextTm(bool performWriteOp) {
   }
 
   // TODO: Hnadle partial write handling
-  size_t partiallyWrittenSize = 0;
+  size_t writtenSize = 0;
   if (performWriteOp) {
-    result = write(data, size, partiallyWrittenSize);
+    result = write(data, size, writtenSize);
     if (result == PARTIALLY_WRITTEN) {
-      result = handleLastWriteSynchronously(data, size, partiallyWrittenSize, 200);
+      result = handleWriteCompletionSynchronously(writtenSize, 400);
       if (result != returnvalue::OK) {
         // TODO: Event? Might lead to dangerous spam though..
         sif::warning

mission/controller/AcsController.cpp

@@ -1,12 +1,10 @@
 #include "AcsController.h"
 
-#include <fsfw/datapool/PoolReadGuard.h>
-#include <mission/acs/defs.h>
-#include <mission/config/torquer.h>
-
-AcsController::AcsController(object_id_t objectId, bool enableHkSets)
+AcsController::AcsController(object_id_t objectId, bool enableHkSets, SdCardMountedIF &sdcMan)
     : ExtendedControllerBase(objectId),
       enableHkSets(enableHkSets),
+      sdcMan(sdcMan),
+      attitudeEstimation(&acsParameters),
       fusedRotationEstimation(&acsParameters),
       guidance(&acsParameters),
       safeCtrl(&acsParameters),
@@ -19,11 +17,11 @@ AcsController::AcsController(object_id_t objectId, bool enableHkSets)
       gyrDataRaw(this),
       gyrDataProcessed(this),
       gpsDataProcessed(this),
-      mekfData(this),
+      attitudeEstimationData(this),
       ctrlValData(this),
       actuatorCmdData(this),
       fusedRotRateData(this),
-      tleData(this) {}
+      fusedRotRateSourcesData(this) {}
 
 ReturnValue_t AcsController::initialize() {
   ReturnValue_t result = parameterHelper.initialize();
@@ -56,7 +54,7 @@ ReturnValue_t AcsController::executeAction(ActionId_t actionId, MessageQueueId_t
       return HasActionsIF::EXECUTION_FINISHED;
     }
     case RESET_MEKF: {
-      navigation.resetMekf(&mekfData);
+      navigation.resetMekf(&attitudeEstimationData);
       return HasActionsIF::EXECUTION_FINISHED;
     }
     case RESTORE_MEKF_NONFINITE_RECOVERY: {
@@ -67,22 +65,27 @@ ReturnValue_t AcsController::executeAction(ActionId_t actionId, MessageQueueId_t
       if (size != 69 * 2) {
         return INVALID_PARAMETERS;
       }
-      ReturnValue_t result = navigation.updateTle(data, data + 69);
+      ReturnValue_t result = updateTle(data, data + 69, false);
       if (result != returnvalue::OK) {
-        PoolReadGuard pg(&tleData);
-        navigation.updateTle(tleData.line1.value, tleData.line2.value);
         return result;
       }
-      {
-        PoolReadGuard pg(&tleData);
-        if (pg.getReadResult() == returnvalue::OK) {
-          std::memcpy(tleData.line1.value, data, 69);
-          std::memcpy(tleData.line2.value, data + 69, 69);
-          tleData.setValidity(true, true);
-        }
+      result = writeTleToFs(data);
+      if (result != returnvalue::OK) {
+        return result;
       }
       return HasActionsIF::EXECUTION_FINISHED;
     }
+    case (READ_TLE): {
+      uint8_t tle[69 * 2] = {};
+      uint8_t line2[69] = {};
+      ReturnValue_t result = readTleFromFs(tle, line2);
+      if (result != returnvalue::OK) {
+        return result;
+      }
+      std::memcpy(tle + 69, line2, 69);
+      actionHelper.reportData(commandedBy, actionId, tle, 69 * 2);
+      return EXECUTION_FINISHED;
+    }
     default: {
       return HasActionsIF::INVALID_ACTION_ID;
     }
@@ -130,31 +133,17 @@ void AcsController::performControlOperation() {
     }
     case InternalState::INITIAL_DELAY: {
       if (initialCountdown.hasTimedOut()) {
+        uint8_t line1[69] = {};
+        uint8_t line2[69] = {};
+        readTleFromFs(line1, line2);
+        updateTle(line1, line2, true);
         internalState = InternalState::READY;
       }
       return;
     }
     case InternalState::READY: {
       if (mode != MODE_OFF) {
-        switch (mode) {
-          case acs::SAFE:
-            switch (submode) {
-              case SUBMODE_NONE:
-                performSafe();
-                break;
-              case acs::DETUMBLE:
-                performDetumble();
-                break;
-            }
-            break;
-          case acs::PTG_IDLE:
-          case acs::PTG_TARGET:
-          case acs::PTG_TARGET_GS:
-          case acs::PTG_NADIR:
-          case acs::PTG_INERTIAL:
-            performPointingCtrl();
-            break;
-        }
+        performAttitudeControl();
       }
       break;
     }
@@ -163,32 +152,42 @@ void AcsController::performControlOperation() {
   }
 }
 
-void AcsController::performSafe() {
-  timeval now;
-  Clock::getClock_timeval(&now);
+void AcsController::performAttitudeControl() {
+  Clock::getClock_timeval(&timeAbsolute);
+  Clock::getClockMonotonic(&timeRelative);
 
-  ReturnValue_t result = navigation.useSpg4(now, &gpsDataProcessed);
+  if (timeRelative.tv_sec != 0 and oldTimeRelative.tv_sec != 0) {
+    timeDelta = timevalOperations::toDouble(timeRelative - oldTimeRelative);
+  }
+  oldTimeRelative = timeRelative;
+
+  ReturnValue_t result = navigation.useSpg4(timeAbsolute, &gpsDataProcessed);
   if (result == Sgp4Propagator::TLE_TOO_OLD and not tleTooOldFlag) {
     triggerEvent(acs::TLE_TOO_OLD);
     tleTooOldFlag = true;
   } else if (result != Sgp4Propagator::TLE_TOO_OLD) {
     tleTooOldFlag = false;
   }
-  sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
-                           &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
-  fusedRotationEstimation.estimateFusedRotationRateSafe(&susDataProcessed, &mgmDataProcessed,
-                                                        &gyrDataProcessed, &fusedRotRateData);
+
+  sensorProcessing.process(timeAbsolute, timeDelta, &sensorValues, &mgmDataProcessed,
+                           &susDataProcessed, &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
+  attitudeEstimation.quest(&susDataProcessed, &mgmDataProcessed, &attitudeEstimationData);
+  fusedRotationEstimation.estimateFusedRotationRate(
+      &susDataProcessed, &mgmDataProcessed, &gyrDataProcessed, &sensorValues,
+      &attitudeEstimationData, timeDelta, &fusedRotRateSourcesData, &fusedRotRateData);
   result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
-                              &susDataProcessed, &mekfData, &acsParameters);
-  if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
+                              &susDataProcessed, &attitudeEstimationData, &acsParameters);
+
+  if (result != MultiplicativeKalmanFilter::MEKF_RUNNING and
       result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
     if (not mekfInvalidFlag) {
-      triggerEvent(acs::MEKF_INVALID_INFO, (uint32_t)mekfData.mekfStatus.value);
+      triggerEvent(acs::MEKF_INVALID_INFO,
+                   static_cast<uint32_t>(attitudeEstimationData.mekfStatus.value));
       mekfInvalidFlag = true;
     }
-    if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
+    if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE and not mekfLost) {
       triggerEvent(acs::MEKF_AUTOMATIC_RESET);
-      navigation.resetMekf(&mekfData);
+      navigation.resetMekf(&attitudeEstimationData);
       mekfLost = true;
     }
   } else if (mekfInvalidFlag) {
@@ -196,32 +195,55 @@ void AcsController::performSafe() {
     mekfInvalidFlag = false;
   }
 
+  switch (mode) {
+    case acs::SAFE:
+      switch (submode) {
+        case SUBMODE_NONE:
+          performSafe();
+          break;
+        case acs::DETUMBLE:
+          performDetumble();
+          break;
+      }
+      break;
+    case acs::PTG_IDLE:
+    case acs::PTG_TARGET:
+    case acs::PTG_TARGET_GS:
+    case acs::PTG_NADIR:
+    case acs::PTG_INERTIAL:
+      performPointingCtrl();
+      break;
+  }
+}
+
+void AcsController::performSafe() {
   // get desired satellite rate, sun direction to align to and inertia
   double sunTargetDir[3] = {0, 0, 0};
   guidance.getTargetParamsSafe(sunTargetDir);
 
   double magMomMtq[3] = {0, 0, 0}, errAng = 0.0;
-  acs::SafeModeStrategy safeCtrlStrat = safeCtrl.safeCtrlStrategy(
+  acs::ControlModeStrategy safeCtrlStrat = safeCtrl.safeCtrlStrategy(
       mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag,
       gyrDataProcessed.gyrVecTot.isValid(), susDataProcessed.susVecTot.isValid(),
       fusedRotRateData.rotRateTotal.isValid(), acsParameters.safeModeControllerParameters.useMekf,
       acsParameters.safeModeControllerParameters.useGyr,
       acsParameters.safeModeControllerParameters.dampingDuringEclipse);
   switch (safeCtrlStrat) {
-    case (acs::SafeModeStrategy::SAFECTRL_MEKF):
-      safeCtrl.safeMekf(mgmDataProcessed.mgmVecTot.value, mekfData.satRotRateMekf.value,
-                        susDataProcessed.sunIjkModel.value, mekfData.quatMekf.value, sunTargetDir,
-                        magMomMtq, errAng);
+    case (acs::ControlModeStrategy::SAFECTRL_MEKF):
+      safeCtrl.safeMekf(mgmDataProcessed.mgmVecTot.value,
+                        attitudeEstimationData.satRotRateMekf.value,
+                        susDataProcessed.sunIjkModel.value, attitudeEstimationData.quatMekf.value,
+                        sunTargetDir, magMomMtq, errAng);
       safeCtrlFailureFlag = false;
       safeCtrlFailureCounter = 0;
       break;
-    case (acs::SafeModeStrategy::SAFECTRL_GYR):
+    case (acs::ControlModeStrategy::SAFECTRL_GYR):
       safeCtrl.safeGyr(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value,
                        susDataProcessed.susVecTot.value, sunTargetDir, magMomMtq, errAng);
       safeCtrlFailureFlag = false;
       safeCtrlFailureCounter = 0;
       break;
-    case (acs::SafeModeStrategy::SAFECTRL_SUSMGM):
+    case (acs::ControlModeStrategy::SAFECTRL_SUSMGM):
       safeCtrl.safeSusMgm(mgmDataProcessed.mgmVecTot.value, fusedRotRateData.rotRateTotal.value,
                           fusedRotRateData.rotRateParallel.value,
                           fusedRotRateData.rotRateOrthogonal.value,
@@ -229,29 +251,29 @@ void AcsController::performSafe() {
       safeCtrlFailureFlag = false;
       safeCtrlFailureCounter = 0;
       break;
-    case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_GYR):
+    case (acs::ControlModeStrategy::SAFECTRL_ECLIPSE_DAMPING_GYR):
       safeCtrl.safeRateDampingGyr(mgmDataProcessed.mgmVecTot.value,
                                   gyrDataProcessed.gyrVecTot.value, sunTargetDir, magMomMtq,
                                   errAng);
       safeCtrlFailureFlag = false;
       safeCtrlFailureCounter = 0;
       break;
-    case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM):
+    case (acs::ControlModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM):
       safeCtrl.safeRateDampingSusMgm(mgmDataProcessed.mgmVecTot.value,
                                      fusedRotRateData.rotRateTotal.value, sunTargetDir, magMomMtq,
                                      errAng);
       safeCtrlFailureFlag = false;
       safeCtrlFailureCounter = 0;
       break;
-    case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_IDELING):
+    case (acs::ControlModeStrategy::SAFECTRL_ECLIPSE_IDELING):
       errAng = NAN;
       safeCtrlFailureFlag = false;
       safeCtrlFailureCounter = 0;
       break;
-    case (acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL):
+    case (acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL):
       safeCtrlFailure(1, 0);
       break;
-    case (acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL):
+    case (acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL):
       safeCtrlFailure(0, 1);
       break;
     default:
@@ -264,8 +286,8 @@ void AcsController::performSafe() {
 
   // detumble check and switch
   if (acsParameters.safeModeControllerParameters.useMekf) {
-    if (mekfData.satRotRateMekf.isValid() and
-        VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) >
+    if (attitudeEstimationData.satRotRateMekf.isValid() and
+        VectorOperations<double>::norm(attitudeEstimationData.satRotRateMekf.value, 3) >
             acsParameters.detumbleParameter.omegaDetumbleStart) {
       detumbleCounter++;
     }
@@ -296,55 +318,24 @@ void AcsController::performSafe() {
 }
 
 void AcsController::performDetumble() {
-  timeval now;
-  Clock::getClock_timeval(&now);
-
-  ReturnValue_t result = navigation.useSpg4(now, &gpsDataProcessed);
-  if (result == Sgp4Propagator::TLE_TOO_OLD and not tleTooOldFlag) {
-    triggerEvent(acs::TLE_TOO_OLD);
-    tleTooOldFlag = true;
-  } else {
-    tleTooOldFlag = false;
-  }
-  sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
-                           &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
-  fusedRotationEstimation.estimateFusedRotationRateSafe(&susDataProcessed, &mgmDataProcessed,
-                                                        &gyrDataProcessed, &fusedRotRateData);
-  result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
-                              &susDataProcessed, &mekfData, &acsParameters);
-  if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
-      result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
-    if (not mekfInvalidFlag) {
-      triggerEvent(acs::MEKF_INVALID_INFO, (uint32_t)mekfData.mekfStatus.value);
-      mekfInvalidFlag = true;
-    }
-    if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
-      triggerEvent(acs::MEKF_AUTOMATIC_RESET);
-      navigation.resetMekf(&mekfData);
-      mekfLost = true;
-    }
-  } else if (mekfInvalidFlag) {
-    triggerEvent(acs::MEKF_RECOVERY);
-    mekfInvalidFlag = false;
-  }
-  acs::SafeModeStrategy safeCtrlStrat = detumble.detumbleStrategy(
+  acs::ControlModeStrategy safeCtrlStrat = detumble.detumbleStrategy(
       mgmDataProcessed.mgmVecTot.isValid(), gyrDataProcessed.gyrVecTot.isValid(),
       mgmDataProcessed.mgmVecTotDerivative.isValid(),
       acsParameters.detumbleParameter.useFullDetumbleLaw);
   double magMomMtq[3] = {0, 0, 0};
   switch (safeCtrlStrat) {
-    case (acs::SafeModeStrategy::SAFECTRL_DETUMBLE_FULL):
+    case (acs::ControlModeStrategy::SAFECTRL_DETUMBLE_FULL):
       detumble.bDotLawFull(gyrDataProcessed.gyrVecTot.value, mgmDataProcessed.mgmVecTot.value,
                            magMomMtq, acsParameters.detumbleParameter.gainFull);
       break;
-    case (acs::SafeModeStrategy::SAFECTRL_DETUMBLE_DETERIORATED):
+    case (acs::ControlModeStrategy::SAFECTRL_DETUMBLE_DETERIORATED):
       detumble.bDotLaw(mgmDataProcessed.mgmVecTotDerivative.value, mgmDataProcessed.mgmVecTot.value,
                        magMomMtq, acsParameters.detumbleParameter.gainBdot);
       break;
-    case (acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL):
+    case (acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL):
       safeCtrlFailure(1, 0);
       break;
-    case (acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL):
+    case (acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL):
       safeCtrlFailure(0, 1);
       break;
     default:
@@ -356,8 +347,8 @@ void AcsController::performDetumble() {
                            acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs);
 
   if (acsParameters.safeModeControllerParameters.useMekf) {
-    if (mekfData.satRotRateMekf.isValid() and
-        VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) <
+    if (attitudeEstimationData.satRotRateMekf.isValid() and
+        VectorOperations<double>::norm(attitudeEstimationData.satRotRateMekf.value, 3) <
             acsParameters.detumbleParameter.omegaDetumbleEnd) {
       detumbleCounter++;
     }
@@ -389,51 +380,71 @@ void AcsController::performDetumble() {
 }
 
 void AcsController::performPointingCtrl() {
-  timeval now;
-  Clock::getClock_timeval(&now);
-
-  ReturnValue_t result = navigation.useSpg4(now, &gpsDataProcessed);
-  if (result == Sgp4Propagator::TLE_TOO_OLD and not tleTooOldFlag) {
-    triggerEvent(acs::TLE_TOO_OLD);
-    tleTooOldFlag = true;
-  } else {
-    tleTooOldFlag = false;
+  bool strValid = (sensorValues.strSet.caliQw.isValid() and sensorValues.strSet.caliQx.isValid() and
+                   sensorValues.strSet.caliQy.isValid() and sensorValues.strSet.caliQz.isValid());
+  uint8_t useMekf = false;
+  switch (mode) {
+    case acs::PTG_IDLE:
+      useMekf = acsParameters.idleModeControllerParameters.useMekf;
+      break;
+    case acs::PTG_TARGET:
+      useMekf = acsParameters.targetModeControllerParameters.useMekf;
+      break;
+    case acs::PTG_TARGET_GS:
+      useMekf = acsParameters.gsTargetModeControllerParameters.useMekf;
+      break;
+    case acs::PTG_NADIR:
+      useMekf = acsParameters.nadirModeControllerParameters.useMekf;
+      break;
+    case acs::PTG_INERTIAL:
+      useMekf = acsParameters.inertialModeControllerParameters.useMekf;
+      break;
   }
-  sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
-                           &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
-  result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
-                              &susDataProcessed, &mekfData, &acsParameters);
-  if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
-      result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
-    mekfInvalidCounter++;
-    if (not mekfInvalidFlag) {
-      triggerEvent(acs::MEKF_INVALID_INFO, (uint32_t)mekfData.mekfStatus.value);
-      mekfInvalidFlag = true;
-    }
-    if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
-      triggerEvent(acs::MEKF_AUTOMATIC_RESET);
-      navigation.resetMekf(&mekfData);
-      mekfLost = true;
-    }
-    if (mekfInvalidCounter > acsParameters.onBoardParams.mekfViolationTimer) {
-      // Trigger this so STR FDIR can set the device faulty.
-      EventManagerIF::triggerEvent(objects::STAR_TRACKER, acs::MEKF_INVALID_MODE_VIOLATION, 0, 0);
-      mekfInvalidCounter = 0;
+  acs::ControlModeStrategy ptgCtrlStrat = ptgCtrl.pointingCtrlStrategy(
+      mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag, strValid,
+      attitudeEstimationData.quatQuest.isValid(), fusedRotRateData.rotRateTotal.isValid(),
+      fusedRotRateData.rotRateSource.isValid(), useMekf);
+
+  if (ptgCtrlStrat == acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL) {
+    ptgCtrlLostCounter++;
+    if (ptgCtrlLostCounter > acsParameters.onBoardParams.ptgCtrlLostTimer) {
+      triggerEvent(acs::PTG_CTRL_NO_ATTITUDE_INFORMATION);
+      ptgCtrlLostCounter = 0;
     }
     commandActuators(0, 0, 0, acsParameters.magnetorquerParameter.torqueDuration, cmdSpeedRws[0],
                      cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
                      acsParameters.rwHandlingParameters.rampTime);
     return;
   } else {
-    if (mekfInvalidFlag) {
-      triggerEvent(acs::MEKF_RECOVERY);
-      mekfInvalidFlag = false;
-    }
-    mekfInvalidCounter = 0;
+    ptgCtrlLostCounter = 0;
   }
+
+  double quatBI[4] = {0, 0, 0, 0}, rotRateB[3] = {0, 0, 0};
+  switch (ptgCtrlStrat) {
+    case acs::ControlModeStrategy::PTGCTRL_MEKF:
+      std::memcpy(quatBI, attitudeEstimationData.quatMekf.value, sizeof(quatBI));
+      std::memcpy(rotRateB, attitudeEstimationData.satRotRateMekf.value, sizeof(rotRateB));
+      break;
+    case acs::ControlModeStrategy::PTGCTRL_STR:
+      quatBI[0] = sensorValues.strSet.caliQx.value;
+      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));
+      break;
+    case acs::ControlModeStrategy::PTGCTRL_QUEST:
+      std::memcpy(quatBI, attitudeEstimationData.quatQuest.value, sizeof(quatBI));
+      std::memcpy(rotRateB, fusedRotRateData.rotRateTotal.value, sizeof(rotRateB));
+      break;
+    default:
+      sif::error << "AcsController: Invalid pointing mode strategy for performDetumble"
+                 << std::endl;
+      break;
+  }
+
   uint8_t enableAntiStiction = true;
   double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
+  ReturnValue_t result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
   if (result == returnvalue::FAILED) {
     if (multipleRwUnavailableCounter >=
         acsParameters.rwHandlingParameters.multipleRwInvalidTimeout) {
@@ -455,10 +466,10 @@ void AcsController::performPointingCtrl() {
 
   switch (mode) {
     case acs::PTG_IDLE:
-      guidance.targetQuatPtgSun(now, susDataProcessed.sunIjkModel.value, targetQuat,
+      guidance.targetQuatPtgSun(timeDelta, susDataProcessed.sunIjkModel.value, targetQuat,
                                 targetSatRotRate);
-      guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat,
-                          targetSatRotRate, errorQuat, errorSatRotRate, errorAngle);
+      guidance.comparePtg(quatBI, rotRateB, targetQuat, targetSatRotRate, errorQuat,
+                          errorSatRotRate, errorAngle);
       ptgCtrl.ptgLaw(&acsParameters.idleModeControllerParameters, errorQuat, errorSatRotRate,
                      *rwPseudoInv, torquePtgRws);
       ptgCtrl.ptgNullspace(&acsParameters.idleModeControllerParameters,
@@ -469,18 +480,18 @@ void AcsController::performPointingCtrl() {
       actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
       ptgCtrl.ptgDesaturation(
           &acsParameters.idleModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
-          mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
-          sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
-          sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
+          mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value,
+          sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value,
+          sensorValues.rw4Set.currSpeed.value, mgtDpDes);
       enableAntiStiction = acsParameters.idleModeControllerParameters.enableAntiStiction;
       break;
 
     case acs::PTG_TARGET:
-      guidance.targetQuatPtgThreeAxes(now, gpsDataProcessed.gpsPosition.value,
+      guidance.targetQuatPtgThreeAxes(timeAbsolute, timeDelta, gpsDataProcessed.gpsPosition.value,
                                       gpsDataProcessed.gpsVelocity.value, targetQuat,
                                       targetSatRotRate);
-      guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat,
-                          targetSatRotRate, acsParameters.targetModeControllerParameters.quatRef,
+      guidance.comparePtg(quatBI, rotRateB, targetQuat, targetSatRotRate,
+                          acsParameters.targetModeControllerParameters.quatRef,
                           acsParameters.targetModeControllerParameters.refRotRate, errorQuat,
                           errorSatRotRate, errorAngle);
       ptgCtrl.ptgLaw(&acsParameters.targetModeControllerParameters, errorQuat, errorSatRotRate,
@@ -493,17 +504,17 @@ void AcsController::performPointingCtrl() {
       actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
       ptgCtrl.ptgDesaturation(
           &acsParameters.targetModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
-          mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
-          sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
-          sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
+          mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value,
+          sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value,
+          sensorValues.rw4Set.currSpeed.value, mgtDpDes);
       enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
       break;
 
     case acs::PTG_TARGET_GS:
-      guidance.targetQuatPtgGs(now, gpsDataProcessed.gpsPosition.value,
+      guidance.targetQuatPtgGs(timeAbsolute, timeDelta, gpsDataProcessed.gpsPosition.value,
                                susDataProcessed.sunIjkModel.value, targetQuat, targetSatRotRate);
-      guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat,
-                          targetSatRotRate, errorQuat, errorSatRotRate, errorAngle);
+      guidance.comparePtg(quatBI, rotRateB, targetQuat, targetSatRotRate, errorQuat,
+                          errorSatRotRate, errorAngle);
       ptgCtrl.ptgLaw(&acsParameters.gsTargetModeControllerParameters, errorQuat, errorSatRotRate,
                      *rwPseudoInv, torquePtgRws);
       ptgCtrl.ptgNullspace(&acsParameters.gsTargetModeControllerParameters,
@@ -514,18 +525,18 @@ void AcsController::performPointingCtrl() {
       actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
       ptgCtrl.ptgDesaturation(
           &acsParameters.gsTargetModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
-          mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
-          sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
-          sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
+          mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value,
+          sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value,
+          sensorValues.rw4Set.currSpeed.value, mgtDpDes);
       enableAntiStiction = acsParameters.gsTargetModeControllerParameters.enableAntiStiction;
       break;
 
     case acs::PTG_NADIR:
-      guidance.targetQuatPtgNadirThreeAxes(now, gpsDataProcessed.gpsPosition.value,
-                                           gpsDataProcessed.gpsVelocity.value, targetQuat,
-                                           targetSatRotRate);
-      guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat,
-                          targetSatRotRate, acsParameters.nadirModeControllerParameters.quatRef,
+      guidance.targetQuatPtgNadirThreeAxes(
+          timeAbsolute, timeDelta, gpsDataProcessed.gpsPosition.value,
+          gpsDataProcessed.gpsVelocity.value, targetQuat, targetSatRotRate);
+      guidance.comparePtg(quatBI, rotRateB, targetQuat, targetSatRotRate,
+                          acsParameters.nadirModeControllerParameters.quatRef,
                           acsParameters.nadirModeControllerParameters.refRotRate, errorQuat,
                           errorSatRotRate, errorAngle);
       ptgCtrl.ptgLaw(&acsParameters.nadirModeControllerParameters, errorQuat, errorSatRotRate,
@@ -538,17 +549,17 @@ void AcsController::performPointingCtrl() {
       actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
       ptgCtrl.ptgDesaturation(
           &acsParameters.nadirModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
-          mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
-          sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
-          sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
+          mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value,
+          sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value,
+          sensorValues.rw4Set.currSpeed.value, mgtDpDes);
       enableAntiStiction = acsParameters.nadirModeControllerParameters.enableAntiStiction;
       break;
 
     case acs::PTG_INERTIAL:
       std::memcpy(targetQuat, acsParameters.inertialModeControllerParameters.tgtQuat,
                   sizeof(targetQuat));
-      guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat,
-                          targetSatRotRate, acsParameters.inertialModeControllerParameters.quatRef,
+      guidance.comparePtg(quatBI, rotRateB, targetQuat, targetSatRotRate,
+                          acsParameters.inertialModeControllerParameters.quatRef,
                           acsParameters.inertialModeControllerParameters.refRotRate, errorQuat,
                           errorSatRotRate, errorAngle);
       ptgCtrl.ptgLaw(&acsParameters.inertialModeControllerParameters, errorQuat, errorSatRotRate,
@@ -561,9 +572,9 @@ void AcsController::performPointingCtrl() {
       actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
       ptgCtrl.ptgDesaturation(
           &acsParameters.inertialModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
-          mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
-          sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
-          sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
+          mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value,
+          sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value,
+          sensorValues.rw4Set.currSpeed.value, mgtDpDes);
       enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction;
       break;
     default:
@@ -702,7 +713,7 @@ void AcsController::updateCtrlValData(const double *tgtQuat, const double *errQu
     std::memcpy(ctrlValData.errQuat.value, errQuat, 4 * sizeof(double));
     ctrlValData.errAng.value = errAng;
     std::memcpy(ctrlValData.tgtRotRate.value, tgtRotRate, 3 * sizeof(double));
-    ctrlValData.safeStrat.value = acs::SafeModeStrategy::SAFECTRL_OFF;
+    ctrlValData.safeStrat.value = acs::ControlModeStrategy::CTRL_OFF;
     ctrlValData.setValidity(true, true);
   }
 }
@@ -779,11 +790,12 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
   localDataPoolMap.emplace(acsctrl::PoolIds::GPS_VELOCITY, &gpsVelocity);
   localDataPoolMap.emplace(acsctrl::PoolIds::SOURCE, &gpsSource);
   poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), enableHkSets, 30.0});
-  // MEKF
+  // 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);
-  poolManager.subscribeForDiagPeriodicPacket({mekfData.getSid(), enableHkSets, 10.0});
+  localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_QUEST, &quatQuest);
+  poolManager.subscribeForDiagPeriodicPacket({attitudeEstimationData.getSid(), enableHkSets, 10.0});
   // Ctrl Values
   localDataPoolMap.emplace(acsctrl::PoolIds::SAFE_STRAT, &safeStrat);
   localDataPoolMap.emplace(acsctrl::PoolIds::TGT_QUAT, &tgtQuat);
@@ -800,10 +812,15 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
   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_SOURCE, &rotRateSource);
   poolManager.subscribeForRegularPeriodicPacket({fusedRotRateData.getSid(), enableHkSets, 10.0});
-  // TLE Data
-  localDataPoolMap.emplace(acsctrl::PoolIds::TLE_LINE_1, &line1);
-  localDataPoolMap.emplace(acsctrl::PoolIds::TLE_LINE_2, &line2);
+  // 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});
   return returnvalue::OK;
 }
 
@@ -824,13 +841,15 @@ LocalPoolDataSetBase *AcsController::getDataSetHandle(sid_t sid) {
     case acsctrl::GPS_PROCESSED_DATA:
       return &gpsDataProcessed;
     case acsctrl::MEKF_DATA:
-      return &mekfData;
+      return &attitudeEstimationData;
     case acsctrl::CTRL_VAL_DATA:
       return &ctrlValData;
     case acsctrl::ACTUATOR_CMD_DATA:
       return &actuatorCmdData;
     case acsctrl::FUSED_ROTATION_RATE_DATA:
       return &fusedRotRateData;
+    case acsctrl::FUSED_ROTATION_RATE_SOURCES_DATA:
+      return &fusedRotRateSourcesData;
     default:
       return nullptr;
   }
@@ -1031,6 +1050,67 @@ void AcsController::copySusData() {
   }
 }
 
+ReturnValue_t AcsController::updateTle(const uint8_t *line1, const uint8_t *line2, bool fromFile) {
+  ReturnValue_t result = navigation.updateTle(line1, line2);
+  if (result != returnvalue::OK) {
+    if (not fromFile) {
+      uint8_t fileLine1[69] = {};
+      uint8_t fileLine2[69] = {};
+      readTleFromFs(fileLine1, fileLine2);
+      navigation.updateTle(fileLine1, fileLine2);
+    }
+    return result;
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t AcsController::writeTleToFs(const uint8_t *tle) {
+  auto mntPrefix = sdcMan.getCurrentMountPrefix();
+  if (mntPrefix == nullptr or !sdcMan.isSdCardUsable(std::nullopt)) {
+    return returnvalue::FAILED;
+  }
+  std::string path = mntPrefix + TLE_FILE;
+  // Clear existing TLE from file
+  std::ofstream tleFile(path.c_str(), std::ofstream::out | std::ofstream::trunc);
+  if (tleFile.is_open()) {
+    tleFile.write(reinterpret_cast<const char *>(tle), 69);
+    tleFile << "\n";
+    tleFile.write(reinterpret_cast<const char *>(tle + 69), 69);
+  } else {
+    return WRITE_FILE_FAILED;
+  }
+  tleFile.close();
+  return returnvalue::OK;
+}
+
+ReturnValue_t AcsController::readTleFromFs(uint8_t *line1, uint8_t *line2) {
+  auto mntPrefix = sdcMan.getCurrentMountPrefix();
+  if (mntPrefix == nullptr or !sdcMan.isSdCardUsable(std::nullopt)) {
+    return returnvalue::FAILED;
+  }
+  std::string path = mntPrefix + TLE_FILE;
+  std::error_code e;
+  if (std::filesystem::exists(path, e)) {
+    // Read existing TLE from file
+    std::fstream tleFile = std::fstream(path.c_str(), std::fstream::in);
+    if (tleFile.is_open()) {
+      std::string tleLine1, tleLine2;
+      getline(tleFile, tleLine1);
+      std::memcpy(line1, tleLine1.c_str(), 69);
+      getline(tleFile, tleLine2);
+      std::memcpy(line2, tleLine2.c_str(), 69);
+    } else {
+      triggerEvent(acs::TLE_FILE_READ_FAILED);
+      return READ_FILE_FAILED;
+    }
+    tleFile.close();
+  } else {
+    triggerEvent(acs::TLE_FILE_READ_FAILED);
+    return READ_FILE_FAILED;
+  }
+  return returnvalue::OK;
+}
+
 void AcsController::copyGyrData() {
   {
     PoolReadGuard pg(&sensorValues.gyr0AdisSet);

mission/controller/AcsController.h

@@ -4,16 +4,20 @@
 #include <eive/objects.h>
 #include <fsfw/controller/ExtendedControllerBase.h>
 #include <fsfw/coordinates/Sgp4Propagator.h>
+#include <fsfw/datapool/PoolReadGuard.h>
 #include <fsfw/globalfunctions/math/VectorOperations.h>
 #include <fsfw/health/HealthTable.h>
 #include <fsfw/parameters/ParameterHelper.h>
 #include <fsfw/parameters/ReceivesParameterMessagesIF.h>
 #include <fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h>
 #include <fsfw_hal/devicehandlers/MgmRM3100Handler.h>
+#include <mission/acs/defs.h>
 #include <mission/acs/imtqHelpers.h>
 #include <mission/acs/rwHelpers.h>
 #include <mission/acs/susMax1227Helpers.h>
+#include <mission/config/torquer.h>
 #include <mission/controller/acs/ActuatorCmd.h>
+#include <mission/controller/acs/AttitudeEstimation.h>
 #include <mission/controller/acs/FusedRotationEstimation.h>
 #include <mission/controller/acs/Guidance.h>
 #include <mission/controller/acs/MultiplicativeKalmanFilter.h>
@@ -23,13 +27,18 @@
 #include <mission/controller/acs/control/PtgCtrl.h>
 #include <mission/controller/acs/control/SafeCtrl.h>
 #include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
+#include <mission/memory/SdCardMountedIF.h>
 #include <mission/utility/trace.h>
 
+#include <filesystem>
+#include <fstream>
+#include <optional>
+
 class AcsController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
  public:
   static constexpr dur_millis_t INIT_DELAY = 500;
 
-  AcsController(object_id_t objectId, bool enableHkSets);
+  AcsController(object_id_t objectId, bool enableHkSets, SdCardMountedIF& sdcMan);
 
   MessageQueueId_t getCommandQueue() const;
   ReturnValue_t getParameter(uint8_t domainId, uint8_t parameterId,
@@ -37,6 +46,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
                              uint16_t startAtIndex) override;
 
  protected:
+  void performAttitudeControl();
   void performSafe();
   void performDetumble();
   void performPointingCtrl();
@@ -49,8 +59,16 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
 
   bool enableHkSets = false;
 
+  SdCardMountedIF& sdcMan;
+
+  timeval timeAbsolute;
+  timeval timeRelative;
+  double timeDelta = 0.0;
+  timeval oldTimeRelative;
+
   AcsParameters acsParameters;
   SensorProcessing sensorProcessing;
+  AttitudeEstimation attitudeEstimation;
   FusedRotationEstimation fusedRotationEstimation;
   Navigation navigation;
   ActuatorCmd actuatorCmd;
@@ -66,7 +84,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   uint8_t detumbleCounter = 0;
   uint8_t multipleRwUnavailableCounter = 0;
   bool mekfInvalidFlag = false;
-  uint16_t mekfInvalidCounter = 0;
+  uint16_t ptgCtrlLostCounter = 0;
   bool safeCtrlFailureFlag = false;
   uint8_t safeCtrlFailureCounter = 0;
   uint8_t resetMekfCount = 0;
@@ -87,10 +105,15 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   static const DeviceCommandId_t RESET_MEKF = 0x1;
   static const DeviceCommandId_t RESTORE_MEKF_NONFINITE_RECOVERY = 0x2;
   static const DeviceCommandId_t UPDATE_TLE = 0x3;
+  static const DeviceCommandId_t READ_TLE = 0x4;
 
   static const uint8_t INTERFACE_ID = CLASS_ID::ACS_CTRL;
   //! [EXPORT] : [COMMENT] File deletion failed and at least one file is still existent.
   static constexpr ReturnValue_t FILE_DELETION_FAILED = MAKE_RETURN_CODE(0);
+  //! [EXPORT] : [COMMENT] Writing the TLE to the file has failed.
+  static constexpr ReturnValue_t WRITE_FILE_FAILED = MAKE_RETURN_CODE(1);
+  //! [EXPORT] : [COMMENT] Reading the TLE to the file has failed.
+  static constexpr ReturnValue_t READ_FILE_FAILED = MAKE_RETURN_CODE(2);
 
   ReturnValue_t initialize() override;
   ReturnValue_t handleCommandMessage(CommandMessage* message) override;
@@ -125,6 +148,12 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng,
                          const double* tgtRotRate);
 
+  ReturnValue_t updateTle(const uint8_t* line1, const uint8_t* line2, bool fromFile);
+  ReturnValue_t writeTleToFs(const uint8_t* tle);
+  ReturnValue_t readTleFromFs(uint8_t* line1, uint8_t* line2);
+
+  const std::string TLE_FILE = "/conf/tle.txt";
+
   /* ACS Sensor Values */
   ACS::SensorValues sensorValues;
 
@@ -212,11 +241,12 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   PoolEntry<double> gpsVelocity = PoolEntry<double>(3);
   PoolEntry<uint8_t> gpsSource = PoolEntry<uint8_t>();
 
-  // MEKF
-  acsctrl::MekfData mekfData;
+  // Attitude Estimation
+  acsctrl::AttitudeEstimationData attitudeEstimationData;
   PoolEntry<double> quatMekf = PoolEntry<double>(4);
   PoolEntry<double> satRotRateMekf = PoolEntry<double>(3);
   PoolEntry<uint8_t> mekfStatus = PoolEntry<uint8_t>();
+  PoolEntry<double> quatQuest = PoolEntry<double>(4);
 
   // Ctrl Values
   acsctrl::CtrlValData ctrlValData;
@@ -237,11 +267,15 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   PoolEntry<double> rotRateOrthogonal = PoolEntry<double>(3);
   PoolEntry<double> rotRateParallel = PoolEntry<double>(3);
   PoolEntry<double> rotRateTotal = PoolEntry<double>(3);
+  PoolEntry<uint8_t> rotRateSource = PoolEntry<uint8_t>();
 
-  // TLE Dataset
-  acsctrl::TleData tleData;
-  PoolEntry<uint8_t> line1 = PoolEntry<uint8_t>(69);
-  PoolEntry<uint8_t> line2 = PoolEntry<uint8_t>(69);
+  // Fused Rot Rate Sources
+  acsctrl::FusedRotRateSourcesData fusedRotRateSourcesData;
+  PoolEntry<double> rotRateOrthogonalSusMgm = PoolEntry<double>(3);
+  PoolEntry<double> rotRateParallelSusMgm = PoolEntry<double>(3);
+  PoolEntry<double> rotRateTotalSusMgm = PoolEntry<double>(3);
+  PoolEntry<double> rotRateTotalQuest = PoolEntry<double>(3);
+  PoolEntry<double> rotRateTotalStr = PoolEntry<double>(3);
 
   // Initial delay to make sure all pool variables have been initialized their owners
   Countdown initialCountdown = Countdown(INIT_DELAY);

mission/controller/PowerController.cpp

@@ -100,15 +100,16 @@ void PowerController::performControlOperation() {
       return;
     }
     case InternalState::READY: {
+      if (mode != MODE_NORMAL) {
+        PoolReadGuard pg(&enablePl);
+        if (pg.getReadResult() == returnvalue::OK) {
+          enablePl.setValidity(false, true);
+        }
+      }
       if (mode != MODE_OFF) {
         calculateStateOfCharge();
         if (mode == MODE_NORMAL) {
           watchStateOfCharge();
-        } else {
-          PoolReadGuard pg(&enablePl);
-          if (pg.getReadResult() == returnvalue::OK) {
-            enablePl.setValidity(false, true);
-          }
         }
       }
       break;
@@ -156,7 +157,12 @@ ReturnValue_t PowerController::checkModeCommand(Mode_t mode, Submode_t submode,
 
 void PowerController::calculateStateOfCharge() {
   // get time
-  Clock::getClock_timeval(&now);
+  Clock::getClockMonotonic(&now);
+  double timeDelta = 0.0;
+  if (now.tv_sec != 0 and oldTime.tv_sec != 0) {
+    timeDelta = timevalOperations::toDouble(now - oldTime);
+  }
+  oldTime = now;
 
   // update EPS HK values
   ReturnValue_t result = updateEpsData();
@@ -172,8 +178,6 @@ void PowerController::calculateStateOfCharge() {
         pwrCtrlCoreHk.setValidity(false, true);
       }
     }
-    // store time for next run
-    oldTime = now;
     return;
   }
 
@@ -194,12 +198,10 @@ void PowerController::calculateStateOfCharge() {
         pwrCtrlCoreHk.coulombCounterCharge.setValid(false);
       }
     }
-    // store time for next run
-    oldTime = now;
     return;
   }
 
-  result = calculateCoulombCounterCharge();
+  result = calculateCoulombCounterCharge(timeDelta);
   if (result != returnvalue::OK) {
     // notifying events have already been triggered
     {
@@ -214,8 +216,6 @@ void PowerController::calculateStateOfCharge() {
         pwrCtrlCoreHk.coulombCounterCharge.setValid(false);
       }
     }
-    // store time for next run
-    oldTime = now;
     return;
   }
 
@@ -230,8 +230,6 @@ void PowerController::calculateStateOfCharge() {
       pwrCtrlCoreHk.setValidity(true, true);
     }
   }
-  // store time for next run
-  oldTime = now;
 }
 
 void PowerController::watchStateOfCharge() {
@@ -284,12 +282,14 @@ ReturnValue_t PowerController::calculateOpenCircuitVoltageCharge() {
   return returnvalue::OK;
 }
 
-ReturnValue_t PowerController::calculateCoulombCounterCharge() {
-  double timeDiff = timevalOperations::toDouble(now - oldTime);
-  if (timeDiff > maxAllowedTimeDiff) {
+ReturnValue_t PowerController::calculateCoulombCounterCharge(double timeDelta) {
+  if (timeDelta == 0.0) {
+    return returnvalue::FAILED;
+  }
+  if (timeDelta > maxAllowedTimeDiff) {
     // should not be a permanent state so no spam protection required
-    triggerEvent(power::TIMEDELTA_OUT_OF_BOUNDS, static_cast<uint32_t>(timeDiff * 10));
-    sif::error << "Power Controller::Time delta too large for Coulomb Counter: " << timeDiff
+    triggerEvent(power::TIMEDELTA_OUT_OF_BOUNDS, static_cast<uint32_t>(timeDelta * 10));
+    sif::error << "Power Controller::Time delta too large for Coulomb Counter: " << timeDelta
                << std::endl;
     return returnvalue::FAILED;
   }
@@ -297,7 +297,7 @@ ReturnValue_t PowerController::calculateCoulombCounterCharge() {
     coulombCounterCharge = openCircuitVoltageCharge;
   } else {
     coulombCounterCharge =
-        coulombCounterCharge + iBat * CONVERT_FROM_MILLI * timeDiff * SECONDS_TO_HOURS;
+        coulombCounterCharge + iBat * CONVERT_FROM_MILLI * timeDelta * SECONDS_TO_HOURS;
     if (coulombCounterCharge >= coulombCounterChargeUpperThreshold) {
       coulombCounterCharge = coulombCounterChargeUpperThreshold;
     }

mission/controller/PowerController.h

@@ -45,7 +45,7 @@ class PowerController : public ExtendedControllerBase, public ReceivesParameterM
   void calculateStateOfCharge();
   void watchStateOfCharge();
   ReturnValue_t calculateOpenCircuitVoltageCharge();
-  ReturnValue_t calculateCoulombCounterCharge();
+  ReturnValue_t calculateCoulombCounterCharge(double timeDelta);
   ReturnValue_t updateEpsData();
   float charge2stateOfCharge(float capacity, bool coulombCounter);
   ReturnValue_t lookUpTableOcvIdxFinder(float voltage, uint8_t& idx, bool paramCmd);
@@ -53,13 +53,13 @@ class PowerController : public ExtendedControllerBase, public ReceivesParameterM
   ReturnValue_t calculateCoulombCounterChargeUpperThreshold();
 
   // Parameters
-  float batteryInternalResistance = 70.0 / 2.0 / 1000.0;  // [Ohm]
-  float batteryMaximumCapacity = 2.6 * 2;                 // [Ah]
-  float coulombCounterVoltageUpperThreshold = 16.2;       // [V]
-  double maxAllowedTimeDiff = 1.5;                        // [s]
-  float payloadOpLimitOn = 0.90;                          // [%]
-  float payloadOpLimitLow = 0.75;                         // [%]
-  float higherModesLimit = 0.6;                           // [%]
+  float batteryInternalResistance = 0.06798200367;   // [Ohm]
+  float batteryMaximumCapacity = 2.6 * 2;            // [Ah]
+  float coulombCounterVoltageUpperThreshold = 16.2;  // [V]
+  double maxAllowedTimeDiff = 1.5;                   // [s]
+  float payloadOpLimitOn = 0.90;                     // [%]
+  float payloadOpLimitLow = 0.75;                    // [%]
+  float higherModesLimit = 0.6;                      // [%]
 
   // OCV Look-up-Table {[Ah],[V]}
   static constexpr uint8_t LOOK_UP_TABLE_MAX_IDX = 99;

mission/controller/acs/AcsParameters.cpp

@@ -24,11 +24,20 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->set(onBoardParams.sampleTime);
           break;
         case 0x1:
-          parameterWrapper->set(onBoardParams.mekfViolationTimer);
+          parameterWrapper->set(onBoardParams.ptgCtrlLostTimer);
           break;
         case 0x2:
           parameterWrapper->set(onBoardParams.fusedRateSafeDuringEclipse);
           break;
+        case 0x3:
+          parameterWrapper->set(onBoardParams.fusedRateFromStr);
+          break;
+        case 0x4:
+          parameterWrapper->set(onBoardParams.fusedRateFromQuest);
+          break;
+        case 0x5:
+          parameterWrapper->set(onBoardParams.questFilterWeight);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }
@@ -425,6 +434,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0x9:
           parameterWrapper->set(idleModeControllerParameters.enableAntiStiction);
           break;
+        case 0xA:
+          parameterWrapper->set(idleModeControllerParameters.useMekf);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }
@@ -462,36 +474,39 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->set(targetModeControllerParameters.enableAntiStiction);
           break;
         case 0xA:
-          parameterWrapper->setVector(targetModeControllerParameters.refDirection);
+          parameterWrapper->set(targetModeControllerParameters.useMekf);
           break;
         case 0xB:
-          parameterWrapper->setVector(targetModeControllerParameters.refRotRate);
+          parameterWrapper->setVector(targetModeControllerParameters.refDirection);
           break;
         case 0xC:
-          parameterWrapper->setVector(targetModeControllerParameters.quatRef);
+          parameterWrapper->setVector(targetModeControllerParameters.refRotRate);
           break;
         case 0xD:
-          parameterWrapper->set(targetModeControllerParameters.timeElapsedMax);
+          parameterWrapper->setVector(targetModeControllerParameters.quatRef);
           break;
         case 0xE:
-          parameterWrapper->set(targetModeControllerParameters.latitudeTgt);
+          parameterWrapper->set(targetModeControllerParameters.timeElapsedMax);
           break;
         case 0xF:
-          parameterWrapper->set(targetModeControllerParameters.longitudeTgt);
+          parameterWrapper->set(targetModeControllerParameters.latitudeTgt);
           break;
         case 0x10:
-          parameterWrapper->set(targetModeControllerParameters.altitudeTgt);
+          parameterWrapper->set(targetModeControllerParameters.longitudeTgt);
           break;
         case 0x11:
-          parameterWrapper->set(targetModeControllerParameters.avoidBlindStr);
+          parameterWrapper->set(targetModeControllerParameters.altitudeTgt);
           break;
         case 0x12:
-          parameterWrapper->set(targetModeControllerParameters.blindAvoidStart);
+          parameterWrapper->set(targetModeControllerParameters.avoidBlindStr);
           break;
         case 0x13:
-          parameterWrapper->set(targetModeControllerParameters.blindAvoidStop);
+          parameterWrapper->set(targetModeControllerParameters.blindAvoidStart);
           break;
         case 0x14:
+          parameterWrapper->set(targetModeControllerParameters.blindAvoidStop);
+          break;
+        case 0x15:
           parameterWrapper->set(targetModeControllerParameters.blindRotRate);
           break;
         default:
@@ -531,18 +546,21 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->set(gsTargetModeControllerParameters.enableAntiStiction);
           break;
         case 0xA:
-          parameterWrapper->setVector(gsTargetModeControllerParameters.refDirection);
+          parameterWrapper->set(gsTargetModeControllerParameters.useMekf);
           break;
         case 0xB:
-          parameterWrapper->set(gsTargetModeControllerParameters.timeElapsedMax);
+          parameterWrapper->setVector(gsTargetModeControllerParameters.refDirection);
           break;
         case 0xC:
-          parameterWrapper->set(gsTargetModeControllerParameters.latitudeTgt);
+          parameterWrapper->set(gsTargetModeControllerParameters.timeElapsedMax);
           break;
         case 0xD:
-          parameterWrapper->set(gsTargetModeControllerParameters.longitudeTgt);
+          parameterWrapper->set(gsTargetModeControllerParameters.latitudeTgt);
           break;
         case 0xE:
+          parameterWrapper->set(gsTargetModeControllerParameters.longitudeTgt);
+          break;
+        case 0xF:
           parameterWrapper->set(gsTargetModeControllerParameters.altitudeTgt);
           break;
         default:
@@ -582,15 +600,18 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->set(nadirModeControllerParameters.enableAntiStiction);
           break;
         case 0xA:
-          parameterWrapper->setVector(nadirModeControllerParameters.refDirection);
+          parameterWrapper->set(nadirModeControllerParameters.useMekf);
           break;
         case 0xB:
-          parameterWrapper->setVector(nadirModeControllerParameters.quatRef);
+          parameterWrapper->setVector(nadirModeControllerParameters.refDirection);
           break;
         case 0xC:
-          parameterWrapper->setVector(nadirModeControllerParameters.refRotRate);
+          parameterWrapper->setVector(nadirModeControllerParameters.quatRef);
           break;
         case 0xD:
+          parameterWrapper->setVector(nadirModeControllerParameters.refRotRate);
+          break;
+        case 0xE:
           parameterWrapper->set(nadirModeControllerParameters.timeElapsedMax);
           break;
         default:
@@ -630,12 +651,15 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->set(inertialModeControllerParameters.enableAntiStiction);
           break;
         case 0xA:
-          parameterWrapper->setVector(inertialModeControllerParameters.tgtQuat);
+          parameterWrapper->set(inertialModeControllerParameters.useMekf);
           break;
         case 0xB:
-          parameterWrapper->setVector(inertialModeControllerParameters.refRotRate);
+          parameterWrapper->setVector(inertialModeControllerParameters.tgtQuat);
           break;
         case 0xC:
+          parameterWrapper->setVector(inertialModeControllerParameters.refRotRate);
+          break;
+        case 0xD:
           parameterWrapper->setVector(inertialModeControllerParameters.quatRef);
           break;
         default:

mission/controller/acs/AcsParameters.h

@@ -18,8 +18,11 @@ class AcsParameters : public HasParametersIF {
 
   struct OnBoardParams {
     double sampleTime = 0.4;  // [s]
-    uint16_t mekfViolationTimer = 750;
+    uint16_t ptgCtrlLostTimer = 750;
     uint8_t fusedRateSafeDuringEclipse = true;
+    uint8_t fusedRateFromStr = false;
+    uint8_t fusedRateFromQuest = false;
+    double questFilterWeight = 0.0;
   } onBoardParams;
 
   struct InertiaEIVE {
@@ -75,9 +78,9 @@ class AcsParameters : public HasParametersIF {
                                        {-0.007534, 1.253879, 0.006812},
                                        {-0.037072, 0.006812, 1.313158}};
 
-    float mgm02variance[3] = {pow(3.2e-7, 2), pow(3.2e-7, 2), pow(4.1e-7, 2)};
-    float mgm13variance[3] = {pow(1.5e-8, 2), pow(1.5e-8, 2), pow(1.5e-8, 2)};
-    float mgm4variance[3] = {pow(1.7e-6, 2), pow(1.7e-6, 2), pow(1.7e-6, 2)};
+    double mgm02variance[3] = {pow(3.2e-7, 2), pow(3.2e-7, 2), pow(4.1e-7, 2)};
+    double mgm13variance[3] = {pow(1.5e-8, 2), pow(1.5e-8, 2), pow(1.5e-8, 2)};
+    double mgm4variance[3] = {pow(1.7e-6, 2), pow(1.7e-6, 2), pow(1.7e-6, 2)};
     float mgmVectorFilterWeight = 0.85;
     float mgmDerivativeFilterWeight = 0.99;
     uint8_t useMgm4 = false;
@@ -787,10 +790,10 @@ class AcsParameters : public HasParametersIF {
 
     /* var = sigma^2, sigma = RND*sqrt(freq), following values are RND^2 and not var as freq is
      * assumed to be equal for the same class of sensors */
-    float gyr02variance[3] = {pow(4.6e-3, 2),   // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
-                              pow(4.6e-3, 2),   // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
-                              pow(6.1e-3, 2)};  // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
-    float gyr13variance[3] = {pow(11e-3, 2), pow(11e-3, 2), pow(11e-3, 2)};
+    double gyr02variance[3] = {pow(4.6e-3, 2),   // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
+                               pow(4.6e-3, 2),   // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
+                               pow(6.1e-3, 2)};  // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
+    double gyr13variance[3] = {pow(11e-3, 2), pow(11e-3, 2), pow(11e-3, 2)};
     uint8_t preferAdis = false;
     float gyrFilterWeight = 0.6;
   } gyrHandlingParameters;
@@ -861,6 +864,7 @@ class AcsParameters : public HasParametersIF {
     double deSatGainFactor = 1000;
     uint8_t desatOn = true;
     uint8_t enableAntiStiction = true;
+    uint8_t useMekf = false;
   } pointingLawParameters;
 
   struct IdleModeControllerParameters : PointingLawParameters {

mission/controller/acs/AttitudeEstimation.cpp

@@ -0,0 +1,109 @@
+#include "AttitudeEstimation.h"
+
+AttitudeEstimation::AttitudeEstimation(AcsParameters *acsParameters_) {
+  acsParameters = acsParameters_;
+}
+
+AttitudeEstimation::~AttitudeEstimation() {}
+
+void AttitudeEstimation::quest(acsctrl::SusDataProcessed *susData,
+                               acsctrl::MgmDataProcessed *mgmData,
+                               acsctrl::AttitudeEstimationData *attitudeEstimationData) {
+  if (not(susData->susVecTot.isValid() and susData->sunIjkModel.isValid() and
+          mgmData->mgmVecTot.isValid() and mgmData->magIgrfModel.isValid())) {
+    {
+      PoolReadGuard pg{attitudeEstimationData};
+      if (pg.getReadResult() == returnvalue::OK) {
+        std::memcpy(attitudeEstimationData->quatQuest.value, ZERO_VEC4, 4 * sizeof(double));
+        attitudeEstimationData->quatQuest.setValid(false);
+      }
+    }
+    return;
+  }
+
+  // Normalize Data
+  double normMgmB[3] = {0, 0, 0}, normMgmI[3] = {0, 0, 0}, normSusB[3] = {0, 0, 0},
+         normSusI[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(susData->susVecTot.value, normSusB, 3);
+  VectorOperations<double>::normalize(susData->sunIjkModel.value, normSusI, 3);
+  VectorOperations<double>::normalize(mgmData->mgmVecTot.value, normMgmB, 3);
+  VectorOperations<double>::normalize(mgmData->magIgrfModel.value, normMgmI, 3);
+
+  // Create Helper Vectors
+  double normHelperB[3] = {0, 0, 0}, normHelperI[3] = {0, 0, 0}, helperCross[3] = {0, 0, 0},
+         helperSum[3] = {0, 0, 0};
+  VectorOperations<double>::cross(normSusB, normMgmB, normHelperB);
+  VectorOperations<double>::cross(normSusI, normMgmI, normHelperI);
+  VectorOperations<double>::normalize(normHelperB, normHelperB, 3);
+  VectorOperations<double>::normalize(normHelperI, normHelperI, 3);
+  VectorOperations<double>::cross(normHelperB, normHelperI, helperCross);
+  VectorOperations<double>::add(normHelperB, normHelperI, helperSum, 3);
+
+  // Sensor Weights
+  double kSus = 0, kMgm = 0;
+  kSus = std::pow(acsParameters->kalmanFilterParameters.sensorNoiseSS, -2);
+  kMgm = std::pow(acsParameters->kalmanFilterParameters.sensorNoiseMAG, -2);
+
+  // Weighted Vectors
+  double weightedSusB[3] = {0, 0, 0}, weightedMgmB[3] = {0, 0, 0}, kSusVec[3] = {0, 0, 0},
+         kMgmVec[3] = {0, 0, 0}, kSumVec[3] = {0, 0, 0};
+  VectorOperations<double>::mulScalar(normSusB, kSus, weightedSusB, 3);
+  VectorOperations<double>::mulScalar(normMgmB, kMgm, weightedMgmB, 3);
+  VectorOperations<double>::cross(weightedSusB, normSusI, kSusVec);
+  VectorOperations<double>::cross(weightedMgmB, normMgmI, kMgmVec);
+  VectorOperations<double>::add(kSusVec, kMgmVec, kSumVec, 3);
+
+  // Some weird Angles
+  double alpha = (1 + VectorOperations<double>::dot(normHelperB, normHelperI)) *
+                     (VectorOperations<double>::dot(weightedSusB, normSusI) +
+                      VectorOperations<double>::dot(weightedMgmB, normMgmI)) +
+                 VectorOperations<double>::dot(helperCross, kSumVec);
+  double beta = VectorOperations<double>::dot(helperSum, kSumVec);
+  double gamma = std::sqrt(std::pow(alpha, 2) + std::pow(beta, 2));
+
+  // I don't even know what this is supposed to be
+  double constPlus =
+      1. / (2 * std::sqrt(gamma * (gamma + alpha) *
+                          (1 + VectorOperations<double>::dot(normHelperB, normHelperI))));
+  double constMinus =
+      1. / (2 * std::sqrt(gamma * (gamma - alpha) *
+                          (1 + VectorOperations<double>::dot(normHelperB, normHelperI))));
+
+  // Calculate Quaternion
+  double qBI[4] = {0, 0, 0, 0}, qRotVecTot[3] = {0, 0, 0}, qRotVecPt0[3] = {0, 0, 0},
+         qRotVecPt1[3] = {0, 0, 0};
+  if (alpha >= 0) {
+    // Scalar Part
+    qBI[3] = (gamma + alpha) * (1 + VectorOperations<double>::dot(normHelperB, normHelperI));
+    // Rotational Vector Part
+    VectorOperations<double>::mulScalar(helperCross, gamma + alpha, qRotVecPt0, 3);
+    VectorOperations<double>::mulScalar(helperSum, beta, qRotVecPt1, 3);
+    VectorOperations<double>::add(qRotVecPt0, qRotVecPt1, qRotVecTot, 3);
+    std::memcpy(qBI, qRotVecTot, sizeof(qRotVecTot));
+
+    VectorOperations<double>::mulScalar(qBI, constPlus, qBI, 4);
+    QuaternionOperations::normalize(qBI, qBI);
+  } else {
+    // Scalar Part
+    qBI[3] = (beta) * (1 + VectorOperations<double>::dot(normHelperB, normHelperI));
+    // Rotational Vector Part
+    VectorOperations<double>::mulScalar(helperCross, beta, qRotVecPt0, 3);
+    VectorOperations<double>::mulScalar(helperSum, gamma - alpha, qRotVecPt1, 3);
+    VectorOperations<double>::add(qRotVecPt0, qRotVecPt1, qRotVecTot, 3);
+    std::memcpy(qBI, qRotVecTot, sizeof(qRotVecTot));
+
+    VectorOperations<double>::mulScalar(qBI, constMinus, qBI, 4);
+    QuaternionOperations::normalize(qBI, qBI);
+  }
+  // Low Pass
+  if (VectorOperations<double>::norm(qOld, 4) != 0.0) {
+    QuaternionOperations::slerp(qBI, qOld, acsParameters->onBoardParams.questFilterWeight, qBI);
+  }
+  {
+    PoolReadGuard pg{attitudeEstimationData};
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(attitudeEstimationData->quatQuest.value, qBI, 4 * sizeof(double));
+      attitudeEstimationData->quatQuest.setValid(true);
+    }
+  }
+}

mission/controller/acs/AttitudeEstimation.h

@@ -0,0 +1,31 @@
+#ifndef MISSION_CONTROLLER_ACS_ATTITUDEESTIMATION_H_
+#define MISSION_CONTROLLER_ACS_ATTITUDEESTIMATION_H_
+
+#include <fsfw/datapool/PoolReadGuard.h>
+#include <fsfw/globalfunctions/math/QuaternionOperations.h>
+#include <fsfw/globalfunctions/math/VectorOperations.h>
+#include <mission/controller/acs/AcsParameters.h>
+#include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
+
+#include <cmath>
+#include <iostream>
+
+class AttitudeEstimation {
+ public:
+  AttitudeEstimation(AcsParameters *acsParameters_);
+  virtual ~AttitudeEstimation();
+  ;
+
+  void quest(acsctrl::SusDataProcessed *susData, acsctrl::MgmDataProcessed *mgmData,
+             acsctrl::AttitudeEstimationData *attitudeEstimation);
+
+ protected:
+ private:
+  AcsParameters *acsParameters;
+
+  double qOld[4] = {0, 0, 0, 0};
+
+  static constexpr double ZERO_VEC4[4] = {0, 0, 0, 0};
+};
+
+#endif /* MISSION_CONTROLLER_ACS_ATTITUDEESTIMATION_H_ */

mission/controller/acs/CMakeLists.txt

@@ -2,6 +2,7 @@ target_sources(
   ${LIB_EIVE_MISSION}
   PRIVATE AcsParameters.cpp
           ActuatorCmd.cpp
+          AttitudeEstimation.cpp
           FusedRotationEstimation.cpp
           Guidance.cpp
           Igrf13Model.cpp

mission/controller/acs/FusedRotationEstimation.cpp

@@ -4,19 +4,220 @@ FusedRotationEstimation::FusedRotationEstimation(AcsParameters *acsParameters_)
   acsParameters = acsParameters_;
 }
 
-void FusedRotationEstimation::estimateFusedRotationRateSafe(
+void FusedRotationEstimation::estimateFusedRotationRate(
     acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MgmDataProcessed *mgmDataProcessed,
-    acsctrl::GyrDataProcessed *gyrDataProcessed, acsctrl::FusedRotRateData *fusedRotRateData) {
+    acsctrl::GyrDataProcessed *gyrDataProcessed, ACS::SensorValues *sensorValues,
+    acsctrl::AttitudeEstimationData *attitudeEstimationData, const double timeDelta,
+    acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData,
+    acsctrl::FusedRotRateData *fusedRotRateData) {
+  estimateFusedRotationRateStr(sensorValues, timeDelta, fusedRotRateSourcesData);
+  estimateFusedRotationRateQuest(attitudeEstimationData, timeDelta, fusedRotRateSourcesData);
+  estimateFusedRotationRateSusMgm(susDataProcessed, mgmDataProcessed, gyrDataProcessed,
+                                  fusedRotRateSourcesData);
+
+  if (fusedRotRateSourcesData->rotRateTotalStr.isValid() and
+      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,
+                  fusedRotRateSourcesData->rotRateTotalStr.value, 3 * sizeof(double));
+      fusedRotRateData->rotRateTotal.setValid(true);
+      fusedRotRateData->rotRateSource.value = acs::rotrate::Source::STR;
+      fusedRotRateData->rotRateSource.setValid(true);
+    }
+  } else if (fusedRotRateSourcesData->rotRateTotalQuest.isValid() and
+             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,
+                  fusedRotRateSourcesData->rotRateTotalQuest.value, 3 * sizeof(double));
+      fusedRotRateData->rotRateTotal.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,
+                fusedRotRateSourcesData->rotRateTotalSusMgm.value, 3 * sizeof(double));
+    fusedRotRateData->rotRateTotal.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);
+      fusedRotRateData->rotRateSource.value = acs::rotrate::Source::NONE;
+      fusedRotRateData->rotRateSource.setValid(true);
+    }
+  }
+}
+
+void FusedRotationEstimation::estimateFusedRotationRateStr(
+    ACS::SensorValues *sensorValues, const double timeDelta,
+    acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData) {
+  if (not(sensorValues->strSet.caliQw.isValid() and sensorValues->strSet.caliQx.isValid() and
+          sensorValues->strSet.caliQy.isValid() and sensorValues->strSet.caliQz.isValid())) {
+    {
+      PoolReadGuard pg(fusedRotRateSourcesData);
+      if (pg.getReadResult() == returnvalue::OK) {
+        std::memcpy(fusedRotRateSourcesData->rotRateTotalStr.value, ZERO_VEC3, 3 * sizeof(double));
+        fusedRotRateSourcesData->rotRateTotalStr.setValid(false);
+      }
+    }
+    std::memcpy(quatOldStr, ZERO_VEC4, sizeof(quatOldStr));
+    return;
+  }
+
+  double quatNew[4] = {sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value,
+                       sensorValues->strSet.caliQz.value, sensorValues->strSet.caliQw.value};
+  if (VectorOperations<double>::norm(quatOldStr, 4) != 0 and timeDelta != 0) {
+    double quatOldInv[4] = {0, 0, 0, 0};
+    double quatDelta[4] = {0, 0, 0, 0};
+
+    QuaternionOperations::inverse(quatOldStr, quatOldInv);
+    QuaternionOperations::multiply(quatNew, quatOldInv, quatDelta);
+    if (VectorOperations<double>::norm(quatDelta, 4) != 0.0) {
+      QuaternionOperations::normalize(quatDelta);
+    }
+
+    double rotVec[3] = {0, 0, 0};
+    double angle = QuaternionOperations::getAngle(quatDelta);
+    if (VectorOperations<double>::norm(quatDelta, 3) == 0.0) {
+      {
+        PoolReadGuard pg(fusedRotRateSourcesData);
+        if (pg.getReadResult() == returnvalue::OK) {
+          std::memcpy(fusedRotRateSourcesData->rotRateTotalStr.value, ZERO_VEC3,
+                      3 * sizeof(double));
+          fusedRotRateSourcesData->rotRateTotalStr.setValid(true);
+        }
+      }
+      std::memcpy(quatOldStr, quatNew, sizeof(quatOldStr));
+      return;
+    }
+    VectorOperations<double>::normalize(quatDelta, rotVec, 3);
+    VectorOperations<double>::mulScalar(rotVec, angle / timeDelta, rotVec, 3);
+    {
+      PoolReadGuard pg(fusedRotRateSourcesData);
+      if (pg.getReadResult() == returnvalue::OK) {
+        std::memcpy(fusedRotRateSourcesData->rotRateTotalStr.value, rotVec, 3 * sizeof(double));
+        fusedRotRateSourcesData->rotRateTotalStr.setValid(true);
+      }
+    }
+    std::memcpy(quatOldStr, quatNew, sizeof(quatOldStr));
+    return;
+  }
+  {
+    PoolReadGuard pg(fusedRotRateSourcesData);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(fusedRotRateSourcesData->rotRateTotalStr.value, ZERO_VEC3, 3 * sizeof(double));
+      fusedRotRateSourcesData->rotRateTotalStr.setValid(false);
+    }
+  }
+  std::memcpy(quatOldStr, quatNew, sizeof(quatOldStr));
+  return;
+}
+
+void FusedRotationEstimation::estimateFusedRotationRateQuest(
+    acsctrl::AttitudeEstimationData *attitudeEstimationData, const double timeDelta,
+    acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData) {
+  if (not attitudeEstimationData->quatQuest.isValid()) {
+    {
+      PoolReadGuard pg(fusedRotRateSourcesData);
+      if (pg.getReadResult() == returnvalue::OK) {
+        std::memcpy(fusedRotRateSourcesData->rotRateTotalQuest.value, ZERO_VEC3,
+                    3 * sizeof(double));
+        fusedRotRateSourcesData->rotRateTotalQuest.setValid(false);
+      }
+    }
+    std::memcpy(quatOldQuest, ZERO_VEC4, sizeof(quatOldQuest));
+  }
+
+  if (VectorOperations<double>::norm(quatOldQuest, 4) != 0 and timeDelta != 0) {
+    double quatOldInv[4] = {0, 0, 0, 0};
+    double quatDelta[4] = {0, 0, 0, 0};
+
+    QuaternionOperations::inverse(quatOldQuest, quatOldInv);
+    QuaternionOperations::multiply(attitudeEstimationData->quatQuest.value, quatOldInv, quatDelta);
+    if (VectorOperations<double>::norm(quatDelta, 4) != 0.0) {
+      QuaternionOperations::normalize(quatDelta);
+    }
+
+    double rotVec[3] = {0, 0, 0};
+    double angle = QuaternionOperations::getAngle(quatDelta);
+    if (VectorOperations<double>::norm(quatDelta, 3) == 0.0) {
+      {
+        PoolReadGuard pg(fusedRotRateSourcesData);
+        if (pg.getReadResult() == returnvalue::OK) {
+          std::memcpy(fusedRotRateSourcesData->rotRateTotalQuest.value, ZERO_VEC3,
+                      3 * sizeof(double));
+          fusedRotRateSourcesData->rotRateTotalQuest.setValid(true);
+        }
+      }
+      std::memcpy(quatOldQuest, attitudeEstimationData->quatQuest.value, sizeof(quatOldQuest));
+      return;
+    }
+    VectorOperations<double>::normalize(quatDelta, rotVec, 3);
+    VectorOperations<double>::mulScalar(rotVec, angle / timeDelta, rotVec, 3);
+    {
+      PoolReadGuard pg(fusedRotRateSourcesData);
+      if (pg.getReadResult() == returnvalue::OK) {
+        std::memcpy(fusedRotRateSourcesData->rotRateTotalQuest.value, rotVec, 3 * sizeof(double));
+        fusedRotRateSourcesData->rotRateTotalQuest.setValid(true);
+      }
+    }
+    std::memcpy(quatOldQuest, attitudeEstimationData->quatQuest.value, sizeof(quatOldQuest));
+    return;
+  }
+  {
+    PoolReadGuard pg(fusedRotRateSourcesData);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(fusedRotRateSourcesData->rotRateTotalQuest.value, ZERO_VEC3, 3 * sizeof(double));
+      fusedRotRateSourcesData->rotRateTotalQuest.setValid(false);
+    }
+  }
+  std::memcpy(quatOldQuest, attitudeEstimationData->quatQuest.value, sizeof(quatOldQuest));
+  return;
+}
+
+void FusedRotationEstimation::estimateFusedRotationRateSusMgm(
+    acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MgmDataProcessed *mgmDataProcessed,
+    acsctrl::GyrDataProcessed *gyrDataProcessed,
+    acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData) {
   if ((not mgmDataProcessed->mgmVecTot.isValid() and not susDataProcessed->susVecTot.isValid() and
-       not fusedRotRateData->rotRateTotal.isValid()) or
+       not fusedRotRateSourcesData->rotRateTotalSusMgm.isValid()) or
       (not susDataProcessed->susVecTotDerivative.isValid() and
        not mgmDataProcessed->mgmVecTotDerivative.isValid())) {
     {
-      PoolReadGuard pg(fusedRotRateData);
-      std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC, 3 * sizeof(double));
-      std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC, 3 * sizeof(double));
-      std::memcpy(fusedRotRateData->rotRateTotal.value, ZERO_VEC, 3 * sizeof(double));
-      fusedRotRateData->setValidity(false, true);
+      PoolReadGuard pg(fusedRotRateSourcesData);
+      if (pg.getReadResult() == returnvalue::OK) {
+        std::memcpy(fusedRotRateSourcesData->rotRateOrthogonalSusMgm.value, ZERO_VEC3,
+                    3 * sizeof(double));
+        fusedRotRateSourcesData->rotRateOrthogonalSusMgm.setValid(false);
+        std::memcpy(fusedRotRateSourcesData->rotRateParallelSusMgm.value, ZERO_VEC3,
+                    3 * sizeof(double));
+        fusedRotRateSourcesData->rotRateParallelSusMgm.setValid(false);
+        std::memcpy(fusedRotRateSourcesData->rotRateTotalSusMgm.value, ZERO_VEC3,
+                    3 * sizeof(double));
+        fusedRotRateSourcesData->rotRateTotalSusMgm.setValid(false);
+      }
     }
     // store for calculation of angular acceleration
     if (gyrDataProcessed->gyrVecTot.isValid()) {
@@ -25,7 +226,7 @@ void FusedRotationEstimation::estimateFusedRotationRateSafe(
     return;
   }
   if (not susDataProcessed->susVecTot.isValid()) {
-    estimateFusedRotationRateEclipse(gyrDataProcessed, fusedRotRateData);
+    estimateFusedRotationRateEclipse(gyrDataProcessed, fusedRotRateSourcesData);
     // store for calculation of angular acceleration
     if (gyrDataProcessed->gyrVecTot.isValid()) {
       std::memcpy(rotRateOldB, gyrDataProcessed->gyrVecTot.value, 3 * sizeof(double));
@@ -49,7 +250,7 @@ void FusedRotationEstimation::estimateFusedRotationRateSafe(
     VectorOperations<double>::mulScalar(susDataProcessed->susVecTot.value, omegaParallel,
                                         fusedRotRateParallel, 3);
   } else {
-    estimateFusedRotationRateEclipse(gyrDataProcessed, fusedRotRateData);
+    estimateFusedRotationRateEclipse(gyrDataProcessed, fusedRotRateSourcesData);
     // store for calculation of angular acceleration
     if (gyrDataProcessed->gyrVecTot.isValid()) {
       std::memcpy(rotRateOldB, gyrDataProcessed->gyrVecTot.value, 3 * sizeof(double));
@@ -71,12 +272,18 @@ void FusedRotationEstimation::estimateFusedRotationRateSafe(
   VectorOperations<double>::add(fusedRotRateParallel, fusedRotRateOrthogonal, fusedRotRateTotal);
 
   {
-    PoolReadGuard pg(fusedRotRateData);
-    std::memcpy(fusedRotRateData->rotRateOrthogonal.value, fusedRotRateOrthogonal,
-                3 * sizeof(double));
-    std::memcpy(fusedRotRateData->rotRateParallel.value, fusedRotRateParallel, 3 * sizeof(double));
-    std::memcpy(fusedRotRateData->rotRateTotal.value, fusedRotRateTotal, 3 * sizeof(double));
-    fusedRotRateData->setValidity(true, true);
+    PoolReadGuard pg(fusedRotRateSourcesData);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(fusedRotRateSourcesData->rotRateOrthogonalSusMgm.value, fusedRotRateOrthogonal,
+                  3 * sizeof(double));
+      fusedRotRateSourcesData->rotRateOrthogonalSusMgm.setValid(true);
+      std::memcpy(fusedRotRateSourcesData->rotRateParallelSusMgm.value, fusedRotRateParallel,
+                  3 * sizeof(double));
+      fusedRotRateSourcesData->rotRateParallelSusMgm.setValid(true);
+      std::memcpy(fusedRotRateSourcesData->rotRateTotalSusMgm.value, fusedRotRateTotal,
+                  3 * sizeof(double));
+      fusedRotRateSourcesData->rotRateTotalSusMgm.setValid(true);
+    }
   }
 
   // store for calculation of angular acceleration
@@ -86,31 +293,44 @@ void FusedRotationEstimation::estimateFusedRotationRateSafe(
 }
 
 void FusedRotationEstimation::estimateFusedRotationRateEclipse(
-    acsctrl::GyrDataProcessed *gyrDataProcessed, acsctrl::FusedRotRateData *fusedRotRateData) {
+    acsctrl::GyrDataProcessed *gyrDataProcessed,
+    acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData) {
   if (not acsParameters->onBoardParams.fusedRateSafeDuringEclipse or
       not gyrDataProcessed->gyrVecTot.isValid() or
-      VectorOperations<double>::norm(fusedRotRateData->rotRateTotal.value, 3) == 0) {
+      VectorOperations<double>::norm(fusedRotRateSourcesData->rotRateTotalSusMgm.value, 3) == 0) {
     {
-      PoolReadGuard pg(fusedRotRateData);
-      std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC, 3 * sizeof(double));
-      std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC, 3 * sizeof(double));
-      std::memcpy(fusedRotRateData->rotRateTotal.value, ZERO_VEC, 3 * sizeof(double));
-      fusedRotRateData->setValidity(false, true);
+      PoolReadGuard pg(fusedRotRateSourcesData);
+      if (pg.getReadResult() == returnvalue::OK) {
+        std::memcpy(fusedRotRateSourcesData->rotRateOrthogonalSusMgm.value, ZERO_VEC3,
+                    3 * sizeof(double));
+        fusedRotRateSourcesData->rotRateOrthogonalSusMgm.setValid(false);
+        std::memcpy(fusedRotRateSourcesData->rotRateParallelSusMgm.value, ZERO_VEC3,
+                    3 * sizeof(double));
+        fusedRotRateSourcesData->rotRateParallelSusMgm.setValid(false);
+        std::memcpy(fusedRotRateSourcesData->rotRateTotalSusMgm.value, ZERO_VEC3,
+                    3 * sizeof(double));
+        fusedRotRateSourcesData->rotRateTotalSusMgm.setValid(false);
+      }
     }
     return;
   }
   double angAccelB[3] = {0, 0, 0};
   VectorOperations<double>::subtract(gyrDataProcessed->gyrVecTot.value, rotRateOldB, angAccelB, 3);
   double fusedRotRateTotal[3] = {0, 0, 0};
-  VectorOperations<double>::add(fusedRotRateData->rotRateTotal.value, angAccelB, fusedRotRateTotal,
-                                3);
+  VectorOperations<double>::add(fusedRotRateSourcesData->rotRateTotalSusMgm.value, angAccelB,
+                                fusedRotRateTotal, 3);
   {
-    PoolReadGuard pg(fusedRotRateData);
-    std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC, 3 * sizeof(double));
-    fusedRotRateData->rotRateOrthogonal.setValid(false);
-    std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC, 3 * sizeof(double));
-    fusedRotRateData->rotRateParallel.setValid(false);
-    std::memcpy(fusedRotRateData->rotRateTotal.value, fusedRotRateTotal, 3 * sizeof(double));
-    fusedRotRateData->rotRateTotal.setValid(true);
+    PoolReadGuard pg(fusedRotRateSourcesData);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(fusedRotRateSourcesData->rotRateOrthogonalSusMgm.value, ZERO_VEC3,
+                  3 * sizeof(double));
+      fusedRotRateSourcesData->rotRateOrthogonalSusMgm.setValid(false);
+      std::memcpy(fusedRotRateSourcesData->rotRateParallelSusMgm.value, ZERO_VEC3,
+                  3 * sizeof(double));
+      fusedRotRateSourcesData->rotRateParallelSusMgm.setValid(false);
+      std::memcpy(fusedRotRateSourcesData->rotRateTotalSusMgm.value, fusedRotRateTotal,
+                  3 * sizeof(double));
+      fusedRotRateSourcesData->rotRateTotalSusMgm.setValid(true);
+    }
   }
 }

mission/controller/acs/FusedRotationEstimation.h

@@ -2,28 +2,46 @@
 #define MISSION_CONTROLLER_ACS_FUSEDROTATIONESTIMATION_H_
 
 #include <fsfw/datapool/PoolReadGuard.h>
+#include <fsfw/globalfunctions/math/QuaternionOperations.h>
 #include <fsfw/globalfunctions/math/VectorOperations.h>
 #include <mission/controller/acs/AcsParameters.h>
+#include <mission/controller/acs/SensorValues.h>
 #include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
 
 class FusedRotationEstimation {
  public:
   FusedRotationEstimation(AcsParameters *acsParameters_);
 
-  void estimateFusedRotationRateSafe(acsctrl::SusDataProcessed *susDataProcessed,
-                                     acsctrl::MgmDataProcessed *mgmDataProcessed,
-                                     acsctrl::GyrDataProcessed *gyrDataProcessed,
-                                     acsctrl::FusedRotRateData *fusedRotRateData);
+  void estimateFusedRotationRate(acsctrl::SusDataProcessed *susDataProcessed,
+                                 acsctrl::MgmDataProcessed *mgmDataProcessed,
+                                 acsctrl::GyrDataProcessed *gyrDataProcessed,
+                                 ACS::SensorValues *sensorValues,
+                                 acsctrl::AttitudeEstimationData *attitudeEstimationData,
+                                 const double timeDelta,
+                                 acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData,
+                                 acsctrl::FusedRotRateData *fusedRotRateData);
 
  protected:
  private:
-  static constexpr double ZERO_VEC[3] = {0, 0, 0};
+  static constexpr double ZERO_VEC3[3] = {0, 0, 0};
+  static constexpr double ZERO_VEC4[4] = {0, 0, 0, 0};
 
   AcsParameters *acsParameters;
+  double quatOldQuest[4] = {0, 0, 0, 0};
+  double quatOldStr[4] = {0, 0, 0, 0};
   double rotRateOldB[3] = {0, 0, 0};
 
+  void estimateFusedRotationRateSusMgm(acsctrl::SusDataProcessed *susDataProcessed,
+                                       acsctrl::MgmDataProcessed *mgmDataProcessed,
+                                       acsctrl::GyrDataProcessed *gyrDataProcessed,
+                                       acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData);
   void estimateFusedRotationRateEclipse(acsctrl::GyrDataProcessed *gyrDataProcessed,
-                                        acsctrl::FusedRotRateData *fusedRotRateData);
+                                        acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData);
+  void estimateFusedRotationRateQuest(acsctrl::AttitudeEstimationData *attitudeEstimationData,
+                                      const double timeDelta,
+                                      acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData);
+  void estimateFusedRotationRateStr(ACS::SensorValues *sensorValues, const double timeDelta,
+                                    acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData);
 };
 
 #endif /* MISSION_CONTROLLER_ACS_FUSEDROTATIONESTIMATION_H_ */

mission/controller/acs/Guidance.cpp

@@ -4,21 +4,21 @@
 #include <fsfw/globalfunctions/math/MatrixOperations.h>
 #include <fsfw/globalfunctions/math/QuaternionOperations.h>
 #include <fsfw/globalfunctions/math/VectorOperations.h>
-#include <math.h>
+#include <mission/controller/acs/util/MathOperations.h>
 
+#include <cmath>
 #include <filesystem>
-
-#include "string.h"
-#include "util/CholeskyDecomposition.h"
-#include "util/MathOperations.h"
+#include <string>
 
 Guidance::Guidance(AcsParameters *acsParameters_) { acsParameters = acsParameters_; }
 
 Guidance::~Guidance() {}
 
-void Guidance::targetQuatPtgSingleAxis(timeval now, double posSatE[3], double velSatE[3],
-                                       double sunDirI[3], double refDirB[3], double quatBI[4],
-                                       double targetQuat[4], double targetSatRotRate[3]) {
+[[deprecated]] void Guidance::targetQuatPtgSingleAxis(const timeval timeAbsolute, double posSatE[3],
+                                                      double velSatE[3], double sunDirI[3],
+                                                      double refDirB[3], double quatBI[4],
+                                                      double targetQuat[4],
+                                                      double targetSatRotRate[3]) {
   //-------------------------------------------------------------------------------------
   //	Calculation of target quaternion to groundstation or given latitude, longitude and altitude
   //-------------------------------------------------------------------------------------
@@ -38,7 +38,7 @@ void Guidance::targetQuatPtgSingleAxis(timeval now, double posSatE[3], double ve
   double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
   double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
   double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEI, *dcmEIDot);
+  MathOperations<double>::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot);
   MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
 
   double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
@@ -136,8 +136,9 @@ void Guidance::targetQuatPtgSingleAxis(timeval now, double posSatE[3], double ve
   QuaternionOperations::multiply(quatIB, targetQuat, targetQuat);
 }
 
-void Guidance::targetQuatPtgThreeAxes(timeval now, double posSatE[3], double velSatE[3],
-                                      double targetQuat[4], double targetSatRotRate[3]) {
+void Guidance::targetQuatPtgThreeAxes(const timeval timeAbsolute, const double timeDelta,
+                                      double posSatE[3], double velSatE[3], double targetQuat[4],
+                                      double targetSatRotRate[3]) {
   //-------------------------------------------------------------------------------------
   //	Calculation of target quaternion for target pointing
   //-------------------------------------------------------------------------------------
@@ -154,7 +155,7 @@ void Guidance::targetQuatPtgThreeAxes(timeval now, double posSatE[3], double vel
   double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
   double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
   double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEI, *dcmEIDot);
+  MathOperations<double>::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot);
   MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
 
   double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
@@ -199,11 +200,12 @@ void Guidance::targetQuatPtgThreeAxes(timeval now, double posSatE[3], double vel
   QuaternionOperations::fromDcm(dcmIX, targetQuat);
 
   int8_t timeElapsedMax = acsParameters->targetModeControllerParameters.timeElapsedMax;
-  targetRotationRate(timeElapsedMax, now, targetQuat, targetSatRotRate);
+  targetRotationRate(timeElapsedMax, timeDelta, targetQuat, targetSatRotRate);
 }
 
-void Guidance::targetQuatPtgGs(timeval now, double posSatE[3], double sunDirI[3],
-                               double targetQuat[4], double targetSatRotRate[3]) {
+void Guidance::targetQuatPtgGs(const timeval timeAbsolute, const double timeDelta,
+                               double posSatE[3], double sunDirI[3], double targetQuat[4],
+                               double targetSatRotRate[3]) {
   //-------------------------------------------------------------------------------------
   //	Calculation of target quaternion for ground station pointing
   //-------------------------------------------------------------------------------------
@@ -221,7 +223,7 @@ void Guidance::targetQuatPtgGs(timeval now, double posSatE[3], double sunDirI[3]
   double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
   double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
   double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEI, *dcmEIDot);
+  MathOperations<double>::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot);
   MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
 
   double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
@@ -263,10 +265,10 @@ void Guidance::targetQuatPtgGs(timeval now, double posSatE[3], double sunDirI[3]
   QuaternionOperations::fromDcm(dcmTgt, targetQuat);
 
   int8_t timeElapsedMax = acsParameters->gsTargetModeControllerParameters.timeElapsedMax;
-  targetRotationRate(timeElapsedMax, now, targetQuat, targetSatRotRate);
+  targetRotationRate(timeElapsedMax, timeDelta, targetQuat, targetSatRotRate);
 }
 
-void Guidance::targetQuatPtgSun(timeval now, double sunDirI[3], double targetQuat[4],
+void Guidance::targetQuatPtgSun(double timeDelta, double sunDirI[3], double targetQuat[4],
                                 double targetSatRotRate[3]) {
   //-------------------------------------------------------------------------------------
   //	Calculation of target quaternion to sun
@@ -298,12 +300,13 @@ void Guidance::targetQuatPtgSun(timeval now, double sunDirI[3], double targetQua
   //	Calculation of reference rotation rate
   //----------------------------------------------------------------------------
   int8_t timeElapsedMax = acsParameters->gsTargetModeControllerParameters.timeElapsedMax;
-  targetRotationRate(timeElapsedMax, now, targetQuat, targetSatRotRate);
+  targetRotationRate(timeElapsedMax, timeDelta, targetQuat, targetSatRotRate);
 }
 
-void Guidance::targetQuatPtgNadirSingleAxis(timeval now, double posSatE[3], double quatBI[4],
-                                            double targetQuat[4], double refDirB[3],
-                                            double refSatRate[3]) {
+[[deprecated]] void Guidance::targetQuatPtgNadirSingleAxis(const timeval timeAbsolute,
+                                                           double posSatE[3], double quatBI[4],
+                                                           double targetQuat[4], double refDirB[3],
+                                                           double refSatRate[3]) {
   //-------------------------------------------------------------------------------------
   //	Calculation of target quaternion for Nadir pointing
   //-------------------------------------------------------------------------------------
@@ -314,7 +317,7 @@ void Guidance::targetQuatPtgNadirSingleAxis(timeval now, double posSatE[3], doub
   double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
   double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
   double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEI, *dcmEIDot);
+  MathOperations<double>::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot);
   MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
 
   double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
@@ -362,7 +365,8 @@ void Guidance::targetQuatPtgNadirSingleAxis(timeval now, double posSatE[3], doub
   QuaternionOperations::multiply(quatIB, targetQuat, targetQuat);
 }
 
-void Guidance::targetQuatPtgNadirThreeAxes(timeval now, double posSatE[3], double velSatE[3],
+void Guidance::targetQuatPtgNadirThreeAxes(const timeval timeAbsolute, const double timeDelta,
+                                           double posSatE[3], double velSatE[3],
                                            double targetQuat[4], double refSatRate[3]) {
   //-------------------------------------------------------------------------------------
   //	Calculation of target quaternion for Nadir pointing
@@ -371,7 +375,7 @@ void Guidance::targetQuatPtgNadirThreeAxes(timeval now, double posSatE[3], doubl
   double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
   double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
   double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEI, *dcmEIDot);
+  MathOperations<double>::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot);
   MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
 
   double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
@@ -407,7 +411,7 @@ void Guidance::targetQuatPtgNadirThreeAxes(timeval now, double posSatE[3], doubl
   QuaternionOperations::fromDcm(dcmTgt, targetQuat);
 
   int8_t timeElapsedMax = acsParameters->nadirModeControllerParameters.timeElapsedMax;
-  targetRotationRate(timeElapsedMax, now, targetQuat, refSatRate);
+  targetRotationRate(timeElapsedMax, timeDelta, targetQuat, refSatRate);
 }
 
 void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
@@ -448,23 +452,21 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
   VectorOperations<double>::subtract(currentSatRotRate, targetSatRotRate, errorSatRotRate, 3);
 }
 
-void Guidance::targetRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],
-                                  double *refSatRate) {
+void Guidance::targetRotationRate(const int8_t timeElapsedMax, const double timeDelta,
+                                  double quatInertialTarget[4], double *refSatRate) {
   //-------------------------------------------------------------------------------------
   //	Calculation of target rotation rate
   //-------------------------------------------------------------------------------------
-  double timeElapsed = now.tv_sec + now.tv_usec * 1e-6 -
-                       (timeSavedQuaternion.tv_sec + timeSavedQuaternion.tv_usec * 1e-6);
   if (VectorOperations<double>::norm(savedQuaternion, 4) == 0) {
     std::memcpy(savedQuaternion, quatInertialTarget, sizeof(savedQuaternion));
   }
-  if (timeElapsed < timeElapsedMax) {
+  if (timeDelta < timeElapsedMax and timeDelta != 0.0) {
     double q[4] = {0, 0, 0, 0}, qS[4] = {0, 0, 0, 0};
     QuaternionOperations::inverse(quatInertialTarget, q);
     QuaternionOperations::inverse(savedQuaternion, qS);
     double qDiff[4] = {0, 0, 0, 0};
     VectorOperations<double>::subtract(q, qS, qDiff, 4);
-    VectorOperations<double>::mulScalar(qDiff, 1 / timeElapsed, qDiff, 4);
+    VectorOperations<double>::mulScalar(qDiff, 1. / timeDelta, qDiff, 4);
 
     double tgtQuatVec[3] = {q[0], q[1], q[2]};
     double qDiffVec[3] = {qDiff[0], qDiff[1], qDiff[2]};
@@ -488,33 +490,29 @@ void Guidance::targetRotationRate(int8_t timeElapsedMax, timeval now, double qua
     refSatRate[2] = 0;
   }
 
-  timeSavedQuaternion = now;
-  savedQuaternion[0] = quatInertialTarget[0];
-  savedQuaternion[1] = quatInertialTarget[1];
-  savedQuaternion[2] = quatInertialTarget[2];
-  savedQuaternion[3] = quatInertialTarget[3];
+  std::memcpy(savedQuaternion, quatInertialTarget, sizeof(savedQuaternion));
 }
 
 ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues,
                                                 double *rwPseudoInv) {
-  bool rw1valid = (sensorValues->rw1Set.state.value && sensorValues->rw1Set.state.isValid());
-  bool rw2valid = (sensorValues->rw2Set.state.value && sensorValues->rw2Set.state.isValid());
-  bool rw3valid = (sensorValues->rw3Set.state.value && sensorValues->rw3Set.state.isValid());
-  bool rw4valid = (sensorValues->rw4Set.state.value && sensorValues->rw4Set.state.isValid());
+  bool rw1valid = (sensorValues->rw1Set.state.value and sensorValues->rw1Set.state.isValid());
+  bool rw2valid = (sensorValues->rw2Set.state.value and sensorValues->rw2Set.state.isValid());
+  bool rw3valid = (sensorValues->rw3Set.state.value and sensorValues->rw3Set.state.isValid());
+  bool rw4valid = (sensorValues->rw4Set.state.value and sensorValues->rw4Set.state.isValid());
 
-  if (rw1valid && rw2valid && rw3valid && rw4valid) {
+  if (rw1valid and rw2valid and rw3valid and rw4valid) {
     std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverse, 12 * sizeof(double));
     return returnvalue::OK;
-  } else if (!rw1valid && rw2valid && rw3valid && rw4valid) {
+  } else if (not rw1valid and rw2valid and rw3valid and rw4valid) {
     std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without1, 12 * sizeof(double));
     return returnvalue::OK;
-  } else if (rw1valid && !rw2valid && rw3valid && rw4valid) {
+  } else if (rw1valid and not rw2valid and rw3valid and rw4valid) {
     std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without2, 12 * sizeof(double));
     return returnvalue::OK;
-  } else if (rw1valid && rw2valid && !rw3valid && rw4valid) {
+  } else if (rw1valid and rw2valid and not rw3valid and rw4valid) {
     std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without3, 12 * sizeof(double));
     return returnvalue::OK;
-  } else if (rw1valid && rw2valid && rw3valid && !rw4valid) {
+  } else if (rw1valid and rw2valid and rw3valid and not rw4valid) {
     std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without4, 12 * sizeof(double));
     return returnvalue::OK;
   } else {

mission/controller/acs/Guidance.h

@@ -17,25 +17,26 @@ class Guidance {
 
   // Function to get the target quaternion and reference rotation rate from gps position and
   // position of the ground station
-  void targetQuatPtgSingleAxis(timeval now, double posSatE[3], double velSatE[3], double sunDirI[3],
-                               double refDirB[3], double quatBI[4], double targetQuat[4],
-                               double targetSatRotRate[3]);
-  void targetQuatPtgThreeAxes(timeval now, double posSatE[3], double velSatE[3], double quatIX[4],
-                              double targetSatRotRate[3]);
-  void targetQuatPtgGs(timeval now, double posSatE[3], double sunDirI[3], double quatIX[4],
-                       double targetSatRotRate[3]);
+  void targetQuatPtgSingleAxis(const timeval timeAbsolute, double posSatE[3], double velSatE[3],
+                               double sunDirI[3], double refDirB[3], double quatBI[4],
+                               double targetQuat[4], double targetSatRotRate[3]);
+  void targetQuatPtgThreeAxes(const timeval timeAbsolute, const double timeDelta, double posSatE[3],
+                              double velSatE[3], double quatIX[4], double targetSatRotRate[3]);
+  void targetQuatPtgGs(const timeval timeAbsolute, const double timeDelta, double posSatE[3],
+                       double sunDirI[3], double quatIX[4], double targetSatRotRate[3]);
 
   // Function to get the target quaternion and reference rotation rate for sun pointing after ground
   // station
-  void targetQuatPtgSun(timeval now, double sunDirI[3], double targetQuat[4],
+  void targetQuatPtgSun(const double timeDelta, double sunDirI[3], double targetQuat[4],
                         double targetSatRotRate[3]);
 
   // Function to get the target quaternion and refence rotation rate from gps position for Nadir
   // pointing
-  void targetQuatPtgNadirSingleAxis(timeval now, double posSatE[3], double quatBI[4],
+  void targetQuatPtgNadirSingleAxis(const timeval timeAbsolute, double posSatE[3], double quatBI[4],
                                     double targetQuat[4], double refDirB[3], double refSatRate[3]);
-  void targetQuatPtgNadirThreeAxes(timeval now, double posSatE[3], double velSatE[3],
-                                   double targetQuat[4], double refSatRate[3]);
+  void targetQuatPtgNadirThreeAxes(const timeval timeAbsolute, const double timeDelta,
+                                   double posSatE[3], double velSatE[3], double targetQuat[4],
+                                   double refSatRate[3]);
 
   // @note: Calculates the error quaternion between the current orientation and the target
   // quaternion, considering a reference quaternion. Additionally the difference between the actual
@@ -48,8 +49,8 @@ class Guidance {
                   double targetSatRotRate[3], double errorQuat[4], double errorSatRotRate[3],
                   double &errorAngle);
 
-  void targetRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],
-                          double *targetSatRotRate);
+  void targetRotationRate(const int8_t timeElapsedMax, const double timeDelta,
+                          double quatInertialTarget[4], double *targetSatRotRate);
 
   // @note: will give back the pseudoinverse matrix for the reaction wheel depending on the valid
   // reation wheel 	maybe can be done in "commanding.h"
@@ -59,7 +60,6 @@ class Guidance {
   const AcsParameters *acsParameters;
 
   bool strBlindAvoidFlag = false;
-  timeval timeSavedQuaternion;
   double savedQuaternion[4] = {0, 0, 0, 0};
   double omegaRefSaved[3] = {0, 0, 0};
 

mission/controller/acs/MultiplicativeKalmanFilter.cpp

@@ -19,7 +19,7 @@ MultiplicativeKalmanFilter::~MultiplicativeKalmanFilter() {}
 ReturnValue_t MultiplicativeKalmanFilter::init(
     const double *magneticField_, const bool validMagField_, const double *sunDir_,
     const bool validSS, const double *sunDirJ, const bool validSSModel, const double *magFieldJ,
-    const bool validMagModel, acsctrl::MekfData *mekfData,
+    const bool validMagModel, acsctrl::AttitudeEstimationData *mekfData,
     AcsParameters *acsParameters) {  // valids for "model measurements"?
   // check for valid mag/sun
   if (validMagField_ && validSS && validSSModel && validMagModel) {
@@ -191,7 +191,7 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
     const double *quaternionSTR, const bool validSTR_, const double *rateGYRs_,
     const bool validGYRs_, const double *magneticField_, const bool validMagField_,
     const double *sunDir_, const bool validSS, const double *sunDirJ, const bool validSSModel,
-    const double *magFieldJ, const bool validMagModel, acsctrl::MekfData *mekfData,
+    const double *magFieldJ, const bool validMagModel, acsctrl::AttitudeEstimationData *mekfData,
     AcsParameters *acsParameters) {
   // Check for GYR Measurements
   int MDF = 0;  // Matrix Dimension Factor
@@ -1090,7 +1090,7 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
   return MEKF_RUNNING;
 }
 
-ReturnValue_t MultiplicativeKalmanFilter::reset(acsctrl::MekfData *mekfData) {
+ReturnValue_t MultiplicativeKalmanFilter::reset(acsctrl::AttitudeEstimationData *mekfData) {
   double resetQuaternion[4] = {0, 0, 0, 1};
   double resetCovarianceMatrix[6][6] = {{0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0},
                                         {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}};
@@ -1100,7 +1100,7 @@ ReturnValue_t MultiplicativeKalmanFilter::reset(acsctrl::MekfData *mekfData) {
   return MEKF_UNINITIALIZED;
 }
 
-void MultiplicativeKalmanFilter::updateDataSetWithoutData(acsctrl::MekfData *mekfData,
+void MultiplicativeKalmanFilter::updateDataSetWithoutData(acsctrl::AttitudeEstimationData *mekfData,
                                                           MekfStatus mekfStatus) {
   {
     PoolReadGuard pg(mekfData);
@@ -1115,8 +1115,9 @@ void MultiplicativeKalmanFilter::updateDataSetWithoutData(acsctrl::MekfData *mek
   }
 }
 
-void MultiplicativeKalmanFilter::updateDataSet(acsctrl::MekfData *mekfData, MekfStatus mekfStatus,
-                                               double quat[4], double satRotRate[3]) {
+void MultiplicativeKalmanFilter::updateDataSet(acsctrl::AttitudeEstimationData *mekfData,
+                                               MekfStatus mekfStatus, double quat[4],
+                                               double satRotRate[3]) {
   {
     PoolReadGuard pg(mekfData);
     if (pg.getReadResult() == returnvalue::OK) {

mission/controller/acs/MultiplicativeKalmanFilter.h

@@ -21,7 +21,7 @@ class MultiplicativeKalmanFilter {
   MultiplicativeKalmanFilter();
   virtual ~MultiplicativeKalmanFilter();
 
-  ReturnValue_t reset(acsctrl::MekfData *mekfData);
+  ReturnValue_t reset(acsctrl::AttitudeEstimationData *mekfData);
 
   /* @brief: init() - This function initializes the Kalman Filter and will provide the first
    * quaternion through the QUEST algorithm
@@ -32,8 +32,8 @@ class MultiplicativeKalmanFilter {
    */
   ReturnValue_t init(const double *magneticField_, const bool validMagField_, const double *sunDir_,
                      const bool validSS, const double *sunDirJ, const bool validSSModel,
-                     const double *magFieldJ, const bool validMagModel, acsctrl::MekfData *mekfData,
-                     AcsParameters *acsParameters);
+                     const double *magFieldJ, const bool validMagModel,
+                     acsctrl::AttitudeEstimationData *mekfData, AcsParameters *acsParameters);
 
   /* @brief:  mekfEst() - This function calculates the quaternion and gyro bias of the Kalman Filter
    * for the current step after the initalization
@@ -53,7 +53,7 @@ class MultiplicativeKalmanFilter {
                         const bool validGYRs_, const double *magneticField_,
                         const bool validMagField_, const double *sunDir_, const bool validSS,
                         const double *sunDirJ, const bool validSSModel, const double *magFieldJ,
-                        const bool validMagModel, acsctrl::MekfData *mekfData,
+                        const bool validMagModel, acsctrl::AttitudeEstimationData *mekfData,
                         AcsParameters *acsParameters);
 
   enum MekfStatus : uint8_t {
@@ -99,9 +99,9 @@ class MultiplicativeKalmanFilter {
   double biasGYR[3]; /*Between measured and estimated sat Rate*/
                      /*Parameter INIT*/
   /*Functions*/
-  void updateDataSetWithoutData(acsctrl::MekfData *mekfData, MekfStatus mekfStatus);
-  void updateDataSet(acsctrl::MekfData *mekfData, MekfStatus mekfStatus, double quat[4],
-                     double satRotRate[3]);
+  void updateDataSetWithoutData(acsctrl::AttitudeEstimationData *mekfData, MekfStatus mekfStatus);
+  void updateDataSet(acsctrl::AttitudeEstimationData *mekfData, MekfStatus mekfStatus,
+                     double quat[4], double satRotRate[3]);
 };
 
 #endif /* ACS_MULTIPLICATIVEKALMANFILTER_H_ */

mission/controller/acs/Navigation.cpp

@@ -16,7 +16,8 @@ ReturnValue_t Navigation::useMekf(ACS::SensorValues *sensorValues,
                                   acsctrl::GyrDataProcessed *gyrDataProcessed,
                                   acsctrl::MgmDataProcessed *mgmDataProcessed,
                                   acsctrl::SusDataProcessed *susDataProcessed,
-                                  acsctrl::MekfData *mekfData, AcsParameters *acsParameters) {
+                                  acsctrl::AttitudeEstimationData *mekfData,
+                                  AcsParameters *acsParameters) {
   double quatIB[4] = {sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value,
                       sensorValues->strSet.caliQz.value, sensorValues->strSet.caliQw.value};
   bool quatIBValid = sensorValues->strSet.isTrustWorthy.value;
@@ -41,7 +42,7 @@ ReturnValue_t Navigation::useMekf(ACS::SensorValues *sensorValues,
   }
 }
 
-void Navigation::resetMekf(acsctrl::MekfData *mekfData) {
+void Navigation::resetMekf(acsctrl::AttitudeEstimationData *mekfData) {
   mekfStatus = multiplicativeKalmanFilter.reset(mekfData);
 }
 
@@ -54,7 +55,7 @@ ReturnValue_t Navigation::useSpg4(timeval now, acsctrl::GpsDataProcessed *gpsDat
     {
       PoolReadGuard pg(gpsDataProcessed);
       if (pg.getReadResult() == returnvalue::OK) {
-        gpsDataProcessed->source = acs::GpsSource::SPG4;
+        gpsDataProcessed->source = acs::gps::Source::SPG4;
         gpsDataProcessed->source.setValid(true);
         std::memcpy(gpsDataProcessed->gpsPosition.value, position, 3 * sizeof(double));
         gpsDataProcessed->gpsPosition.setValid(true);
@@ -66,7 +67,7 @@ ReturnValue_t Navigation::useSpg4(timeval now, acsctrl::GpsDataProcessed *gpsDat
     {
       PoolReadGuard pg(gpsDataProcessed);
       if (pg.getReadResult() == returnvalue::OK) {
-        gpsDataProcessed->source = acs::GpsSource::NONE;
+        gpsDataProcessed->source = acs::gps::Source::NONE;
         gpsDataProcessed->source.setValid(true);
         std::memcpy(gpsDataProcessed->gpsPosition.value, position, 3 * sizeof(double));
         gpsDataProcessed->gpsPosition.setValid(false);

mission/controller/acs/Navigation.h

@@ -17,9 +17,9 @@ class Navigation {
   ReturnValue_t useMekf(ACS::SensorValues *sensorValues,
                         acsctrl::GyrDataProcessed *gyrDataProcessed,
                         acsctrl::MgmDataProcessed *mgmDataProcessed,
-                        acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MekfData *mekfData,
-                        AcsParameters *acsParameters);
-  void resetMekf(acsctrl::MekfData *mekfData);
+                        acsctrl::SusDataProcessed *susDataProcessed,
+                        acsctrl::AttitudeEstimationData *mekfData, AcsParameters *acsParameters);
+  void resetMekf(acsctrl::AttitudeEstimationData *mekfData);
 
   ReturnValue_t useSpg4(timeval now, acsctrl::GpsDataProcessed *gpsDataProcessed);
   ReturnValue_t updateTle(const uint8_t *line1, const uint8_t *line2);

mission/controller/acs/SensorProcessing.cpp

@@ -7,7 +7,7 @@ SensorProcessing::~SensorProcessing() {}
 void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const float *mgm1Value,
                                   bool mgm1valid, const float *mgm2Value, bool mgm2valid,
                                   const float *mgm3Value, bool mgm3valid, const float *mgm4Value,
-                                  bool mgm4valid, timeval timeOfMgmMeasurement,
+                                  bool mgm4valid, timeval timeAbsolute, double timeDelta,
                                   const AcsParameters::MgmHandlingParameters *mgmParameters,
                                   acsctrl::GpsDataProcessed *gpsDataProcessed,
                                   acsctrl::MgmDataProcessed *mgmDataProcessed) {
@@ -15,14 +15,14 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
   // ------------------------------------------------
   double magIgrfModel[3] = {0.0, 0.0, 0.0};
   bool gpsValid = false;
-  if (gpsDataProcessed->source.value != acs::GpsSource::NONE) {
+  if (gpsDataProcessed->source.value != acs::gps::Source::NONE) {
+    // There seems to be a bug here, which causes the model vector to drift until infinity, if the
+    // model class is not initialized new every time. Works for now, but should be investigated.
     Igrf13Model igrf13;
     igrf13.schmidtNormalization();
-    igrf13.updateCoeffGH(timeOfMgmMeasurement);
-    // maybe put a condition here, to only update after a full day, this
-    // class function has around 700 steps to perform
+    igrf13.updateCoeffGH(timeAbsolute);
     igrf13.magFieldComp(gpsDataProcessed->gdLongitude.value, gpsDataProcessed->gcLatitude.value,
-                        gpsDataProcessed->altitude.value, timeOfMgmMeasurement, magIgrfModel);
+                        gpsDataProcessed->altitude.value, timeAbsolute, magIgrfModel);
     gpsValid = true;
   }
   if (not mgm0valid and not mgm1valid and not mgm2valid and not mgm3valid and
@@ -129,14 +129,12 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
   //-----------------------Mgm Rate Computation ---------------------------------------------------
   double mgmVecTotDerivative[3] = {0.0, 0.0, 0.0};
   bool mgmVecTotDerivativeValid = false;
-  double timeDiff = timevalOperations::toDouble(timeOfMgmMeasurement - timeOfSavedMagFieldEst);
-  if (timeOfSavedMagFieldEst.tv_sec != 0 and timeDiff > 0 and
-      VectorOperations<double>::norm(savedMgmVecTot, 3) != 0) {
+  if (timeDelta > 0 and VectorOperations<double>::norm(savedMgmVecTot, 3) != 0) {
     VectorOperations<double>::subtract(mgmVecTot, savedMgmVecTot, mgmVecTotDerivative, 3);
-    VectorOperations<double>::mulScalar(mgmVecTotDerivative, 1. / timeDiff, mgmVecTotDerivative, 3);
+    VectorOperations<double>::mulScalar(mgmVecTotDerivative, 1. / timeDelta, mgmVecTotDerivative,
+                                        3);
     mgmVecTotDerivativeValid = true;
   }
-  timeOfSavedMagFieldEst = timeOfMgmMeasurement;
   std::memcpy(savedMgmVecTot, mgmVecTot, sizeof(savedMgmVecTot));
 
   if (VectorOperations<double>::norm(mgmVecTotDerivative, 3) != 0 and
@@ -177,11 +175,12 @@ void SensorProcessing::processSus(
     const uint16_t *sus6Value, bool sus6valid, const uint16_t *sus7Value, bool sus7valid,
     const uint16_t *sus8Value, bool sus8valid, const uint16_t *sus9Value, bool sus9valid,
     const uint16_t *sus10Value, bool sus10valid, const uint16_t *sus11Value, bool sus11valid,
-    timeval timeOfSusMeasurement, const AcsParameters::SusHandlingParameters *susParameters,
+    timeval timeAbsolute, double timeDelta,
+    const AcsParameters::SusHandlingParameters *susParameters,
     const AcsParameters::SunModelParameters *sunModelParameters,
     acsctrl::SusDataProcessed *susDataProcessed) {
   /* -------- Sun Model Direction (IJK frame) ------- */
-  double JD2000 = MathOperations<double>::convertUnixToJD2000(timeOfSusMeasurement);
+  double JD2000 = MathOperations<double>::convertUnixToJD2000(timeAbsolute);
 
   // Julean Centuries
   double sunIjkModel[3] = {0.0, 0.0, 0.0};
@@ -354,11 +353,10 @@ void SensorProcessing::processSus(
 
   double susVecTotDerivative[3] = {0.0, 0.0, 0.0};
   bool susVecTotDerivativeValid = false;
-  double timeDiff = timevalOperations::toDouble(timeOfSusMeasurement - timeOfSavedSusDirEst);
-  if (timeOfSavedSusDirEst.tv_sec != 0 and timeDiff > 0 and
-      VectorOperations<double>::norm(savedSusVecTot, 3) != 0) {
+  if (timeDelta > 0 and VectorOperations<double>::norm(savedSusVecTot, 3) != 0) {
     VectorOperations<double>::subtract(susVecTot, savedSusVecTot, susVecTotDerivative, 3);
-    VectorOperations<double>::mulScalar(susVecTotDerivative, 1. / timeDiff, susVecTotDerivative, 3);
+    VectorOperations<double>::mulScalar(susVecTotDerivative, 1. / timeDelta, susVecTotDerivative,
+                                        3);
     susVecTotDerivativeValid = true;
   }
   std::memcpy(savedSusVecTot, susVecTot, sizeof(savedSusVecTot));
@@ -367,7 +365,6 @@ void SensorProcessing::processSus(
     lowPassFilter(susVecTotDerivative, susDataProcessed->susVecTotDerivative.value,
                   susParameters->susRateFilterWeight);
   }
-  timeOfSavedSusDirEst = timeOfSusMeasurement;
   {
     PoolReadGuard pg(susDataProcessed);
     if (pg.getReadResult() == returnvalue::OK) {
@@ -414,7 +411,7 @@ void SensorProcessing::processGyr(
     const double gyr2axXvalue, bool gyr2axXvalid, const double gyr2axYvalue, bool gyr2axYvalid,
     const double gyr2axZvalue, bool gyr2axZvalid, const double gyr3axXvalue, bool gyr3axXvalid,
     const double gyr3axYvalue, bool gyr3axYvalid, const double gyr3axZvalue, bool gyr3axZvalid,
-    timeval timeOfGyrMeasurement, const AcsParameters::GyrHandlingParameters *gyrParameters,
+    const AcsParameters::GyrHandlingParameters *gyrParameters,
     acsctrl::GyrDataProcessed *gyrDataProcessed) {
   bool gyr0valid = (gyr0axXvalid && gyr0axYvalid && gyr0axZvalid);
   bool gyr1valid = (gyr1axXvalid && gyr1axYvalid && gyr1axZvalid);
@@ -521,16 +518,16 @@ void SensorProcessing::processGyr(
 }
 
 void SensorProcessing::processGps(const double gpsLatitude, const double gpsLongitude,
-                                  const double gpsAltitude, const double gpsUnixSeconds,
+                                  const double gpsAltitude, const double timeDelta,
                                   const bool validGps,
                                   const AcsParameters::GpsParameters *gpsParameters,
                                   acsctrl::GpsDataProcessed *gpsDataProcessed) {
   // init variables
   double gdLongitude = 0, gdLatitude = 0, gcLatitude = 0, altitude = 0, posSatE[3] = {0, 0, 0},
          gpsVelocityE[3] = {0, 0, 0};
-  uint8_t gpsSource = acs::GpsSource::NONE;
+  uint8_t gpsSource = acs::gps::Source::NONE;
   // We do not trust the GPS and therefore it shall die here if SPG4 is running
-  if (gpsDataProcessed->source.value == acs::GpsSource::SPG4 and gpsParameters->useSpg4) {
+  if (gpsDataProcessed->source.value == acs::gps::Source::SPG4 and gpsParameters->useSpg4) {
     MathOperations<double>::latLongAltFromCartesian(gpsDataProcessed->gpsPosition.value, gdLatitude,
                                                     gdLongitude, altitude);
     double factor = 1 - pow(ECCENTRICITY_WGS84, 2);
@@ -563,21 +560,17 @@ void SensorProcessing::processGps(const double gpsLatitude, const double gpsLong
     // Calculation of the satellite velocity in earth fixed frame
     double deltaDistance[3] = {0, 0, 0};
     MathOperations<double>::cartesianFromLatLongAlt(latitudeRad, gdLongitude, altitude, posSatE);
-    if (validSavedPosSatE and
-        (gpsUnixSeconds - timeOfSavedPosSatE) < (gpsParameters->timeDiffVelocityMax) and
-        (gpsUnixSeconds - timeOfSavedPosSatE) > 0) {
+    if (validSavedPosSatE and timeDelta < (gpsParameters->timeDiffVelocityMax) and timeDelta > 0) {
       VectorOperations<double>::subtract(posSatE, savedPosSatE, deltaDistance, 3);
-      double timeDiffGpsMeas = gpsUnixSeconds - timeOfSavedPosSatE;
-      VectorOperations<double>::mulScalar(deltaDistance, 1. / timeDiffGpsMeas, gpsVelocityE, 3);
+      VectorOperations<double>::mulScalar(deltaDistance, 1. / timeDelta, gpsVelocityE, 3);
     }
     savedPosSatE[0] = posSatE[0];
     savedPosSatE[1] = posSatE[1];
     savedPosSatE[2] = posSatE[2];
 
-    timeOfSavedPosSatE = gpsUnixSeconds;
     validSavedPosSatE = true;
 
-    gpsSource = acs::GpsSource::GPS;
+    gpsSource = acs::gps::Source::GPS;
   }
   {
     PoolReadGuard pg(gpsDataProcessed);
@@ -594,13 +587,15 @@ void SensorProcessing::processGps(const double gpsLatitude, const double gpsLong
   }
 }
 
-void SensorProcessing::process(timeval now, ACS::SensorValues *sensorValues,
+void SensorProcessing::process(timeval timeAbsolute, double timeDelta,
+                               ACS::SensorValues *sensorValues,
                                acsctrl::MgmDataProcessed *mgmDataProcessed,
                                acsctrl::SusDataProcessed *susDataProcessed,
                                acsctrl::GyrDataProcessed *gyrDataProcessed,
                                acsctrl::GpsDataProcessed *gpsDataProcessed,
                                const AcsParameters *acsParameters) {
   sensorValues->update();
+
   processGps(
       sensorValues->gpsSet.latitude.value, sensorValues->gpsSet.longitude.value,
       sensorValues->gpsSet.altitude.value, sensorValues->gpsSet.unixSeconds.value,
@@ -617,7 +612,8 @@ void SensorProcessing::process(timeval now, ACS::SensorValues *sensorValues,
              sensorValues->mgm3Rm3100Set.fieldStrengths.value,
              sensorValues->mgm3Rm3100Set.fieldStrengths.isValid(),
              sensorValues->imtqMgmSet.mtmRawNt.value, sensorValues->imtqMgmSet.mtmRawNt.isValid(),
-             now, &acsParameters->mgmHandlingParameters, gpsDataProcessed, mgmDataProcessed);
+             timeAbsolute, timeDelta, &acsParameters->mgmHandlingParameters, gpsDataProcessed,
+             mgmDataProcessed);
 
   processSus(sensorValues->susSets[0].channels.value, sensorValues->susSets[0].channels.isValid(),
              sensorValues->susSets[1].channels.value, sensorValues->susSets[1].channels.isValid(),
@@ -631,8 +627,8 @@ void SensorProcessing::process(timeval now, ACS::SensorValues *sensorValues,
              sensorValues->susSets[9].channels.value, sensorValues->susSets[9].channels.isValid(),
              sensorValues->susSets[10].channels.value, sensorValues->susSets[10].channels.isValid(),
              sensorValues->susSets[11].channels.value, sensorValues->susSets[11].channels.isValid(),
-             now, &acsParameters->susHandlingParameters, &acsParameters->sunModelParameters,
-             susDataProcessed);
+             timeAbsolute, timeDelta, &acsParameters->susHandlingParameters,
+             &acsParameters->sunModelParameters, susDataProcessed);
 
   processGyr(
       sensorValues->gyr0AdisSet.angVelocX.value, sensorValues->gyr0AdisSet.angVelocX.isValid(),
@@ -646,7 +642,7 @@ void SensorProcessing::process(timeval now, ACS::SensorValues *sensorValues,
       sensorValues->gyr2AdisSet.angVelocZ.value, sensorValues->gyr2AdisSet.angVelocZ.isValid(),
       sensorValues->gyr3L3gSet.angVelocX.value, sensorValues->gyr3L3gSet.angVelocX.isValid(),
       sensorValues->gyr3L3gSet.angVelocY.value, sensorValues->gyr3L3gSet.angVelocY.isValid(),
-      sensorValues->gyr3L3gSet.angVelocZ.value, sensorValues->gyr3L3gSet.angVelocZ.isValid(), now,
+      sensorValues->gyr3L3gSet.angVelocZ.value, sensorValues->gyr3L3gSet.angVelocZ.isValid(),
       &acsParameters->gyrHandlingParameters, gyrDataProcessed);
 }
 

mission/controller/acs/SensorProcessing.h

@@ -24,22 +24,21 @@ class SensorProcessing {
   SensorProcessing();
   virtual ~SensorProcessing();
 
-  void process(timeval now, ACS::SensorValues *sensorValues,
+  void process(timeval timeAbsolute, double timeDelta, ACS::SensorValues *sensorValues,
                acsctrl::MgmDataProcessed *mgmDataProcessed,
                acsctrl::SusDataProcessed *susDataProcessed,
                acsctrl::GyrDataProcessed *gyrDataProcessed,
-               acsctrl::GpsDataProcessed *gpsDataProcessed,
-               const AcsParameters *acsParameters);  // Will call protected functions
+               acsctrl::GpsDataProcessed *gpsDataProcessed, const AcsParameters *acsParameters);
+
  private:
   static constexpr float ZERO_VEC_F[3] = {0, 0, 0};
   static constexpr double ZERO_VEC_D[3] = {0, 0, 0};
   static constexpr double ECCENTRICITY_WGS84 = 0.0818195;
 
  protected:
-  // short description needed for every function
   void processMgm(const float *mgm0Value, bool mgm0valid, const float *mgm1Value, bool mgm1valid,
                   const float *mgm2Value, bool mgm2valid, const float *mgm3Value, bool mgm3valid,
-                  const float *mgm4Value, bool mgm4valid, timeval timeOfMgmMeasurement,
+                  const float *mgm4Value, bool mgm4valid, timeval timeAbsolute, double timeDelta,
                   const AcsParameters::MgmHandlingParameters *mgmParameters,
                   acsctrl::GpsDataProcessed *gpsDataProcessed,
                   acsctrl::MgmDataProcessed *mgmDataProcessed);
@@ -52,7 +51,7 @@ class SensorProcessing {
                   bool sus7valid, const uint16_t *sus8Value, bool sus8valid,
                   const uint16_t *sus9Value, bool sus9valid, const uint16_t *sus10Value,
                   bool sus10valid, const uint16_t *sus11Value, bool sus11valid,
-                  timeval timeOfSusMeasurement,
+                  timeval timeAbsolute, double timeDelta,
                   const AcsParameters::SusHandlingParameters *susParameters,
                   const AcsParameters::SunModelParameters *sunModelParameters,
                   acsctrl::SusDataProcessed *susDataProcessed);
@@ -65,7 +64,6 @@ class SensorProcessing {
                   bool gyr2axYvalid, const double gyr2axZvalue, bool gyr2axZvalid,
                   const double gyr3axXvalue, bool gyr3axXvalid, const double gyr3axYvalue,
                   bool gyr3axYvalid, const double gyr3axZvalue, bool gyr3axZvalid,
-                  timeval timeOfGyrMeasurement,
                   const AcsParameters::GyrHandlingParameters *gyrParameters,
                   acsctrl::GyrDataProcessed *gyrDataProcessed);
 
@@ -77,13 +75,9 @@ class SensorProcessing {
   void lowPassFilter(double *newValue, double *oldValue, const double weight);
 
   double savedMgmVecTot[3] = {0.0, 0.0, 0.0};
-  timeval timeOfSavedMagFieldEst;
   double savedSusVecTot[3] = {0.0, 0.0, 0.0};
-  timeval timeOfSavedSusDirEst;
-  bool validMagField = false;
 
   double savedPosSatE[3] = {0.0, 0.0, 0.0};
-  double timeOfSavedPosSatE = 0.0;
   bool validSavedPosSatE = false;
 
   SusConverter susConverter;

mission/controller/acs/control/Detumble.cpp

@@ -7,18 +7,18 @@ Detumble::Detumble() {}
 
 Detumble::~Detumble() {}
 
-acs::SafeModeStrategy Detumble::detumbleStrategy(const bool magFieldValid,
-                                                 const bool satRotRateValid,
-                                                 const bool magFieldRateValid,
-                                                 const bool useFullDetumbleLaw) {
+acs::ControlModeStrategy Detumble::detumbleStrategy(const bool magFieldValid,
+                                                    const bool satRotRateValid,
+                                                    const bool magFieldRateValid,
+                                                    const bool useFullDetumbleLaw) {
   if (not magFieldValid) {
-    return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
+    return acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL;
   } else if (satRotRateValid and useFullDetumbleLaw) {
-    return acs::SafeModeStrategy::SAFECTRL_DETUMBLE_FULL;
+    return acs::ControlModeStrategy::SAFECTRL_DETUMBLE_FULL;
   } else if (magFieldRateValid) {
-    return acs::SafeModeStrategy::SAFECTRL_DETUMBLE_DETERIORATED;
+    return acs::ControlModeStrategy::SAFECTRL_DETUMBLE_DETERIORATED;
   } else {
-    return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
+    return acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL;
   }
 }
 

mission/controller/acs/control/Detumble.h

@@ -11,9 +11,9 @@ class Detumble {
   Detumble();
   virtual ~Detumble();
 
-  acs::SafeModeStrategy detumbleStrategy(const bool magFieldValid, const bool satRotRateValid,
-                                         const bool magFieldRateValid,
-                                         const bool useFullDetumbleLaw);
+  acs::ControlModeStrategy detumbleStrategy(const bool magFieldValid, const bool satRotRateValid,
+                                            const bool magFieldRateValid,
+                                            const bool useFullDetumbleLaw);
 
   void bDotLawFull(const double *satRotRateB, const double *magFieldB, double *magMomB,
                    double gain);

mission/controller/acs/control/PtgCtrl.cpp

@@ -10,6 +10,22 @@ PtgCtrl::PtgCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameters_
 
 PtgCtrl::~PtgCtrl() {}
 
+acs::ControlModeStrategy PtgCtrl::pointingCtrlStrategy(
+    const bool magFieldValid, const bool mekfValid, const bool strValid, const bool questValid,
+    const bool fusedRateValid, const uint8_t rotRateSource, const uint8_t mekfEnabled) {
+  if (not magFieldValid) {
+    return acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL;
+  } else if (mekfEnabled and mekfValid) {
+    return acs::ControlModeStrategy::PTGCTRL_MEKF;
+  } else if (strValid and fusedRateValid and rotRateSource > acs::rotrate::Source::SUSMGM) {
+    return acs::ControlModeStrategy::PTGCTRL_STR;
+  } else if (questValid and fusedRateValid and rotRateSource > acs::rotrate::Source::SUSMGM) {
+    return acs::ControlModeStrategy::PTGCTRL_QUEST;
+  } else {
+    return acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL;
+  }
+}
+
 void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters,
                      const double *errorQuat, const double *deltaRate, const double *rwPseudoInv,
                      double *torqueRws) {

mission/controller/acs/control/PtgCtrl.h

@@ -2,6 +2,7 @@
 #define PTGCTRL_H_
 
 #include <math.h>
+#include <mission/acs/defs.h>
 #include <mission/controller/acs/AcsParameters.h>
 #include <mission/controller/acs/SensorValues.h>
 #include <stdio.h>
@@ -9,7 +10,7 @@
 class PtgCtrl {
   /*
    * @brief: This class handles the pointing control mechanism. Calculation of an commanded
-   * torque for the reaction wheels, and magnetic Field strength for magnetorques for desaturation
+   * torque for the reaction wheels, and magnetic Field strength for magnetorquer for desaturation
    *
    * @note: A description of the used algorithms can be found in
    * https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_Studenten/Marquardt_Robin&openfile=896110
@@ -21,6 +22,12 @@ class PtgCtrl {
   PtgCtrl(AcsParameters *acsParameters_);
   virtual ~PtgCtrl();
 
+  acs::ControlModeStrategy pointingCtrlStrategy(const bool magFieldValid, const bool mekfValid,
+                                                const bool strValid, const bool questValid,
+                                                const bool fusedRateValid,
+                                                const uint8_t rotRateSource,
+                                                const uint8_t mekfEnabled);
+
   /* @brief: Calculates the needed torque for the pointing control mechanism
    */
   void ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters, const double *qError,
@@ -36,7 +43,7 @@ class PtgCtrl {
                        const int32_t speedRw3, double *mgtDpDes);
 
   /* @brief: Commands the stiction torque in case wheel speed is to low
-   * 		 torqueCommand  modified torque after antistiction
+   * 		 torqueCommand  modified torque after anti-stiction
    */
   void rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpeed);
 

mission/controller/acs/control/SafeCtrl.cpp

@@ -9,40 +9,38 @@ SafeCtrl::SafeCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameter
 
 SafeCtrl::~SafeCtrl() {}
 
-acs::SafeModeStrategy SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
-                                                 const bool satRotRateValid, const bool sunDirValid,
-                                                 const bool fusedRateTotalValid,
-                                                 const uint8_t mekfEnabled,
-                                                 const uint8_t gyrEnabled,
-                                                 const uint8_t dampingEnabled) {
+acs::ControlModeStrategy SafeCtrl::safeCtrlStrategy(
+    const bool magFieldValid, const bool mekfValid, const bool satRotRateValid,
+    const bool sunDirValid, const bool fusedRateTotalValid, const uint8_t mekfEnabled,
+    const uint8_t gyrEnabled, const uint8_t dampingEnabled) {
   if (not magFieldValid) {
-    return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
+    return acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL;
   } else if (mekfEnabled and mekfValid) {
-    return acs::SafeModeStrategy::SAFECTRL_MEKF;
+    return acs::ControlModeStrategy::SAFECTRL_MEKF;
   } else if (sunDirValid) {
     if (gyrEnabled and satRotRateValid) {
-      return acs::SafeModeStrategy::SAFECTRL_GYR;
+      return acs::ControlModeStrategy::SAFECTRL_GYR;
     } else if (not gyrEnabled and fusedRateTotalValid) {
-      return acs::SafeModeStrategy::SAFECTRL_SUSMGM;
+      return acs::ControlModeStrategy::SAFECTRL_SUSMGM;
     } else {
-      return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
+      return acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL;
     }
   } else if (not sunDirValid) {
     if (dampingEnabled) {
       if (gyrEnabled and satRotRateValid) {
-        return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_GYR;
+        return acs::ControlModeStrategy::SAFECTRL_ECLIPSE_DAMPING_GYR;
       } else if (not gyrEnabled and satRotRateValid and fusedRateTotalValid) {
-        return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM;
+        return acs::ControlModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM;
       } else {
-        return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
+        return acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL;
       }
     } else if (not dampingEnabled and satRotRateValid) {
-      return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_IDELING;
+      return acs::ControlModeStrategy::SAFECTRL_ECLIPSE_IDELING;
     } else {
-      return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
+      return acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL;
     }
   } else {
-    return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
+    return acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL;
   }
 }
 

mission/controller/acs/control/SafeCtrl.h

@@ -12,10 +12,11 @@ class SafeCtrl {
   SafeCtrl(AcsParameters *acsParameters_);
   virtual ~SafeCtrl();
 
-  acs::SafeModeStrategy safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
-                                         const bool satRotRateValid, const bool sunDirValid,
-                                         const bool fusedRateTotalValid, const uint8_t mekfEnabled,
-                                         const uint8_t gyrEnabled, const uint8_t dampingEnabled);
+  acs::ControlModeStrategy safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
+                                            const bool satRotRateValid, const bool sunDirValid,
+                                            const bool fusedRateTotalValid,
+                                            const uint8_t mekfEnabled, const uint8_t gyrEnabled,
+                                            const uint8_t dampingEnabled);
 
   void safeMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirModelI,
                 const double *quatBI, const double *sunDirRefB, double *magMomB,