changelog

CHANGELOG.md

@@ -16,17 +16,9 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
-# [v8.2.1] 2025-02-07
-
-Patch release with EM changes only.
-
 ## Changed
 
-- BPX battery is not added anymore for EM build, dummy is used by default now.
-
-## Fixed
-
-- Small fix for `q7s-cp.py` script: Add `-O` argument.
+- Readded rotation rate from the `MEKF` to the detumble state machine.
 
 # [v8.2.0] 2024-06-26
 

CMakeLists.txt

@@ -11,7 +11,7 @@ cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 8)
 set(OBSW_VERSION_MINOR 2)
-set(OBSW_VERSION_REVISION 1)
+set(OBSW_VERSION_REVISION 0)
 
 # set(CMAKE_VERBOSE TRUE)
 
@@ -70,13 +70,13 @@ if(EIVE_Q7S_EM)
   set(OBSW_Q7S_EM
       1
       CACHE STRING "Q7S EM configuration")
-  set(OBSW_Q7S_FM 0)
+  set(INIT_VAL 0)
   set(OBSW_STAR_TRACKER_GROUND_CONFIG 1)
 else()
   set(OBSW_Q7S_EM
       0
       CACHE STRING "Q7S EM configuration")
-  set(OBSW_Q7S_FM 1)
+  set(INIT_VAL 1)
   set(OBSW_STAR_TRACKER_GROUND_CONFIG 0)
 endif()
 
@@ -87,19 +87,19 @@ set(OBSW_ADD_TMTC_UDP_SERVER
     0
     CACHE STRING "Add UDP TMTC Server")
 set(OBSW_ADD_MGT
-    ${OBSW_Q7S_FM}
+    ${INIT_VAL}
     CACHE STRING "Add MGT module")
 set(OBSW_ADD_BPX_BATTERY_HANDLER
-    ${OBSW_Q7S_FM}
+    1
     CACHE STRING "Add BPX battery module")
 set(OBSW_ADD_STAR_TRACKER
     1
     CACHE STRING "Add Startracker module")
 set(OBSW_ADD_SUN_SENSORS
-    ${OBSW_Q7S_FM}
+    ${INIT_VAL}
     CACHE STRING "Add sun sensor module")
 set(OBSW_ADD_SUS_BOARD_ASS
-    ${OBSW_Q7S_FM}
+    ${INIT_VAL}
     CACHE STRING "Add sun sensor board assembly")
 set(OBSW_ADD_THERMAL_TEMP_INSERTER
     ${OBSW_Q7S_EM}
@@ -108,7 +108,7 @@ set(OBSW_ADD_ACS_BOARD
     1
     CACHE STRING "Add ACS board module")
 set(OBSW_ADD_GPS_CTRL
-    ${OBSW_Q7S_FM}
+    ${INIT_VAL}
     CACHE STRING "Add GPS controllers")
 set(OBSW_ADD_CCSDS_IP_CORES
     1
@@ -129,19 +129,19 @@ set(OBSW_ADD_PLOC_SUPERVISOR
     1
     CACHE STRING "Add PLOC supervisor handler")
 set(OBSW_ADD_SA_DEPL
-    ${OBSW_Q7S_FM}
+    ${INIT_VAL}
     CACHE STRING "Add SA deployment handler")
 set(OBSW_ADD_PLOC_MPSOC
     1
     CACHE STRING "Add MPSoC handler")
 set(OBSW_ADD_ACS_CTRL
-    ${OBSW_Q7S_FM}
+    ${INIT_VAL}
     CACHE STRING "Add ACS controller")
 set(OBSW_ADD_RTD_DEVICES
-    ${OBSW_Q7S_FM}
+    ${INIT_VAL}
     CACHE STRING "Add RTD devices")
 set(OBSW_ADD_RAD_SENSORS
-    ${OBSW_Q7S_FM}
+    ${INIT_VAL}
     CACHE STRING "Add Rad Sensor module")
 set(OBSW_ADD_PL_PCDU
     1
@@ -156,10 +156,10 @@ set(OBSW_ADD_GOMSPACE_PCDU
     1
     CACHE STRING "Add GomSpace PCDU modules")
 set(OBSW_ADD_GOMSPACE_ACU
-    ${OBSW_Q7S_FM}
+    ${INIT_VAL}
     CACHE STRING "Add GomSpace ACU submodule")
 set(OBSW_ADD_RW
-    ${OBSW_Q7S_FM}
+    ${INIT_VAL}
     CACHE STRING "Add RW modules")
 set(OBSW_ADD_SCEX_DEVICE
     1

bsp_q7s/em/emObjectFactory.cpp

@@ -117,11 +117,10 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_BPX_BATTERY_HANDLER == 1
   createBpxBatteryComponent(enableHkSets, battAndImtqI2cDev);
 #endif
+  createPowerController(true, enableHkSets);
 
   dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF, enableHkSets);
 
-  createPowerController(true, enableHkSets);
-
   new CoreController(objects::CORE_CONTROLLER, enableHkSets);
 
   auto* stackHandler = new Stack5VHandler(*pwrSwitcher);
@@ -144,6 +143,10 @@ void ObjectFactory::produce(void* args) {
   createImtqComponents(pwrSwitcher, enableHkSets, battAndImtqI2cDev);
 #endif
 
+#if OBSW_ADD_SYRLINKS == 1
+  createSyrlinksComponents(pwrSwitcher);
+#endif /* OBSW_ADD_SYRLINKS == 1 */
+
 #if OBSW_ADD_RW == 1
   createReactionWheelComponents(gpioComIF, pwrSwitcher);
 #endif
@@ -152,10 +155,6 @@ void ObjectFactory::produce(void* args) {
   createStrComponents(pwrSwitcher, *SdCardManager::instance());
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
-#if OBSW_ADD_SYRLINKS == 1
-  createSyrlinksComponents(pwrSwitcher);
-#endif
-
 #if OBSW_ADD_PL_PCDU == 1
   createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher, *stackHandler);
 #endif

bsp_q7s/objectFactory.cpp

@@ -598,13 +598,14 @@ void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitc
 }
 
 void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
-  new SyrlinksComHandler(objects::SYRLINKS_COM_HANDLER);
-  auto* syrlinksAssy = new SyrlinksAssembly(objects::SYRLINKS_ASSY);
-  syrlinksAssy->connectModeTreeParent(satsystem::com::SUBSYSTEM);
   auto* syrlinksUartCookie =
       new SerialCookie(objects::SYRLINKS_HANDLER, q7s::UART_SYRLINKS_DEV, serial::SYRLINKS_BAUD,
                        syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
   syrlinksUartCookie->setParityEven();
+
+  new SyrlinksComHandler(objects::SYRLINKS_COM_HANDLER);
+  auto* syrlinksAssy = new SyrlinksAssembly(objects::SYRLINKS_ASSY);
+  syrlinksAssy->connectModeTreeParent(satsystem::com::SUBSYSTEM);
   auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HANDLER);
   auto syrlinksHandler =
       new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::SYRLINKS_COM_HANDLER,

bsp_q7s/simple/simple.cpp

@@ -10,9 +10,7 @@
 int simple::simple() {
   std::cout << "-- Q7S Simple Application --" << std::endl;
 #if Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST == 1
-  {
-    FileSystemTest fileSystemTest;
-  }
+  { FileSystemTest fileSystemTest; }
 #endif
 
 #if TE0720_GPIO_TEST

dummies/BatteryDummy.cpp

@@ -1,54 +0,0 @@
-#include "BatteryDummy.h"
-
-BatteryDummy::BatteryDummy(DhbConfig cfg)
-    : FreshDeviceHandlerBase(cfg), cfgSet(this), hkSet(this) {}
-
-void BatteryDummy::performDeviceOperation(uint8_t opCode) {}
-
-LocalPoolDataSetBase* BatteryDummy::getDataSetHandle(sid_t sid) {
-  if (sid == hkSet.getSid()) {
-    return &hkSet;
-  }
-  if (sid == cfgSet.getSid()) {
-    return &cfgSet;
-  }
-  return nullptr;
-}
-
-ReturnValue_t BatteryDummy::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
-                                                    LocalDataPoolManager& poolManager) {
-  localDataPoolMap.emplace(bpxBat::BATT_TEMP_1, &battTemp1);
-  localDataPoolMap.emplace(bpxBat::BATT_TEMP_2, &battTemp2);
-  localDataPoolMap.emplace(bpxBat::BATT_TEMP_3, &battTemp3);
-  localDataPoolMap.emplace(bpxBat::BATT_TEMP_4, &battTemp4);
-  localDataPoolMap.emplace(bpxBat::CHARGE_CURRENT, &chargeCurrent);
-  localDataPoolMap.emplace(bpxBat::DISCHARGE_CURRENT, &dischargeCurrent);
-  localDataPoolMap.emplace(bpxBat::HEATER_CURRENT, &heaterCurrent);
-  localDataPoolMap.emplace(bpxBat::BATT_VOLTAGE, &battVolt);
-  localDataPoolMap.emplace(bpxBat::REBOOT_COUNTER, &rebootCounter);
-  localDataPoolMap.emplace(bpxBat::BOOTCAUSE, &bootCause);
-
-  localDataPoolMap.emplace(bpxBat::BATTERY_HEATER_MODE, &battheatMode);
-  localDataPoolMap.emplace(bpxBat::BATTHEAT_LOW_LIMIT, &battheatLow);
-  localDataPoolMap.emplace(bpxBat::BATTHEAT_HIGH_LIMIT, &battheatHigh);
-
-  poolManager.subscribeForRegularPeriodicPacket(
-      subdp::RegularHkPeriodicParams(hkSet.getSid(), true, 20.0));
-  poolManager.subscribeForRegularPeriodicPacket(
-      subdp::RegularHkPeriodicParams(cfgSet.getSid(), false, 30.0));
-  return returnvalue::OK;
-}
-
-ReturnValue_t BatteryDummy::checkModeCommand(Mode_t mode, Submode_t submode,
-                                             uint32_t* msToReachTheMode) {
-  return returnvalue::OK;
-}
-
-ReturnValue_t BatteryDummy::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                                          const uint8_t* data, size_t size) {
-  return returnvalue::OK;
-}
-
-ReturnValue_t BatteryDummy::handleCommandMessage(CommandMessage* message) {
-  return returnvalue::FAILED;
-}

dummies/BatteryDummy.h

@@ -1,52 +0,0 @@
-#pragma once
-
-#include "fsfw/devicehandlers/FreshDeviceHandlerBase.h"
-#include "mission/power/bpxBattDefs.h"
-
-/// @brief
-class BatteryDummy : public FreshDeviceHandlerBase {
- public:
-  BatteryDummy(DhbConfig cfg);
-
- private:
-  /**
-   * 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;
-
-  // 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;
-
-  BpxBatteryCfg cfgSet;
-  BpxBatteryHk hkSet;
-  PoolEntry<uint16_t> chargeCurrent = PoolEntry<uint16_t>({0});
-  PoolEntry<uint16_t> dischargeCurrent = PoolEntry<uint16_t>({0});
-  PoolEntry<uint16_t> heaterCurrent = PoolEntry<uint16_t>({0});
-  PoolEntry<uint16_t> battVolt = PoolEntry<uint16_t>({16'000});
-  PoolEntry<int16_t> battTemp1 = PoolEntry<int16_t>({10}, true);
-  PoolEntry<int16_t> battTemp2 = PoolEntry<int16_t>({10}, true);
-  PoolEntry<int16_t> battTemp3 = PoolEntry<int16_t>({10}, true);
-  PoolEntry<int16_t> battTemp4 = PoolEntry<int16_t>({10}, true);
-  PoolEntry<uint32_t> rebootCounter = PoolEntry<uint32_t>({0});
-  PoolEntry<uint8_t> bootCause = PoolEntry<uint8_t>({0});
-  PoolEntry<uint8_t> battheatMode = PoolEntry<uint8_t>({0});
-  PoolEntry<int8_t> battheatLow = PoolEntry<int8_t>({0});
-  PoolEntry<int8_t> battheatHigh = PoolEntry<int8_t>({0});
-};

dummies/CMakeLists.txt

@@ -29,5 +29,4 @@ target_sources(
          PlocSupervisorDummy.cpp
          helperFactory.cpp
          MgmRm3100Dummy.cpp
-         BatteryDummy.cpp
          Tmp1075Dummy.cpp)

dummies/SyrlinksDummy.cpp

@@ -2,15 +2,14 @@
 
 #include <mission/com/syrlinksDefs.h>
 
-SyrlinksDummy::SyrlinksDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie,
-                             DeviceHandlerFailureIsolation *fdir)
-    : DeviceHandlerBase(objectId, comif, comCookie, fdir) {}
+SyrlinksDummy::SyrlinksDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
+    : DeviceHandlerBase(objectId, comif, comCookie) {}
 
 SyrlinksDummy::~SyrlinksDummy() {}
 
-void SyrlinksDummy::doStartUp() { setMode(MODE_ON); }
+void SyrlinksDummy::doStartUp() {}
 
-void SyrlinksDummy::doShutDown() { setMode(MODE_OFF); }
+void SyrlinksDummy::doShutDown() {}
 
 ReturnValue_t SyrlinksDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   return NOTHING_TO_SEND;
@@ -37,7 +36,7 @@ ReturnValue_t SyrlinksDummy::interpretDeviceReply(DeviceCommandId_t id, const ui
 
 void SyrlinksDummy::fillCommandAndReplyMap() {}
 
-uint32_t SyrlinksDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 1000; }
+uint32_t SyrlinksDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
 
 ReturnValue_t SyrlinksDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                      LocalDataPoolManager &poolManager) {

dummies/SyrlinksDummy.h

@@ -11,8 +11,7 @@ class SyrlinksDummy : public DeviceHandlerBase {
   static const uint8_t SIMPLE_COMMAND_DATA = 1;
   static const uint8_t PERIODIC_REPLY_DATA = 2;
 
-  SyrlinksDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie,
-                DeviceHandlerFailureIsolation *fdir);
+  SyrlinksDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
   virtual ~SyrlinksDummy();
 
  protected:

dummies/helperFactory.cpp

@@ -1,7 +1,6 @@
 #include "helperFactory.h"
 
 #include <dummies/AcuDummy.h>
-#include <dummies/BatteryDummy.h>
 #include <dummies/BpxDummy.h>
 #include <dummies/ComCookieDummy.h>
 #include <dummies/ComIFDummy.h>
@@ -31,8 +30,6 @@
 #include <mission/power/gsDefs.h>
 #include <mission/system/acs/ImtqAssembly.h>
 #include <mission/system/acs/StrAssembly.h>
-#include <mission/system/com/SyrlinksAssembly.h>
-#include <mission/system/com/SyrlinksFdir.h>
 #include <mission/system/objects/CamSwitcher.h>
 #include <mission/system/tcs/TcsBoardAssembly.h>
 
@@ -52,7 +49,7 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
   new ComIFDummy(objects::DUMMY_COM_IF);
   auto* comCookieDummy = new ComCookieDummy();
   if (cfg.addBpxBattDummy) {
-    new BatteryDummy(DhbConfig(objects::BPX_BATT_HANDLER));
+    new BpxDummy(objects::BPX_BATT_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
   }
   if (cfg.addCoreCtrlCfg) {
     new CoreControllerDummy(objects::CORE_CONTROLLER);
@@ -77,13 +74,9 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
     strDummy->connectModeTreeParent(*strAssy);
   }
   if (cfg.addSyrlinksDummies) {
-    auto* syrlinksAssy = new SyrlinksAssembly(objects::SYRLINKS_ASSY);
-    syrlinksAssy->connectModeTreeParent(satsystem::com::SUBSYSTEM);
-
-    auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HANDLER);
-    auto* syrlinksDummy = new SyrlinksDummy(objects::SYRLINKS_HANDLER, objects::DUMMY_COM_IF,
-                                            comCookieDummy, syrlinksFdir);
-    syrlinksDummy->connectModeTreeParent(*syrlinksAssy);
+    auto* syrlinksDummy =
+        new SyrlinksDummy(objects::SYRLINKS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    syrlinksDummy->connectModeTreeParent(satsystem::com::SUBSYSTEM);
   }
   auto* imtqAssy = new ImtqAssembly(objects::IMTQ_ASSY);
   imtqAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);

mission/controller/AcsController.cpp

@@ -557,9 +557,12 @@ void AcsController::performPointingCtrl() {
 void AcsController::handleDetumbling() {
   switch (detumbleState) {
     case DetumbleState::NO_DETUMBLE:
-      if (fusedRotRateData.rotRateTotalSusMgm.isValid() and
+      if ((fusedRotRateData.rotRateTotalSusMgm.isValid() and
            VectorOperations<double>::norm(fusedRotRateData.rotRateTotalSusMgm.value, 3) >
-              acsParameters.detumbleParameter.omegaDetumbleStart) {
+               acsParameters.detumbleParameter.omegaDetumbleStart) and
+          (attitudeEstimationData.satRotRateMekf.isValid() and
+           VectorOperations<double>::norm(attitudeEstimationData.satRotRateMekf.value, 3) >
+               acsParameters.detumbleParameter.omegaDetumbleStart)) {
         detumbleCounter++;
       } else if (detumbleCounter > 0) {
         detumbleCounter -= 1;
@@ -601,9 +604,12 @@ void AcsController::handleDetumbling() {
       detumbleState = DetumbleState::NO_DETUMBLE;
       break;
     case DetumbleState::IN_DETUMBLE:
-      if (fusedRotRateData.rotRateTotalSusMgm.isValid() and
+      if ((fusedRotRateData.rotRateTotalSusMgm.isValid() and
            VectorOperations<double>::norm(fusedRotRateData.rotRateTotalSusMgm.value, 3) <
-              acsParameters.detumbleParameter.omegaDetumbleEnd) {
+               acsParameters.detumbleParameter.omegaDetumbleEnd) and
+          (attitudeEstimationData.satRotRateMekf.isValid() and
+           VectorOperations<double>::norm(attitudeEstimationData.satRotRateMekf.value, 3) <
+               acsParameters.detumbleParameter.omegaDetumbleEnd)) {
         detumbleCounter++;
       } else if (detumbleCounter > 0) {
         detumbleCounter -= 1;

mission/power/BpxBatteryHandler.h

@@ -32,8 +32,8 @@ class BpxBatteryHandler : public DeviceHandlerBase {
 
   BpxBatteryHk hkSet;
   DeviceCommandId_t lastCmd = DeviceHandlerIF::NO_COMMAND_ID;
-  std::array<uint8_t, 8> cmdBuf = {};
   BpxBatteryCfg cfgSet;
+  std::array<uint8_t, 8> cmdBuf = {};
   PoolEntry<uint16_t> chargeCurrent = PoolEntry<uint16_t>({0});
   PoolEntry<uint16_t> dischargeCurrent = PoolEntry<uint16_t>({0});
   PoolEntry<uint16_t> heaterCurrent = PoolEntry<uint16_t>({0});

mission/power/bpxBattDefs.h

@@ -199,7 +199,6 @@ class BpxBatteryHk : public StaticLocalDataSet<bpxBat::HK_ENTRIES> {
 
  private:
   friend class BpxBatteryHandler;
-  friend class BatteryDummy;
   /**
    * Constructor for data creator
    * @param hkOwner
@@ -239,7 +238,6 @@ class BpxBatteryCfg : public StaticLocalDataSet<bpxBat::CFG_ENTRIES> {
 
  private:
   friend class BpxBatteryHandler;
-  friend class BatteryDummy;
   /**
    * Constructor for data creator
    * @param hkOwner

scripts/auto-formatter.sh

@@ -29,7 +29,7 @@ else
   echo "No ${cmake_fmt} tool found, not formatting CMake files"
 fi
 
-cpp_format="clang-format-19"
+cpp_format="clang-format"
 file_selectors="( -iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp )"
 file_excludes="( -not -iname translateObjects.cpp -not -iname translateEvents.cpp )"
 if command -v ${cpp_format} &> /dev/null; then

scripts/q7s-cp.py

@@ -84,8 +84,6 @@ def build_cmd(args):
     cmd = "scp "
     if args.recursive:
         cmd += "-r "
-    # Necessary to avoid some errors related to SFTP server of OBSW.
-    cmd += "-O "
     address = ""
     port_args = ""
     target = args.target
@@ -101,7 +99,7 @@ def build_cmd(args):
             target = args.target
     else:
         if target == "":
-            target = "/tmp"
+            target = f"/tmp"
         else:
             target = args.target
     # accepted_key_rsa_args = "-o HostKeyAlgorithms=+ssh-rsa -o PubkeyAcceptedKeyTypes=+ssh-rsa"

tmtc

@@ -1 +1 @@
-Subproject commit 82b388e23e8745c8671b8dfb1a55e443f59bf274
+Subproject commit 9a06c64dfac3f4283c2d5af72a9c095f4726480b