Merge pull request 'Nah' (#891) from i-hate-it-here into main

Reviewed-on: #891
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -16,6 +16,10 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+# [v7.8.1] 2024-04-11
+
+- Reverted fix for wrong order in quaternion multiplication for computation of the error quaternion.
+
 # [v7.8.0] 2024-04-10
 
 ## Changed

CMakeLists.txt

@@ -11,7 +11,7 @@ cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 7)
 set(OBSW_VERSION_MINOR 8)
-set(OBSW_VERSION_REVISION 0)
+set(OBSW_VERSION_REVISION 1)
 
 # set(CMAKE_VERBOSE TRUE)
 

bsp_hosted/OBSWConfig.h.in

@@ -48,7 +48,6 @@
 #define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    1
 #define OBSW_PRINT_MISSED_DEADLINES                 1
 
-#define OBSW_MPSOC_JTAG_BOOT                        0
 #define OBSW_SYRLINKS_SIMULATED                     1
 #define OBSW_ADD_TEST_CODE                          0
 #define OBSW_ADD_TEST_TASK                          0

linux/payload/plocMpsocHelpers.h

@@ -6,10 +6,10 @@
 #include <linux/payload/mpsocRetvals.h>
 #include <mission/payload/plocSpBase.h>
 
+#include "OBSWConfig.h"
 #include "eive/definitions.h"
-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/globalfunctions/CRC.h"
 #include "fsfw/serialize/SerializeAdapter.h"
-#include "fsfw/serialize/SerializeIF.h"
 
 namespace mpsoc {
 
@@ -838,47 +838,20 @@ class TcSimplexSendFile : public TcBase {
       : TcBase(params, apid::TC_SIMPLEX_SEND_FILE, sequenceCount) {}
 
   ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
-    if (commandDataLen < MIN_DATA_LENGTH) {
-      return INVALID_LENGTH;
-    }
     if (commandDataLen > MAX_DATA_LENGTH) {
       return INVALID_LENGTH;
     }
-    const uint8_t** dataPtr = &commandData;
-    ReturnValue_t result = SerializeAdapter::deSerialize(&chunkParameter, dataPtr, &commandDataLen,
-                                                         SerializeIF::Endianness::NETWORK);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    /// No chunks makes no sense, and DIV str can not be longer than whats representable with 3
-    /// decimal digits.
-    if (chunkParameter == 0 or chunkParameter > 999) {
-      return INVALID_PARAMETER;
-    }
-    std::string fileName(reinterpret_cast<const char*>(*dataPtr));
+    std::string fileName(reinterpret_cast<const char*>(commandData));
     if (fileName.size() + sizeof(NULL_TERMINATOR) > MAX_FILENAME_SIZE) {
       return FILENAME_TOO_LONG;
     }
-    size_t currentCopyIdx = 0;
-    size_t payloadLen = fileName.length() + sizeof(NULL_TERMINATOR) + CRC_SIZE;
-    if (chunkParameter > 1) {
-      char divStr[16]{};
-      sprintf(divStr, "DIV%03u", chunkParameter);
-      std::memcpy(payloadStart, divStr, DIV_STR_LEN);
-      payloadLen += DIV_STR_LEN;
-      currentCopyIdx += DIV_STR_LEN;
-    }
-
-    std::memcpy(payloadStart + currentCopyIdx, *dataPtr, fileName.length());
-    spParams.setFullPayloadLen(payloadLen);
+    spParams.setFullPayloadLen(commandDataLen + CRC_SIZE);
+    std::memcpy(payloadStart, commandData, commandDataLen);
     return returnvalue::OK;
   }
 
  private:
-  uint32_t chunkParameter = 0;
-  static constexpr size_t MAX_DATA_LENGTH = 256;
-  static constexpr size_t MIN_DATA_LENGTH = 4;
-  static constexpr size_t DIV_STR_LEN = 6;
+  static const size_t MAX_DATA_LENGTH = 256;
 };
 
 /**

mission/controller/acs/Guidance.cpp

@@ -303,9 +303,9 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
   // First calculate error quaternion between current and target orientation without reference
   // quaternion
   double errorQuatWoRef[4] = {0, 0, 0, 0};
-  QuaternionOperations::multiply(targetQuat, currentQuat, errorQuatWoRef);
+  QuaternionOperations::multiply(currentQuat, targetQuat, errorQuatWoRef);
   // Then add rotation from reference quaternion
-  QuaternionOperations::multiply(errorQuatWoRef, refQuat, errorQuat);
+  QuaternionOperations::multiply(refQuat, errorQuatWoRef, errorQuat);
   // Keep scalar part of quaternion positive
   if (errorQuat[3] < 0) {
     VectorOperations<double>::mulScalar(errorQuat, -1, errorQuat, 4);

unittest/CMakeLists.txt

@@ -6,6 +6,5 @@ target_sources(${UNITTEST_NAME} PRIVATE
     testEnvironment.cpp
     testGenericFilesystem.cpp
     hdlcEncodingRw.cpp
-    mpsocTests.cpp
     printChar.cpp
-)
+)

unittest/mpsocTests.cpp

@@ -1,14 +0,0 @@
-
-#include <catch2/catch_test_macros.hpp>
-
-TEST_CASE("MPSoC helper tests", "[payload]") {
-  char divStr[16]{};
-  uint32_t divParam = 0;
-
-  SECTION("Simple Test") {
-    divParam = 3;
-    CHECK(divParam < 999);
-    sprintf(divStr, "DIV%03u", divParam);
-    REQUIRE(strcmp(divStr, "DIV003") == 0);
-  }
-}