Merge pull request 'Prep v7.6.1' (#857) from prep-v7.6.1 into main

Reviewed-on: #857

.gitignore

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

CHANGELOG.md

@@ -16,6 +16,167 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+# [v7.6.1] 2024-02-05
+
+## Changed
+
+- Guidance now uses the coordinate functions from the FSFW.
+- Idle should now point the STR away from the earth
+
+## Fixed
+
+- Fixed bugs in `Guidance::comparePtg` and corrected overloading
+- Detumbling State Machine is now robust to commanded mode changes.
+
+# [v7.6.0] 2024-01-30
+
+- Bumped `eive-tmtc` to v5.13.0
+- Bumped `eive-fsfw`
+
+## Added
+
+- Added new parameter for MPSoC which allows to skip SUPV commanding.
+
+## Changed
+
+- Increased allowed mode transition time for PLOC SUPV.
+- Detumbling can now be triggered from all modes of the `AcsController`. In case the
+  current mode is a higher pointing mode, the STR will be set to faulty, to trigger a
+  transition to safe first. Then, in a second step, a transition to detumble is triggered.
+
+## Fixed
+
+- If the PCDU handler fails reading data from the IPC store, it will
+  not try to do a deserialization anymore.
+- All action commands sent by the PLOC SUPV to itself will have no sender now.
+- RW speed commands get reset to 0 RPM, if the `AcsController` has changed its mode
+  to Safe
+- Antistiction for RWs will set commanded speed to 0 RPM, if a wheel is detected as not
+  working
+- Removed parameter to disable antistiction, as deactivating it would result in the
+  `AcsController` being allowed sending invalid speed commands to the RW Handler, which
+  would then trigger FDIR and turning off the functioning device
+- `RwHandler` returnvalues would use the `INTERFACE_ID` of the `DeviceHandlerBase`
+- The `AcsController` will reset its stored guidance values on mode change and lost
+  orientation.
+- The nullspace controller will only be used if all RWs are available.
+- Calculation of required rotation rate in pointing modes has been fixed to actual
+  calculation of rotation rate from two quaternions.
+- Fixed alignment matrix and pseudo inverses of RWs, to match the wrong definition of
+  positive rotation.
+
+# [v7.5.5] 2024-01-22
+
+## Fixed
+
+- Calculation of error quaternion was done with inverse of the required target quaternion.
+
+# [v7.5.4] 2024-01-16
+
+## Fixed
+
+- Pointing strategy now actually uses fused rotation rate source instead of its valid flag.
+- All datasets now get updated during pointing mode, even if the strategy is a fault one.
+
+# [v7.5.3] 2023-12-19
+
+## Fixed
+
+- Set STR quaternions to invalid in device handler if the solution is not trustworthy.
+
+# [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
+
+- 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

CMakeLists.txt

@@ -10,8 +10,8 @@
 cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 7)
-set(OBSW_VERSION_MINOR 2)
-set(OBSW_VERSION_REVISION 0)
+set(OBSW_VERSION_MINOR 6)
+set(OBSW_VERSION_REVISION 1)
 
 # 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);
+      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
@@ -1910,13 +1925,12 @@ 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),
+      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 315 translations.
+ * @brief    Auto-generated event translation file. Contains 319 translations.
  * @details
- * Generated on: 2023-10-27 14:24:05
+ * Generated on: 2024-01-30 09:10:05
  */
 #include "translateEvents.h"
 
@@ -94,14 +94,16 @@ const char *FILESTORE_ERROR_STRING = "FILESTORE_ERROR";
 const char *FILENAME_TOO_LARGE_ERROR_STRING = "FILENAME_TOO_LARGE_ERROR";
 const char *HANDLING_CFDP_REQUEST_FAILED_STRING = "HANDLING_CFDP_REQUEST_FAILED";
 const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
-const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
+const char *RATE_RECOVERY_STRING = "RATE_RECOVERY";
 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 *PTG_RATE_VIOLATION_STRING = "PTG_RATE_VIOLATION";
 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 +159,8 @@ 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";
@@ -502,7 +506,7 @@ const char *translateEvents(Event event) {
     case (11200):
       return SAFE_RATE_VIOLATION_STRING;
     case (11201):
-      return SAFE_RATE_RECOVERY_STRING;
+      return RATE_RECOVERY_STRING;
     case (11202):
       return MULTIPLE_RW_INVALID_STRING;
     case (11203):
@@ -512,11 +516,15 @@ 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 (11210):
+      return PTG_RATE_VIOLATION_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):
@@ -627,6 +635,10 @@ 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):

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 175 translations.
- * Generated on: 2023-10-27 14:24:05
+ * Generated on: 2024-01-30 09:10:05
  */
 #include "translateObjects.h"
 

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,
+  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);
@@ -836,7 +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);
@@ -931,7 +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 =
@@ -945,9 +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);
@@ -1062,7 +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/eive/definitions.h

@@ -115,6 +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_ */

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

@@ -88,14 +88,16 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 10804;0x2a34;FILENAME_TOO_LARGE_ERROR;LOW;P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name;fsfw/src/fsfw/cfdp/handler/defs.h
 10805;0x2a35;HANDLING_CFDP_REQUEST_FAILED;LOW;CFDP request handling failed. P2: Returncode.;fsfw/src/fsfw/cfdp/handler/defs.h
 11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;The limits for the rotation in safe mode were violated.;mission/acs/defs.h
-11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;The system has recovered from a safe rate rotation violation.;mission/acs/defs.h
+11201;0x2bc1;RATE_RECOVERY;MEDIUM;The system has recovered from a rate rotation violation.;mission/acs/defs.h
 11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;Multiple RWs are invalid, uncommandable and therefore higher ACS modes cannot be maintained.;mission/acs/defs.h
 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
+11210;0x2bca;PTG_RATE_VIOLATION;MEDIUM;The limits for the rotation in pointing mode were violated.;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 +145,16 @@ 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

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
@@ -453,6 +454,12 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x5208;IMTQ_CmdErrUnknown;No description;8;IMTQ_HANDLER;mission/acs/imtqHelpers.h
 0x5209;IMTQ_StartupCfgError;No description;9;IMTQ_HANDLER;mission/acs/imtqHelpers.h
 0x520a;IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;10;IMTQ_HANDLER;mission/acs/imtqHelpers.h
+0x53a0;RWHA_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;RW_HANDLER;mission/acs/RwHandler.h
+0x53a1;RWHA_InvalidRampTime;Action Message with invalid ramp time was received.;161;RW_HANDLER;mission/acs/RwHandler.h
+0x53a2;RWHA_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;RW_HANDLER;mission/acs/RwHandler.h
+0x53a3;RWHA_ExecutionFailed;Command execution failed;163;RW_HANDLER;mission/acs/RwHandler.h
+0x53a4;RWHA_CrcError;Reaction wheel reply has invalid crc;164;RW_HANDLER;mission/acs/RwHandler.h
+0x53a5;RWHA_ValueNotRead;No description;165;RW_HANDLER;mission/acs/RwHandler.h
 0x53b0;RWHA_SpiWriteFailure;No description;176;RW_HANDLER;mission/acs/rwHelpers.h
 0x53b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;177;RW_HANDLER;mission/acs/rwHelpers.h
 0x53b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;178;RW_HANDLER;mission/acs/rwHelpers.h
@@ -486,12 +493,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x54b6;STRH_StartrackerAlreadyBooted;Star tracker is already in firmware mode;182;STR_HANDLER;mission/acs/str/StarTrackerHandler.h
 0x54b7;STRH_StartrackerNotRunningFirmware;Star tracker must be in firmware mode to run this command;183;STR_HANDLER;mission/acs/str/StarTrackerHandler.h
 0x54b8;STRH_StartrackerNotRunningBootloader;Star tracker must be in bootloader mode to run this command;184;STR_HANDLER;mission/acs/str/StarTrackerHandler.h
-0x59a0;SUSS_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;SUS_HANDLER;mission/acs/RwHandler.h
-0x59a1;SUSS_InvalidRampTime;Action Message with invalid ramp time was received.;161;SUS_HANDLER;mission/acs/RwHandler.h
-0x59a2;SUSS_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;SUS_HANDLER;mission/acs/RwHandler.h
-0x59a3;SUSS_ExecutionFailed;Command execution failed;163;SUS_HANDLER;mission/acs/RwHandler.h
-0x59a4;SUSS_CrcError;Reaction wheel reply has invalid crc;164;SUS_HANDLER;mission/acs/RwHandler.h
-0x59a5;SUSS_ValueNotRead;No description;165;SUS_HANDLER;mission/acs/RwHandler.h
+0x59a0;SUSS_ErrorUnlockMutex;No description;160;SUS_HANDLER;mission/acs/archive/LegacySusHandler.h
+0x59a1;SUSS_ErrorLockMutex;No description;161;SUS_HANDLER;mission/acs/archive/LegacySusHandler.h
 0x5e00;GOMS_PacketTooLong;No description;0;GOM_SPACE_HANDLER;mission/power/GomspaceDeviceHandler.h
 0x5e01;GOMS_InvalidTableId;No description;1;GOM_SPACE_HANDLER;mission/power/GomspaceDeviceHandler.h
 0x5e02;GOMS_InvalidAddress;No description;2;GOM_SPACE_HANDLER;mission/power/GomspaceDeviceHandler.h
@@ -508,7 +511,11 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x67a2;SADPL_MainSwitchTimeoutFailure;No description;162;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
 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
+0x6aa0;ACSCTRL_FileDeletionFailed;File deletion failed and at least one file is still existent.;160;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
+0x6aa1;ACSCTRL_WriteFileFailed;Writing the TLE to the file has failed.;161;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
+0x6aa2;ACSCTRL_ReadFileFailed;Reading the TLE to the file has failed.;162;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
+0x6aa3;ACSCTRL_SingleRwUnavailable;A single RW has failed.;163;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
+0x6aa4;ACSCTRL_MultipleRwUnavailable;Multiple RWs have failed.;164;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.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
@@ -522,4 +529,5 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 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_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_q7s_events.csv

@@ -88,14 +88,16 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 10804;0x2a34;FILENAME_TOO_LARGE_ERROR;LOW;P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name;fsfw/src/fsfw/cfdp/handler/defs.h
 10805;0x2a35;HANDLING_CFDP_REQUEST_FAILED;LOW;CFDP request handling failed. P2: Returncode.;fsfw/src/fsfw/cfdp/handler/defs.h
 11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;The limits for the rotation in safe mode were violated.;mission/acs/defs.h
-11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;The system has recovered from a safe rate rotation violation.;mission/acs/defs.h
+11201;0x2bc1;RATE_RECOVERY;MEDIUM;The system has recovered from a rate rotation violation.;mission/acs/defs.h
 11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;Multiple RWs are invalid, uncommandable and therefore higher ACS modes cannot be maintained.;mission/acs/defs.h
 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
+11210;0x2bca;PTG_RATE_VIOLATION;MEDIUM;The limits for the rotation in pointing mode were violated.;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 +145,16 @@ 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

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
@@ -453,6 +454,12 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x5208;IMTQ_CmdErrUnknown;No description;8;IMTQ_HANDLER;mission/acs/imtqHelpers.h
 0x5209;IMTQ_StartupCfgError;No description;9;IMTQ_HANDLER;mission/acs/imtqHelpers.h
 0x520a;IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;10;IMTQ_HANDLER;mission/acs/imtqHelpers.h
+0x53a0;RWHA_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;RW_HANDLER;mission/acs/RwHandler.h
+0x53a1;RWHA_InvalidRampTime;Action Message with invalid ramp time was received.;161;RW_HANDLER;mission/acs/RwHandler.h
+0x53a2;RWHA_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;RW_HANDLER;mission/acs/RwHandler.h
+0x53a3;RWHA_ExecutionFailed;Command execution failed;163;RW_HANDLER;mission/acs/RwHandler.h
+0x53a4;RWHA_CrcError;Reaction wheel reply has invalid crc;164;RW_HANDLER;mission/acs/RwHandler.h
+0x53a5;RWHA_ValueNotRead;No description;165;RW_HANDLER;mission/acs/RwHandler.h
 0x53b0;RWHA_SpiWriteFailure;No description;176;RW_HANDLER;mission/acs/rwHelpers.h
 0x53b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;177;RW_HANDLER;mission/acs/rwHelpers.h
 0x53b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;178;RW_HANDLER;mission/acs/rwHelpers.h
@@ -498,12 +505,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x58a1;PLSPVhLP_ProcessTerminated;Process has been terminated by command;161;PLOC_SUPV_HELPER;linux/payload/PlocSupvUartMan.h
 0x58a2;PLSPVhLP_PathNotExists;Received command with invalid pathname;162;PLOC_SUPV_HELPER;linux/payload/PlocSupvUartMan.h
 0x58a3;PLSPVhLP_EventBufferReplyInvalidApid;Expected event buffer TM but received space packet with other APID;163;PLOC_SUPV_HELPER;linux/payload/PlocSupvUartMan.h
-0x59a0;SUSS_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;SUS_HANDLER;mission/acs/RwHandler.h
-0x59a1;SUSS_InvalidRampTime;Action Message with invalid ramp time was received.;161;SUS_HANDLER;mission/acs/RwHandler.h
-0x59a2;SUSS_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;SUS_HANDLER;mission/acs/RwHandler.h
-0x59a3;SUSS_ExecutionFailed;Command execution failed;163;SUS_HANDLER;mission/acs/RwHandler.h
-0x59a4;SUSS_CrcError;Reaction wheel reply has invalid crc;164;SUS_HANDLER;mission/acs/RwHandler.h
-0x59a5;SUSS_ValueNotRead;No description;165;SUS_HANDLER;mission/acs/RwHandler.h
+0x59a0;SUSS_ErrorUnlockMutex;No description;160;SUS_HANDLER;mission/acs/archive/LegacySusHandler.h
+0x59a1;SUSS_ErrorLockMutex;No description;161;SUS_HANDLER;mission/acs/archive/LegacySusHandler.h
 0x5aa0;IPCI_PapbBusy;No description;160;CCSDS_IP_CORE_BRIDGE;linux/ipcore/PapbVcInterface.h
 0x5ba0;PTME_UnknownVcId;No description;160;PTME;linux/ipcore/Ptme.h
 0x5d01;STRHLP_SdNotMounted;SD card specified in path string not mounted;1;STR_HELPER;linux/acs/StrComHandler.h
@@ -592,7 +595,11 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x69b5;SPVRTVIF_SupvHelperExecuting;Supervisor helper task ist currently executing a command (wait until helper tas has finished or interrupt by sending the terminate command);181;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
 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
+0x6aa0;ACSCTRL_FileDeletionFailed;File deletion failed and at least one file is still existent.;160;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
+0x6aa1;ACSCTRL_WriteFileFailed;Writing the TLE to the file has failed.;161;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
+0x6aa2;ACSCTRL_ReadFileFailed;Reading the TLE to the file has failed.;162;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
+0x6aa3;ACSCTRL_SingleRwUnavailable;A single RW has failed.;163;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
+0x6aa4;ACSCTRL_MultipleRwUnavailable;Multiple RWs have failed.;164;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.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
@@ -617,5 +624,6 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 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_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/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 315 translations.
+ * @brief    Auto-generated event translation file. Contains 319 translations.
  * @details
- * Generated on: 2023-10-27 14:24:05
+ * Generated on: 2024-01-30 09:10:05
  */
 #include "translateEvents.h"
 
@@ -94,14 +94,16 @@ const char *FILESTORE_ERROR_STRING = "FILESTORE_ERROR";
 const char *FILENAME_TOO_LARGE_ERROR_STRING = "FILENAME_TOO_LARGE_ERROR";
 const char *HANDLING_CFDP_REQUEST_FAILED_STRING = "HANDLING_CFDP_REQUEST_FAILED";
 const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
-const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
+const char *RATE_RECOVERY_STRING = "RATE_RECOVERY";
 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 *PTG_RATE_VIOLATION_STRING = "PTG_RATE_VIOLATION";
 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 +159,8 @@ 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";
@@ -502,7 +506,7 @@ const char *translateEvents(Event event) {
     case (11200):
       return SAFE_RATE_VIOLATION_STRING;
     case (11201):
-      return SAFE_RATE_RECOVERY_STRING;
+      return RATE_RECOVERY_STRING;
     case (11202):
       return MULTIPLE_RW_INVALID_STRING;
     case (11203):
@@ -512,11 +516,15 @@ 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 (11210):
+      return PTG_RATE_VIOLATION_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):
@@ -627,6 +635,10 @@ 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):

generators/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 179 translations.
- * Generated on: 2023-10-27 14:24:05
+ * Generated on: 2024-01-30 09:10:05
  */
 #include "translateObjects.h"
 

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,
@@ -335,8 +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/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 315 translations.
+ * @brief    Auto-generated event translation file. Contains 319 translations.
  * @details
- * Generated on: 2023-10-27 14:24:05
+ * Generated on: 2024-01-30 09:10:05
  */
 #include "translateEvents.h"
 
@@ -94,14 +94,16 @@ const char *FILESTORE_ERROR_STRING = "FILESTORE_ERROR";
 const char *FILENAME_TOO_LARGE_ERROR_STRING = "FILENAME_TOO_LARGE_ERROR";
 const char *HANDLING_CFDP_REQUEST_FAILED_STRING = "HANDLING_CFDP_REQUEST_FAILED";
 const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
-const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
+const char *RATE_RECOVERY_STRING = "RATE_RECOVERY";
 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 *PTG_RATE_VIOLATION_STRING = "PTG_RATE_VIOLATION";
 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 +159,8 @@ 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";
@@ -502,7 +506,7 @@ const char *translateEvents(Event event) {
     case (11200):
       return SAFE_RATE_VIOLATION_STRING;
     case (11201):
-      return SAFE_RATE_RECOVERY_STRING;
+      return RATE_RECOVERY_STRING;
     case (11202):
       return MULTIPLE_RW_INVALID_STRING;
     case (11203):
@@ -512,11 +516,15 @@ 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 (11210):
+      return PTG_RATE_VIOLATION_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):
@@ -627,6 +635,10 @@ 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):

linux/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 179 translations.
- * Generated on: 2023-10-27 14:24:05
+ * Generated on: 2024-01-30 09:10:05
  */
 #include "translateObjects.h"
 

linux/ipcore/PapbVcInterface.cpp

@@ -30,6 +30,7 @@ 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 advance until completion before starting a new packet transfer.
@@ -83,6 +84,9 @@ ReturnValue_t PapbVcInterface::advanceWrite(size_t& writtenSize) {
     writtenSize++;
   }
   if (not pollReadyForOctet(MAX_BUSY_POLLS)) {
+    if (not pollReadyForPacket()) {
+      return PARTIALLY_WRITTEN;
+    }
     abortPacketTransfer();
     return returnvalue::FAILED;
   }

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

@@ -7,6 +7,7 @@
 #include "OBSWConfig.h"
 #include "fsfw/datapool/PoolReadGuard.h"
 #include "fsfw/globalfunctions/CRC.h"
+#include "fsfw/parameters/HasParametersIF.h"
 
 PlocMpsocHandler::PlocMpsocHandler(object_id_t objectId, object_id_t uartComIFid,
                                    CookieIF* comCookie, PlocMpsocSpecialComHelper* plocMPSoCHelper,
@@ -20,9 +21,8 @@ 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;
 }
@@ -1396,6 +1396,9 @@ bool PlocMpsocHandler::handleHwStartup() {
   return true;
 #endif
   if (powerState == PowerState::IDLE) {
+    if (skipSupvCommandingToOn) {
+      powerState = PowerState::DONE;
+    } else {
       if (supv::SUPV_ON) {
         commandActionHelper.commandAction(supervisorHandler, supv::START_MPSOC);
         supvTransitionCd.resetTimer();
@@ -1406,6 +1409,7 @@ bool PlocMpsocHandler::handleHwStartup() {
         setMode(MODE_OFF);
       }
     }
+  }
   if (powerState == PowerState::SUPV_FAILED) {
     setMode(MODE_OFF);
     powerState = PowerState::IDLE;
@@ -1533,3 +1537,20 @@ ReturnValue_t PlocMpsocHandler::checkModeCommand(Mode_t commandedMode, Submode_t
   }
   return DeviceHandlerBase::checkModeCommand(commandedMode, commandedSubmode, msToReachTheMode);
 }
+
+ReturnValue_t PlocMpsocHandler::getParameter(uint8_t domainId, uint8_t uniqueId,
+                                             ParameterWrapper* parameterWrapper,
+                                             const ParameterWrapper* newValues,
+                                             uint16_t startAtIndex) {
+  if (uniqueId == mpsoc::ParamId::SKIP_SUPV_ON_COMMANDING) {
+    uint8_t value = 0;
+    newValues->getElement(&value);
+    if (value > 1) {
+      return HasParametersIF::INVALID_VALUE;
+    }
+    parameterWrapper->set(skipSupvCommandingToOn);
+    return returnvalue::OK;
+  }
+  return DeviceHandlerBase::getParameter(domainId, uniqueId, parameterWrapper, newValues,
+                                         startAtIndex);
+}

linux/payload/PlocMpsocHandler.h

@@ -201,6 +201,8 @@ class PlocMpsocHandler : public DeviceHandlerBase, public CommandsActionsIF {
 
   PowerState powerState = PowerState::IDLE;
 
+  uint8_t skipSupvCommandingToOn = false;
+
   /**
    * @brief   Handles events received from the PLOC MPSoC helper
    */
@@ -316,6 +318,9 @@ class PlocMpsocHandler : public DeviceHandlerBase, public CommandsActionsIF {
   pwrctrl::EnablePl enablePl = pwrctrl::EnablePl(objects::POWER_CONTROLLER);
   ReturnValue_t checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
                                  uint32_t* msToReachTheMode) override;
+
+  ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper* parameterWrapper,
+                             const ParameterWrapper* newValues, uint16_t startAtIndex) override;
 };
 
 #endif /* BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_ */

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();
+    {
+      MutexGuard mg(lock);
       state = InternalState::SLEEPING;
-    lock->unlockMutex();
+    }
     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;
           }
@@ -941,15 +945,7 @@ ReturnValue_t PlocSupvUartManager::handleRunningLongerRequest() {
       break;
     }
     case Request::REQUEST_EVENT_BUFFER: {
-      //      result = performEventBufferRequest();
-      //      if (result == returnvalue::OK) {
-      //        triggerEvent(SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL, result);
-      //      } else if (result == PROCESS_TERMINATED) {
-      //        // Event already triggered
-      //        break;
-      //      } else {
-      //        triggerEvent(SUPV_EVENT_BUFFER_REQUEST_FAILED, result);
-      //      }
+      sif::error << "Requesting event buffer is not implemented" << std::endl;
       break;
     }
     case Request::DEFAULT: {
@@ -962,7 +958,7 @@ 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 +980,9 @@ 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 +1053,7 @@ 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 +1084,14 @@ void PlocSupvUartManager::performUartShutdown() {
   while (not decodedQueue.empty()) {
     decodedQueue.pop();
   }
-  MutexGuard mg(ipcLock);
+  {
+    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/plocMpsocHelpers.h

@@ -13,6 +13,8 @@
 
 namespace mpsoc {
 
+enum ParamId : uint8_t { SKIP_SUPV_ON_COMMANDING = 0x01 };
+
 enum FileAccessModes : uint8_t {
   // Opens a file, fails if the file does not exist.
   OPEN_EXISTING = 0x00,

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 + 3000;
+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"
+      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"
+      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/RwHandler.h

@@ -59,6 +59,7 @@ class RwHandler : public DeviceHandlerBase {
   LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
 
  private:
+  static const uint8_t INTERFACE_ID = CLASS_ID::RW_HANDLER;
   //! [EXPORT] : [COMMENT] Action Message with invalid speed was received. Valid speeds must be in
   //! the range of [-65000; 1000] or [1000; 65000]
   static const ReturnValue_t INVALID_SPEED = MAKE_RETURN_CODE(0xA0);

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,
@@ -40,20 +40,39 @@ 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.
 static constexpr Event SAFE_RATE_VIOLATION = MAKE_EVENT(0, severity::MEDIUM);
-//! [EXPORT] : [COMMENT] The system has recovered from a safe rate rotation violation.
-static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
+//! [EXPORT] : [COMMENT] The limits for the rotation in pointing mode were violated.
+static constexpr Event PTG_RATE_VIOLATION = MAKE_EVENT(10, severity::MEDIUM);
+//! [EXPORT] : [COMMENT] The system has recovered from a rate rotation violation.
+static constexpr Event RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
+//! [EXPORT] : [COMMENT] The detumble transition has failed.
+//! //! P1: Last detumble state before failure.
+static constexpr Event DETUMBLE_TRANSITION_FAILED = MAKE_EVENT(11, severity::HIGH);
 //! [EXPORT] : [COMMENT] Multiple RWs are invalid, uncommandable and therefore higher ACS modes
 //! cannot be maintained.
 static constexpr Event MULTIPLE_RW_INVALID = MAKE_EVENT(2, severity::HIGH);
@@ -64,15 +83,17 @@ 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),
@@ -57,8 +59,8 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
       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;
   }
@@ -82,17 +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:
@@ -139,8 +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) {
@@ -169,6 +165,20 @@ 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;
@@ -335,6 +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; }
@@ -499,6 +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;
@@ -513,6 +551,7 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
       rawPacket = commandBuffer;
       return returnvalue::OK;
     }
+
     case (startracker::REQ_TIME): {
       prepareTimeRequest();
       return returnvalue::OK;
@@ -726,6 +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,
@@ -928,7 +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);
@@ -1122,7 +1162,7 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
       break;
     }
     case (startracker::REQ_SOLUTION): {
-      result = handleTm(packet, solutionSet, "REQ_SOLUTION");
+      result = handleSolution(packet);
       break;
     }
     case (startracker::REQ_CONTRAST): {
@@ -2398,6 +2438,36 @@ ReturnValue_t StarTrackerHandler::handleTm(const uint8_t* rawFrame, LocalPoolDat
   return result;
 }
 
+ReturnValue_t StarTrackerHandler::handleSolution(const uint8_t* rawFrame) {
+  ReturnValue_t result = statusFieldCheck(rawFrame);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  PoolReadGuard pg(&solutionSet);
+  if (pg.getReadResult() != returnvalue::OK) {
+    return result;
+  }
+  const uint8_t* reply = rawFrame + TICKS_OFFSET;
+  solutionSet.setValidityBufferGeneration(false);
+  size_t sizeLeft = fullPacketLen;
+  result = solutionSet.deSerialize(&reply, &sizeLeft, SerializeIF::Endianness::LITTLE);
+  if (result != returnvalue::OK) {
+    sif::warning << "StarTrackerHandler::handleTm: Deserialization failed for solution set: 0x"
+                 << std::hex << std::setw(4) << result << std::dec << std::endl;
+  }
+  solutionSet.setValidityBufferGeneration(true);
+  solutionSet.setValidity(true, true);
+  solutionSet.caliQw.setValid(solutionSet.isTrustWorthy.value);
+  solutionSet.caliQx.setValid(solutionSet.isTrustWorthy.value);
+  solutionSet.caliQy.setValid(solutionSet.isTrustWorthy.value);
+  solutionSet.caliQz.setValid(solutionSet.isTrustWorthy.value);
+  solutionSet.trackQw.setValid(solutionSet.isTrustWorthy.value);
+  solutionSet.trackQx.setValid(solutionSet.isTrustWorthy.value);
+  solutionSet.trackQy.setValid(solutionSet.isTrustWorthy.value);
+  solutionSet.trackQz.setValid(solutionSet.isTrustWorthy.value);
+  return result;
+}
+
 ReturnValue_t StarTrackerHandler::handleAutoBlobTm(const uint8_t* rawFrame) {
   ReturnValue_t result = statusFieldCheck(rawFrame);
   if (result != returnvalue::OK) {
@@ -2811,3 +2881,5 @@ ReturnValue_t StarTrackerHandler::checkCommand(ActionId_t actionId) {
   }
   return returnvalue::OK;
 }
+
+ReturnValue_t StarTrackerHandler::acceptExternalDeviceCommands() { return returnvalue::OK; }

mission/acs/str/StarTrackerHandler.h

@@ -27,7 +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:
@@ -42,8 +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;
@@ -240,11 +242,12 @@ 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;
 
@@ -311,6 +314,8 @@ class StarTrackerHandler : public DeviceHandlerBase {
   std::set<DeviceCommandId_t> additionalRequestedTm{};
   std::set<DeviceCommandId_t>::iterator currentSecondaryTmIter;
 
+  startracker::SdCardConfigPathGetter& cfgPathGetter;
+
   /**
    * @brief   Handles internal state
    */
@@ -522,6 +527,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
   ReturnValue_t handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset,
                          const char* context);
 
+  ReturnValue_t handleSolution(const uint8_t* rawFrame);
   ReturnValue_t handleAutoBlobTm(const uint8_t* rawFrame);
   ReturnValue_t handleMatchedCentroidTm(const uint8_t* rawFrame);
   ReturnValue_t handleBlobTm(const uint8_t* rawFrame);
@@ -542,6 +548,8 @@ 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.
  */
@@ -381,6 +387,7 @@ 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;

mission/com/LiveTmTask.cpp

@@ -54,8 +54,13 @@ ReturnValue_t LiveTmTask::performOperation(uint8_t opCode) {
           }
         }
       } else if (result != MessageQueueIF::EMPTY) {
-        sif::warning << "LiveTmTask: TM queue failure, returncode 0x" << std::hex << std::setw(4)
-                     << result << std::dec << std::endl;
+        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;
       }
     }
 
@@ -173,15 +178,16 @@ ReturnValue_t LiveTmTask::handleGenericTmQueue(MessageQueueIF& queue, bool isCfd
     size_t writtenSize = 0;
     result = channel.write(data, size, writtenSize);
     if (result == DirectTmSinkIF::PARTIALLY_WRITTEN) {
-      result = channel.handleWriteCompletionSynchronously(writtenSize, 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;
+                     << 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::hex << std::setw(4)
-                 << result << std::dec << std::endl;
+      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

mission/com/TmStoreTaskBase.cpp

@@ -141,11 +141,12 @@ ReturnValue_t TmStoreTaskBase::performDump(PersistentTmStoreWithTmQueue& store,
   size_t writtenSize = 0;
   result = channel.write(tmReader.getFullData(), dumpedLen, writtenSize);
   if (result == VirtualChannelIF::PARTIALLY_WRITTEN) {
-    result = channel.handleWriteCompletionSynchronously(writtenSize, 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

@@ -74,5 +74,7 @@ ReturnValue_t VirtualChannel::handleWriteCompletionSynchronously(size_t& written
       return result;
     }
   }
-  return returnvalue::FAILED;
+  // Timeout. Cancel the transfer
+  cancelTransfer();
+  return TIMEOUT;
 }

mission/com/VirtualChannelWithQueue.cpp

@@ -41,7 +41,7 @@ ReturnValue_t VirtualChannelWithQueue::handleNextTm(bool performWriteOp) {
   if (performWriteOp) {
     result = write(data, size, writtenSize);
     if (result == PARTIALLY_WRITTEN) {
-      result = handleWriteCompletionSynchronously(writtenSize, 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();
@@ -51,12 +49,12 @@ ReturnValue_t AcsController::executeAction(ActionId_t actionId, MessageQueueId_t
     case SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL: {
       ReturnValue_t result = guidance.solarArrayDeploymentComplete();
       if (result == returnvalue::FAILED) {
-        return FILE_DELETION_FAILED;
+        return acsctrl::FILE_DELETION_FAILED;
       }
       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;
     }
@@ -130,12 +133,70 @@ 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) {
+        performAttitudeControl();
+      }
+      break;
+    }
+    default:
+      break;
+  }
+}
+
+void AcsController::performAttitudeControl() {
+  Clock::getClock_timeval(&timeAbsolute);
+  Clock::getClockMonotonic(&timeRelative);
+
+  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(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, &attitudeEstimationData, &acsParameters);
+
+  if (result != MultiplicativeKalmanFilter::MEKF_RUNNING and
+      result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
+    if (not mekfInvalidFlag) {
+      triggerEvent(acs::MEKF_INVALID_INFO,
+                   static_cast<uint32_t>(attitudeEstimationData.mekfStatus.value));
+      mekfInvalidFlag = true;
+    }
+    if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE and not mekfLost) {
+      triggerEvent(acs::MEKF_AUTOMATIC_RESET);
+      navigation.resetMekf(&attitudeEstimationData);
+      mekfLost = true;
+    }
+  } else if (mekfInvalidFlag) {
+    triggerEvent(acs::MEKF_RECOVERY);
+    mekfInvalidFlag = false;
+  }
+
+  handleDetumbling();
+
   switch (mode) {
     case acs::SAFE:
       switch (submode) {
@@ -156,72 +217,35 @@ void AcsController::performControlOperation() {
       break;
   }
 }
-      break;
-    }
-    default:
-      break;
-  }
-}
 
 void AcsController::performSafe() {
-  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 if (result != Sgp4Propagator::TLE_TOO_OLD) {
-    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;
-  }
-
   // 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 +253,29 @@ 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:
@@ -262,33 +286,6 @@ void AcsController::performSafe() {
   actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
                            acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs);
 
-  // detumble check and switch
-  if (acsParameters.safeModeControllerParameters.useMekf) {
-    if (mekfData.satRotRateMekf.isValid() and
-        VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) >
-            acsParameters.detumbleParameter.omegaDetumbleStart) {
-      detumbleCounter++;
-    }
-  } else if (acsParameters.safeModeControllerParameters.useGyr) {
-    if (gyrDataProcessed.gyrVecTot.isValid() and
-        VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) >
-            acsParameters.detumbleParameter.omegaDetumbleStart) {
-      detumbleCounter++;
-    }
-  } else if (fusedRotRateData.rotRateTotal.isValid() and
-             VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) >
-                 acsParameters.detumbleParameter.omegaDetumbleStart) {
-    detumbleCounter++;
-  } else if (detumbleCounter > 0) {
-    detumbleCounter -= 1;
-  }
-  if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
-    detumbleCounter = 0;
-    // Triggers detumble mode transition in subsystem
-    triggerEvent(acs::SAFE_RATE_VIOLATION);
-    startTransition(mode, acs::SafeSubmode::DETUMBLE);
-  }
-
   updateCtrlValData(errAng, safeCtrlStrat);
   updateActuatorCmdData(cmdDipoleMtqs);
   commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2],
@@ -296,55 +293,24 @@ 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:
@@ -355,33 +321,6 @@ void AcsController::performDetumble() {
   actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
                            acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs);
 
-  if (acsParameters.safeModeControllerParameters.useMekf) {
-    if (mekfData.satRotRateMekf.isValid() and
-        VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) <
-            acsParameters.detumbleParameter.omegaDetumbleEnd) {
-      detumbleCounter++;
-    }
-  } else if (acsParameters.safeModeControllerParameters.useGyr) {
-    if (gyrDataProcessed.gyrVecTot.isValid() and
-        VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) <
-            acsParameters.detumbleParameter.omegaDetumbleEnd) {
-      detumbleCounter++;
-    }
-  } else if (fusedRotRateData.rotRateTotal.isValid() and
-             VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) <
-                 acsParameters.detumbleParameter.omegaDetumbleEnd) {
-    detumbleCounter++;
-  } else if (detumbleCounter > 0) {
-    detumbleCounter -= 1;
-  }
-
-  if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
-    detumbleCounter = 0;
-    // Triggers safe mode transition in subsystem
-    triggerEvent(acs::SAFE_RATE_RECOVERY);
-    startTransition(mode, acs::SafeSubmode::DEFAULT);
-  }
-
   updateCtrlValData(safeCtrlStrat);
   updateActuatorCmdData(cmdDipoleMtqs);
   commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2],
@@ -389,52 +328,76 @@ void AcsController::performDetumble() {
 }
 
 void AcsController::performPointingCtrl() {
-  timeval now;
-  Clock::getClock_timeval(&now);
+  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;
+  }
+  acs::ControlModeStrategy ptgCtrlStrat = ptgCtrl.pointingCtrlStrategy(
+      mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag, strValid,
+      attitudeEstimationData.quatQuest.isValid(), fusedRotRateData.rotRateTotal.isValid(),
+      fusedRotRateData.rotRateSource.value, useMekf);
 
-  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);
-  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;
+  if (ptgCtrlStrat == acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL or
+      ptgCtrlStrat == acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL) {
+    ptgCtrlLostCounter++;
+    if (ptgCtrlLostCounter > acsParameters.onBoardParams.ptgCtrlLostTimer) {
+      triggerEvent(acs::PTG_CTRL_NO_ATTITUDE_INFORMATION);
+      ptgCtrlLostCounter = 0;
     }
+    guidance.resetValues();
+    updateCtrlValData(ptgCtrlStrat);
+    updateActuatorCmdData(ZERO_VEC4, cmdSpeedRws, ZERO_VEC3_INT16);
     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;
+    ptgCtrlLostCounter = 0;
   }
-    mekfInvalidCounter = 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 performPointingCtrl"
+                 << std::endl;
+      break;
   }
-  uint8_t enableAntiStiction = true;
+
+  bool allRwAvailable = true;
   double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
-  if (result == returnvalue::FAILED) {
+  ReturnValue_t result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
+  if (result == acsctrl::MULTIPLE_RW_UNAVAILABLE) {
     if (multipleRwUnavailableCounter >=
         acsParameters.rwHandlingParameters.multipleRwInvalidTimeout) {
       triggerEvent(acs::MULTIPLE_RW_INVALID);
@@ -442,8 +405,10 @@ void AcsController::performPointingCtrl() {
     }
     multipleRwUnavailableCounter++;
     return;
-  } else {
+  }
   multipleRwUnavailableCounter = 0;
+  if (result == acsctrl::SINGLE_RW_UNAVAILABLE) {
+    allRwAvailable = false;
   }
 
   // Variables required for guidance
@@ -455,13 +420,13 @@ void AcsController::performPointingCtrl() {
 
   switch (mode) {
     case acs::PTG_IDLE:
-      guidance.targetQuatPtgSun(now, susDataProcessed.sunIjkModel.value, targetQuat,
-                                targetSatRotRate);
-      guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat,
-                          targetSatRotRate, errorQuat, errorSatRotRate, errorAngle);
+      guidance.targetQuatPtgIdle(timeAbsolute, timeDelta, susDataProcessed.sunIjkModel.value,
+                                 gpsDataProcessed.gpsPosition.value, targetQuat, targetSatRotRate);
+      guidance.comparePtg(quatBI, rotRateB, targetQuat, targetSatRotRate, errorQuat,
+                          errorSatRotRate, errorAngle);
       ptgCtrl.ptgLaw(&acsParameters.idleModeControllerParameters, errorQuat, errorSatRotRate,
                      *rwPseudoInv, torquePtgRws);
-      ptgCtrl.ptgNullspace(&acsParameters.idleModeControllerParameters,
+      ptgCtrl.ptgNullspace(allRwAvailable, &acsParameters.idleModeControllerParameters,
                            sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
                            sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
                            rwTrqNs);
@@ -469,23 +434,22 @@ 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);
-      enableAntiStiction = acsParameters.idleModeControllerParameters.enableAntiStiction;
+          mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value,
+          sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value,
+          sensorValues.rw4Set.currSpeed.value, mgtDpDes);
       break;
 
     case acs::PTG_TARGET:
-      guidance.targetQuatPtgThreeAxes(now, gpsDataProcessed.gpsPosition.value,
+      guidance.targetQuatPtgTarget(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,
                      *rwPseudoInv, torquePtgRws);
-      ptgCtrl.ptgNullspace(&acsParameters.targetModeControllerParameters,
+      ptgCtrl.ptgNullspace(allRwAvailable, &acsParameters.targetModeControllerParameters,
                            sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
                            sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
                            rwTrqNs);
@@ -493,20 +457,19 @@ 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);
-      enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
+          mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value,
+          sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value,
+          sensorValues.rw4Set.currSpeed.value, mgtDpDes);
       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,
+      ptgCtrl.ptgNullspace(allRwAvailable, &acsParameters.gsTargetModeControllerParameters,
                            sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
                            sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
                            rwTrqNs);
@@ -514,23 +477,21 @@ 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);
-      enableAntiStiction = acsParameters.gsTargetModeControllerParameters.enableAntiStiction;
+          mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value,
+          sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value,
+          sensorValues.rw4Set.currSpeed.value, mgtDpDes);
       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.targetQuatPtgNadir(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,
                      *rwPseudoInv, torquePtgRws);
-      ptgCtrl.ptgNullspace(&acsParameters.nadirModeControllerParameters,
+      ptgCtrl.ptgNullspace(allRwAvailable, &acsParameters.nadirModeControllerParameters,
                            sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
                            sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
                            rwTrqNs);
@@ -538,22 +499,21 @@ 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);
-      enableAntiStiction = acsParameters.nadirModeControllerParameters.enableAntiStiction;
+          mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value,
+          sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value,
+          sensorValues.rw4Set.currSpeed.value, mgtDpDes);
       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,
                      *rwPseudoInv, torquePtgRws);
-      ptgCtrl.ptgNullspace(&acsParameters.inertialModeControllerParameters,
+      ptgCtrl.ptgNullspace(allRwAvailable, &acsParameters.inertialModeControllerParameters,
                            sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
                            sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
                            rwTrqNs);
@@ -561,10 +521,9 @@ 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);
-      enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction;
+          mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value,
+          sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value,
+          sensorValues.rw4Set.currSpeed.value, mgtDpDes);
       break;
     default:
       sif::error << "AcsController: Invalid mode for performPointingCtrl" << std::endl;
@@ -576,13 +535,11 @@ void AcsController::performPointingCtrl() {
       sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
       acsParameters.onBoardParams.sampleTime, acsParameters.rwHandlingParameters.inertiaWheel,
       acsParameters.rwHandlingParameters.maxRwSpeed, torqueRws, cmdSpeedRws);
-  if (enableAntiStiction) {
   ptgCtrl.rwAntistiction(&sensorValues, cmdSpeedRws);
-  }
   actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
                            acsParameters.magnetorquerParameter.dipoleMax, mgtDpDes, cmdDipoleMtqs);
 
-  updateCtrlValData(targetQuat, errorQuat, errorAngle, targetSatRotRate);
+  updateCtrlValData(targetQuat, errorQuat, errorAngle, targetSatRotRate, ptgCtrlStrat);
   updateActuatorCmdData(torqueRws, cmdSpeedRws, cmdDipoleMtqs);
   commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2],
                    acsParameters.magnetorquerParameter.torqueDuration, cmdSpeedRws[0],
@@ -590,6 +547,74 @@ void AcsController::performPointingCtrl() {
                    acsParameters.rwHandlingParameters.rampTime);
 }
 
+void AcsController::handleDetumbling() {
+  switch (detumbleState) {
+    case DetumbleState::NO_DETUMBLE:
+      if (fusedRotRateData.rotRateTotal.isValid() and
+          VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) >
+              acsParameters.detumbleParameter.omegaDetumbleStart) {
+        detumbleCounter++;
+      } else if (detumbleCounter > 0) {
+        detumbleCounter -= 1;
+      }
+      if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
+        if (mode == acs::AcsMode::SAFE) {
+          detumbleState = DetumbleState::DETUMBLE_FROM_SAFE;
+          break;
+        }
+        detumbleState = DetumbleState::DETUMBLE_FROM_PTG;
+      }
+      break;
+    case DetumbleState::DETUMBLE_FROM_PTG:
+      triggerEvent(acs::PTG_RATE_VIOLATION);
+      detumbleTransitionCountdow.resetTimer();
+      detumbleState = DetumbleState::PTG_TO_SAFE_TRANSITION;
+      break;
+    case DetumbleState::PTG_TO_SAFE_TRANSITION:
+      if (detumbleTransitionCountdow.hasTimedOut()) {
+        triggerEvent(acs::DETUMBLE_TRANSITION_FAILED, 2);
+        detumbleCounter = 0;
+        detumbleState = DetumbleState::NO_DETUMBLE;
+        break;
+      }
+      if (mode == acs::AcsMode::SAFE) {
+        detumbleState = DetumbleState::DETUMBLE_FROM_SAFE;
+      }
+      break;
+    case DetumbleState::DETUMBLE_FROM_SAFE:
+      detumbleCounter = 0;
+      // Triggers detumble mode transition in subsystem
+      if (mode == acs::AcsMode::SAFE) {
+        triggerEvent(acs::SAFE_RATE_VIOLATION);
+        startTransition(mode, acs::SafeSubmode::DETUMBLE);
+        detumbleState = DetumbleState::IN_DETUMBLE;
+        break;
+      }
+      triggerEvent(acs::DETUMBLE_TRANSITION_FAILED, 3);
+      detumbleState = DetumbleState::NO_DETUMBLE;
+      break;
+    case DetumbleState::IN_DETUMBLE:
+      if (fusedRotRateData.rotRateTotal.isValid() and
+          VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) <
+              acsParameters.detumbleParameter.omegaDetumbleEnd) {
+        detumbleCounter++;
+      } else if (detumbleCounter > 0) {
+        detumbleCounter -= 1;
+      }
+
+      if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
+        detumbleCounter = 0;
+        // Triggers safe mode transition in subsystem
+        triggerEvent(acs::RATE_RECOVERY);
+        startTransition(mode, acs::SafeSubmode::DEFAULT);
+        detumbleState = DetumbleState::NO_DETUMBLE;
+      }
+      break;
+    default:
+      sif::error << "AcsController: Invalid DetumbleState" << std::endl;
+  }
+}
+
 void AcsController::safeCtrlFailure(uint8_t mgmFailure, uint8_t sensorFailure) {
   if (not safeCtrlFailureFlag) {
     triggerEvent(acs::SAFE_MODE_CONTROLLER_FAILURE, mgmFailure, sensorFailure);
@@ -660,7 +685,7 @@ void AcsController::updateActuatorCmdData(const double *rwTargetTorque,
   }
 }
 
-void AcsController::updateCtrlValData(uint8_t safeModeStrat) {
+void AcsController::updateCtrlValData(acs::ControlModeStrategy ctrlStrat) {
   PoolReadGuard pg(&ctrlValData);
   if (pg.getReadResult() == returnvalue::OK) {
     std::memcpy(ctrlValData.tgtQuat.value, ZERO_VEC4, 4 * sizeof(double));
@@ -671,13 +696,13 @@ void AcsController::updateCtrlValData(uint8_t safeModeStrat) {
     ctrlValData.errAng.setValid(false);
     std::memcpy(ctrlValData.tgtRotRate.value, ZERO_VEC3, 3 * sizeof(double));
     ctrlValData.tgtRotRate.setValid(false);
-    ctrlValData.safeStrat.value = safeModeStrat;
+    ctrlValData.safeStrat.value = ctrlStrat;
     ctrlValData.safeStrat.setValid(true);
     ctrlValData.setValidity(true, false);
   }
 }
 
-void AcsController::updateCtrlValData(double errAng, uint8_t safeModeStrat) {
+void AcsController::updateCtrlValData(double errAng, acs::ControlModeStrategy ctrlStrat) {
   PoolReadGuard pg(&ctrlValData);
   if (pg.getReadResult() == returnvalue::OK) {
     std::memcpy(ctrlValData.tgtQuat.value, ZERO_VEC4, 4 * sizeof(double));
@@ -688,21 +713,22 @@ void AcsController::updateCtrlValData(double errAng, uint8_t safeModeStrat) {
     ctrlValData.errAng.setValid(true);
     std::memcpy(ctrlValData.tgtRotRate.value, ZERO_VEC3, 3 * sizeof(double));
     ctrlValData.tgtRotRate.setValid(false);
-    ctrlValData.safeStrat.value = safeModeStrat;
+    ctrlValData.safeStrat.value = ctrlStrat;
     ctrlValData.safeStrat.setValid(true);
     ctrlValData.setValidity(true, false);
   }
 }
 
 void AcsController::updateCtrlValData(const double *tgtQuat, const double *errQuat, double errAng,
-                                      const double *tgtRotRate) {
+                                      const double *tgtRotRate,
+                                      acs::ControlModeStrategy ctrlStrat) {
   PoolReadGuard pg(&ctrlValData);
   if (pg.getReadResult() == returnvalue::OK) {
     std::memcpy(ctrlValData.tgtQuat.value, tgtQuat, 4 * sizeof(double));
     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 = ctrlStrat;
     ctrlValData.setValidity(true, true);
   }
 }
@@ -779,11 +805,12 @@ 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 +827,15 @@ 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 +856,15 @@ 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;
   }
@@ -862,6 +896,31 @@ ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
 }
 
 void AcsController::modeChanged(Mode_t mode, Submode_t submode) {
+  guidance.resetValues();
+  if (mode == acs::AcsMode::SAFE) {
+    {
+      PoolReadGuard pg(&rw1SpeedSet);
+      rw1SpeedSet.setRwSpeed(0, 10);
+    }
+    {
+      PoolReadGuard pg(&rw2SpeedSet);
+      rw2SpeedSet.setRwSpeed(0, 10);
+    }
+    {
+      PoolReadGuard pg(&rw3SpeedSet);
+      rw3SpeedSet.setRwSpeed(0, 10);
+    }
+    {
+      PoolReadGuard pg(&rw4SpeedSet);
+      rw4SpeedSet.setRwSpeed(0, 10);
+    }
+  }
+  if (submode == acs::SafeSubmode::DETUMBLE) {
+    detumbleState = DetumbleState::IN_DETUMBLE;
+  }
+  if (detumbleState == DetumbleState::IN_DETUMBLE and submode != acs::SafeSubmode::DETUMBLE) {
+    detumbleState = DetumbleState::NO_DETUMBLE;
+  }
   return ExtendedControllerBase::modeChanged(mode, submode);
 }
 
@@ -1031,6 +1090,67 @@ 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 acsctrl::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 acsctrl::READ_FILE_FAILED;
+    }
+    tleFile.close();
+  } else {
+    triggerEvent(acs::TLE_FILE_READ_FAILED);
+    return acsctrl::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,
@@ -37,11 +46,8 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
                              uint16_t startAtIndex) override;
 
  protected:
-  void performSafe();
-  void performDetumble();
-  void performPointingCtrl();
-
  private:
+  static constexpr int16_t ZERO_VEC3_INT16[3] = {0, 0, 0};
   static constexpr double ZERO_VEC3[3] = {0, 0, 0};
   static constexpr double ZERO_VEC4[4] = {0, 0, 0, 0};
   static constexpr double RW_OFF_TORQUE[4] = {0, 0, 0, 0};
@@ -49,8 +55,16 @@ 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 +80,7 @@ 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;
@@ -82,15 +96,21 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   enum class InternalState { STARTUP, INITIAL_DELAY, READY };
   InternalState internalState = InternalState::STARTUP;
 
+  enum class DetumbleState {
+    NO_DETUMBLE,
+    DETUMBLE_FROM_PTG,
+    PTG_TO_SAFE_TRANSITION,
+    DETUMBLE_FROM_SAFE,
+    IN_DETUMBLE
+  };
+  DetumbleState detumbleState = DetumbleState::NO_DETUMBLE;
+
   /** Device command IDs */
   static const DeviceCommandId_t SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL = 0x0;
   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 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);
+  static const DeviceCommandId_t READ_TLE = 0x4;
 
   ReturnValue_t initialize() override;
   ReturnValue_t handleCommandMessage(CommandMessage* message) override;
@@ -110,6 +130,13 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   void modeChanged(Mode_t mode, Submode_t submode);
   void announceMode(bool recursive);
 
+  void performAttitudeControl();
+  void performSafe();
+  void performDetumble();
+  void performPointingCtrl();
+
+  void handleDetumbling();
+
   void safeCtrlFailure(uint8_t mgmFailure, uint8_t sensorFailure);
 
   ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
@@ -120,10 +147,16 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   void updateActuatorCmdData(const int16_t* mtqTargetDipole);
   void updateActuatorCmdData(const double* rwTargetTorque, const int32_t* rwTargetSpeed,
                              const int16_t* mtqTargetDipole);
-  void updateCtrlValData(uint8_t safeModeStrat);
-  void updateCtrlValData(double errAng, uint8_t safeModeStrat);
+  void updateCtrlValData(acs::ControlModeStrategy ctrlStrat);
+  void updateCtrlValData(double errAng, acs::ControlModeStrategy ctrlStrat);
   void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng,
-                         const double* tgtRotRate);
+                         const double* tgtRotRate, acs::ControlModeStrategy cStrat);
+
+  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 +245,12 @@ 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;
@@ -237,14 +271,22 @@ 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);
+
+  // Countdown after which the detumbling mode change should have been finished
+  static constexpr dur_millis_t MAX_DURATION = 60 * 1e3;
+  Countdown detumbleTransitionCountdow = Countdown(MAX_DURATION);
 };
 
 #endif /* MISSION_CONTROLLER_ACSCONTROLLER_H_ */

mission/controller/PowerController.cpp

@@ -157,7 +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();
@@ -173,8 +178,6 @@ void PowerController::calculateStateOfCharge() {
         pwrCtrlCoreHk.setValidity(false, true);
       }
     }
-    // store time for next run
-    oldTime = now;
     return;
   }
 
@@ -195,12 +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
     {
@@ -215,8 +216,6 @@ void PowerController::calculateStateOfCharge() {
         pwrCtrlCoreHk.coulombCounterCharge.setValid(false);
       }
     }
-    // store time for next run
-    oldTime = now;
     return;
   }
 
@@ -231,8 +230,6 @@ void PowerController::calculateStateOfCharge() {
       pwrCtrlCoreHk.setValidity(true, true);
     }
   }
-  // store time for next run
-  oldTime = now;
 }
 
 void PowerController::watchStateOfCharge() {
@@ -285,12 +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;
   }
@@ -298,7 +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);

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;
       }
@@ -324,16 +333,16 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->setMatrix(rwMatrices.pseudoInverse);
           break;
         case 0x2:
-          parameterWrapper->setMatrix(rwMatrices.without1);
+          parameterWrapper->setMatrix(rwMatrices.pseudoInverseWithoutRW1);
           break;
         case 0x3:
-          parameterWrapper->setMatrix(rwMatrices.without2);
+          parameterWrapper->setMatrix(rwMatrices.pseudoInverseWithoutRW2);
           break;
         case 0x4:
-          parameterWrapper->setMatrix(rwMatrices.without3);
+          parameterWrapper->setMatrix(rwMatrices.pseudoInverseWithoutRW3);
           break;
         case 0x5:
-          parameterWrapper->setMatrix(rwMatrices.without4);
+          parameterWrapper->setMatrix(rwMatrices.pseudoInverseWithoutRW4);
           break;
         case 0x6:
           parameterWrapper->setVector(rwMatrices.nullspaceVector);
@@ -423,7 +432,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->set(idleModeControllerParameters.desatOn);
           break;
         case 0x9:
-          parameterWrapper->set(idleModeControllerParameters.enableAntiStiction);
+          parameterWrapper->set(idleModeControllerParameters.useMekf);
           break;
         default:
           return INVALID_IDENTIFIER_ID;
@@ -459,7 +468,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->set(targetModeControllerParameters.desatOn);
           break;
         case 0x9:
-          parameterWrapper->set(targetModeControllerParameters.enableAntiStiction);
+          parameterWrapper->set(targetModeControllerParameters.useMekf);
           break;
         case 0xA:
           parameterWrapper->setVector(targetModeControllerParameters.refDirection);
@@ -528,7 +537,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->set(gsTargetModeControllerParameters.desatOn);
           break;
         case 0x9:
-          parameterWrapper->set(gsTargetModeControllerParameters.enableAntiStiction);
+          parameterWrapper->set(gsTargetModeControllerParameters.useMekf);
           break;
         case 0xA:
           parameterWrapper->setVector(gsTargetModeControllerParameters.refDirection);
@@ -579,7 +588,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->set(nadirModeControllerParameters.desatOn);
           break;
         case 0x9:
-          parameterWrapper->set(nadirModeControllerParameters.enableAntiStiction);
+          parameterWrapper->set(nadirModeControllerParameters.useMekf);
           break;
         case 0xA:
           parameterWrapper->setVector(nadirModeControllerParameters.refDirection);
@@ -627,7 +636,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->set(inertialModeControllerParameters.desatOn);
           break;
         case 0x9:
-          parameterWrapper->set(inertialModeControllerParameters.enableAntiStiction);
+          parameterWrapper->set(inertialModeControllerParameters.useMekf);
           break;
         case 0xA:
           parameterWrapper->setVector(inertialModeControllerParameters.tgtQuat);

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
+    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
-    float gyr13variance[3] = {pow(11e-3, 2), pow(11e-3, 2), pow(11e-3, 2)};
+    double gyr13variance[3] = {pow(11e-3, 2), pow(11e-3, 2), pow(11e-3, 2)};
     uint8_t preferAdis = false;
     float gyrFilterWeight = 0.6;
   } gyrHandlingParameters;
@@ -809,19 +812,19 @@ class AcsParameters : public HasParametersIF {
   } rwHandlingParameters;
 
   struct RwMatrices {
-    double alignmentMatrix[3][4] = {{0.9205, 0.0000, -0.9205, 0.0000},
-                                    {0.0000, -0.9205, 0.0000, 0.9205},
-                                    {0.3907, 0.3907, 0.3907, 0.3907}};
+    double alignmentMatrix[3][4] = {{-0.9205, 0.0000, 0.9205, 0.0000},
+                                    {0.0000, 0.9205, 0.0000, -0.9205},
+                                    {-0.3907, -0.3907, -0.3907, -0.3907}};
     double pseudoInverse[4][3] = {
-        {0.5432, 0, 0.6398}, {0, -0.5432, 0.6398}, {-0.5432, 0, 0.6398}, {0, 0.5432, 0.6398}};
-    double without1[4][3] = {
-        {0, 0, 0}, {0.5432, -0.5432, 1.2797}, {-1.0864, 0, 0}, {0.5432, 0.5432, 1.2797}};
-    double without2[4][3] = {
-        {0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 1.0864, 0}};
-    double without3[4][3] = {
-        {1.0864, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, 0.5432, 1.2797}};
-    double without4[4][3] = {
-        {0.5432, 0.5432, 1.2797}, {0, -1.0864, 0}, {-0.5432, 0.5432, 1.2797}, {0, 0, 0}};
+        {-0.5432, 0, -0.6399}, {0, 0.5432, -0.6399}, {0.5432, 0, -0.6399}, {0, -0.5432, -0.6399}};
+    double pseudoInverseWithoutRW1[4][3] = {
+        {0, 0, 0}, {-0.5432, 0.5432, -1.2798}, {1.0864, 0, 0}, {-0.5432, -0.5432, -1.2798}};
+    double pseudoInverseWithoutRW2[4][3] = {
+        {-0.5432, 0.5432, -1.2798}, {0, 0, 0}, {0.5432, 0.5432, -1.2798}, {0, -1.0864, 0}};
+    double pseudoInverseWithoutRW3[4][3] = {
+        {-1.0864, 0, 0}, {0.5432, 0.5432, -1.2798}, {0, 0, 0}, {0.5432, -0.5432, -1.2798}};
+    double pseudoInverseWithoutRW4[4][3] = {
+        {-0.5432, -0.5432, -1.2798}, {0, 1.0864, 0}, {0.5432, -0.5432, -1.2798}, {0, 0, 0}};
     double nullspaceVector[4] = {-1, 1, -1, 1};
   } rwMatrices;
 
@@ -860,7 +863,7 @@ class AcsParameters : public HasParametersIF {
     double desatMomentumRef[3] = {0, 0, 0};
     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,
+    PoolReadGuard pg(fusedRotRateSourcesData);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(fusedRotRateSourcesData->rotRateOrthogonalSusMgm.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);
+      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,
+  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

@@ -1,422 +1,203 @@
 #include "Guidance.h"
 
-#include <fsfw/datapool/PoolReadGuard.h>
-#include <fsfw/globalfunctions/math/MatrixOperations.h>
-#include <fsfw/globalfunctions/math/QuaternionOperations.h>
-#include <fsfw/globalfunctions/math/VectorOperations.h>
-#include <math.h>
-
-#include <filesystem>
-
-#include "string.h"
-#include "util/CholeskyDecomposition.h"
-#include "util/MathOperations.h"
-
 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],
+void Guidance::targetQuatPtgIdle(timeval timeAbsolute, const double timeDelta,
+                                 const double sunDirI[3], const double posSatF[4],
                                  double targetQuat[4], double targetSatRotRate[3]) {
-  //-------------------------------------------------------------------------------------
-  //	Calculation of target quaternion to groundstation or given latitude, longitude and altitude
-  //-------------------------------------------------------------------------------------
-  // transform longitude, latitude and altitude to ECEF
-  double targetE[3] = {0, 0, 0};
+  // positive z-Axis of EIVE in direction of sun
+  double zAxisXI[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(sunDirI, zAxisXI, 3);
 
-  MathOperations<double>::cartesianFromLatLongAlt(
-      acsParameters->targetModeControllerParameters.latitudeTgt,
-      acsParameters->targetModeControllerParameters.longitudeTgt,
-      acsParameters->targetModeControllerParameters.altitudeTgt, targetE);
+  // determine helper vector to point x-Axis and therefore the STR away from Earth
+  double helperXI[3] = {0, 0, 0}, posSatI[3] = {0, 0, 0};
+  CoordinateTransformations::positionEcfToEci(posSatF, posSatI, &timeAbsolute);
+  VectorOperations<double>::normalize(posSatI, helperXI, 3);
 
-  // target direction in the ECEF frame
-  double targetDirE[3] = {0, 0, 0};
-  VectorOperations<double>::subtract(targetE, posSatE, targetDirE, 3);
+  // construct y-axis from helper vector and z-axis
+  double yAxisXI[3] = {0, 0, 0};
+  VectorOperations<double>::cross(zAxisXI, helperXI, yAxisXI);
+  VectorOperations<double>::normalize(yAxisXI, yAxisXI, 3);
 
-  // transformation between ECEF and ECI frame
-  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>::inverseMatrixDimThree(*dcmEI, *dcmIE);
+  // x-axis completes RHS
+  double xAxisXI[3] = {0, 0, 0};
+  VectorOperations<double>::cross(yAxisXI, zAxisXI, xAxisXI);
+  VectorOperations<double>::normalize(xAxisXI, xAxisXI, 3);
 
-  double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
+  // join transformation matrix
+  double dcmXI[3][3] = {{xAxisXI[0], yAxisXI[0], zAxisXI[0]},
+                        {xAxisXI[1], yAxisXI[1], zAxisXI[1]},
+                        {xAxisXI[2], yAxisXI[2], zAxisXI[2]}};
+  QuaternionOperations::fromDcm(dcmXI, targetQuat);
 
-  // transformation between ECEF and Body frame
-  double dcmBI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  double dcmBE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-
-  QuaternionOperations::toDcm(quatBI, dcmBI);
-  MatrixOperations<double>::multiply(*dcmBI, *dcmIE, *dcmBE, 3, 3, 3);
-
-  // target Direction in the body frame
-  double targetDirB[3] = {0, 0, 0};
-  MatrixOperations<double>::multiply(*dcmBE, targetDirE, targetDirB, 3, 3, 1);
-
-  // rotation quaternion from two vectors
-  double refDir[3] = {0, 0, 0};
-  refDir[0] = acsParameters->targetModeControllerParameters.refDirection[0];
-  refDir[1] = acsParameters->targetModeControllerParameters.refDirection[1];
-  refDir[2] = acsParameters->targetModeControllerParameters.refDirection[2];
-  double noramlizedTargetDirB[3] = {0, 0, 0};
-  VectorOperations<double>::normalize(targetDirB, noramlizedTargetDirB, 3);
-  VectorOperations<double>::normalize(refDir, refDir, 3);
-  double normTargetDirB = VectorOperations<double>::norm(noramlizedTargetDirB, 3);
-  double normRefDir = VectorOperations<double>::norm(refDir, 3);
-  double crossDir[3] = {0, 0, 0};
-  double dotDirections = VectorOperations<double>::dot(noramlizedTargetDirB, refDir);
-  VectorOperations<double>::cross(noramlizedTargetDirB, refDir, crossDir);
-  targetQuat[0] = crossDir[0];
-  targetQuat[1] = crossDir[1];
-  targetQuat[2] = crossDir[2];
-  targetQuat[3] = sqrt(pow(normTargetDirB, 2) * pow(normRefDir, 2) + dotDirections);
-  VectorOperations<double>::normalize(targetQuat, targetQuat, 4);
-
-  //-------------------------------------------------------------------------------------
-  // calculation of reference rotation rate
-  //-------------------------------------------------------------------------------------
-  double velSatB[3] = {0, 0, 0}, velSatBPart1[3] = {0, 0, 0}, velSatBPart2[3] = {0, 0, 0};
-  // velocity: v_B = dcm_BI * dcmIE * v_E + dcm_BI * DotDcm_IE * v_E
-  MatrixOperations<double>::multiply(*dcmBE, velSatE, velSatBPart1, 3, 3, 1);
-  double dcmBEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MatrixOperations<double>::multiply(*dcmBI, *dcmIEDot, *dcmBEDot, 3, 3, 3);
-  MatrixOperations<double>::multiply(*dcmBEDot, posSatE, velSatBPart2, 3, 3, 1);
-  VectorOperations<double>::add(velSatBPart1, velSatBPart2, velSatB, 3);
-
-  double normVelSatB = VectorOperations<double>::norm(velSatB, 3);
-  double normRefSatRate = normVelSatB / normTargetDirB;
-
-  double satRateDir[3] = {0, 0, 0};
-  VectorOperations<double>::cross(velSatB, targetDirB, satRateDir);
-  VectorOperations<double>::normalize(satRateDir, satRateDir, 3);
-  VectorOperations<double>::mulScalar(satRateDir, normRefSatRate, targetSatRotRate, 3);
-
-  //-------------------------------------------------------------------------------------
-  //	Calculation of reference rotation rate in case of star tracker blinding
-  //-------------------------------------------------------------------------------------
-  if (acsParameters->targetModeControllerParameters.avoidBlindStr) {
-    double sunDirB[3] = {0, 0, 0};
-    MatrixOperations<double>::multiply(*dcmBI, sunDirI, sunDirB, 3, 3, 1);
-
-    double exclAngle = acsParameters->strParameters.exclusionAngle,
-           blindStart = acsParameters->targetModeControllerParameters.blindAvoidStart,
-           blindEnd = acsParameters->targetModeControllerParameters.blindAvoidStop;
-    double sightAngleSun =
-        VectorOperations<double>::dot(acsParameters->strParameters.boresightAxis, sunDirB);
-
-    if (!(strBlindAvoidFlag)) {
-      double critSightAngle = blindStart * exclAngle;
-      if (sightAngleSun < critSightAngle) {
-        strBlindAvoidFlag = true;
-      }
-    } else {
-      if (sightAngleSun < blindEnd * exclAngle) {
-        double normBlindRefRate = acsParameters->targetModeControllerParameters.blindRotRate;
-        double blindRefRate[3] = {0, 0, 0};
-        if (sunDirB[1] < 0) {
-          blindRefRate[0] = normBlindRefRate;
-          blindRefRate[1] = 0;
-          blindRefRate[2] = 0;
-        } else {
-          blindRefRate[0] = -normBlindRefRate;
-          blindRefRate[1] = 0;
-          blindRefRate[2] = 0;
-        }
-        VectorOperations<double>::add(blindRefRate, targetSatRotRate, targetSatRotRate, 3);
-      } else {
-        strBlindAvoidFlag = false;
-      }
-    }
-  }
-  // revert calculated quaternion from qBX to qIX
-  double quatIB[4] = {0, 0, 0, 1};
-  QuaternionOperations::inverse(quatBI, quatIB);
-  QuaternionOperations::multiply(quatIB, targetQuat, targetQuat);
+  // calculate of reference rotation rate
+  targetRotationRate(timeDelta, targetQuat, targetSatRotRate);
 }
 
-void Guidance::targetQuatPtgThreeAxes(timeval now, double posSatE[3], double velSatE[3],
-                                      double targetQuat[4], double targetSatRotRate[3]) {
+void Guidance::targetQuatPtgTarget(timeval timeAbsolute, const double timeDelta, double posSatF[3],
+                                   double velSatF[3], double targetQuat[4],
+                                   double targetSatRotRate[3]) {
   //-------------------------------------------------------------------------------------
   //	Calculation of target quaternion for target pointing
   //-------------------------------------------------------------------------------------
   // transform longitude, latitude and altitude to cartesian coordiantes (ECEF)
-  double targetE[3] = {0, 0, 0};
+  double targetF[3] = {0, 0, 0};
   MathOperations<double>::cartesianFromLatLongAlt(
       acsParameters->targetModeControllerParameters.latitudeTgt,
       acsParameters->targetModeControllerParameters.longitudeTgt,
-      acsParameters->targetModeControllerParameters.altitudeTgt, targetE);
-  double targetDirE[3] = {0, 0, 0};
-  VectorOperations<double>::subtract(targetE, posSatE, targetDirE, 3);
-
-  // transformation between ECEF and ECI frame
-  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>::inverseMatrixDimThree(*dcmEI, *dcmIE);
-
-  double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
+      acsParameters->targetModeControllerParameters.altitudeTgt, targetF);
+  double targetDirF[3] = {0, 0, 0};
+  VectorOperations<double>::subtract(targetF, posSatF, targetDirF, 3);
 
   // target direction in the ECI frame
   double posSatI[3] = {0, 0, 0}, targetI[3] = {0, 0, 0}, targetDirI[3] = {0, 0, 0};
-  MatrixOperations<double>::multiply(*dcmIE, posSatE, posSatI, 3, 3, 1);
-  MatrixOperations<double>::multiply(*dcmIE, targetE, targetI, 3, 3, 1);
+  CoordinateTransformations::positionEcfToEci(posSatF, posSatI, &timeAbsolute);
+  CoordinateTransformations::positionEcfToEci(targetF, targetI, &timeAbsolute);
   VectorOperations<double>::subtract(targetI, posSatI, targetDirI, 3);
 
   // x-axis aligned with target direction
   // this aligns with the camera, E- and S-band antennas
-  double xAxis[3] = {0, 0, 0};
-  VectorOperations<double>::normalize(targetDirI, xAxis, 3);
+  double xAxisXI[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(targetDirI, xAxisXI, 3);
 
   // transform velocity into inertial frame
-  double velocityI[3] = {0, 0, 0}, velPart1[3] = {0, 0, 0}, velPart2[3] = {0, 0, 0};
-  MatrixOperations<double>::multiply(*dcmIE, velSatE, velPart1, 3, 3, 1);
-  MatrixOperations<double>::multiply(*dcmIEDot, posSatE, velPart2, 3, 3, 1);
-  VectorOperations<double>::add(velPart1, velPart2, velocityI, 3);
+  double velSatI[3] = {0, 0, 0};
+  CoordinateTransformations::velocityEcfToEci(velSatF, posSatF, velSatI, &timeAbsolute);
 
   // orbital normal vector of target and velocity vector
   double orbitalNormalI[3] = {0, 0, 0};
-  VectorOperations<double>::cross(posSatI, velocityI, orbitalNormalI);
+  VectorOperations<double>::cross(posSatI, velSatI, orbitalNormalI);
   VectorOperations<double>::normalize(orbitalNormalI, orbitalNormalI, 3);
 
   // y-axis of satellite in orbit plane so that z-axis is parallel to long side of picture
   // resolution
-  double yAxis[3] = {0, 0, 0};
-  VectorOperations<double>::cross(orbitalNormalI, xAxis, yAxis);
-  VectorOperations<double>::normalize(yAxis, yAxis, 3);
+  double yAxisXI[3] = {0, 0, 0};
+  VectorOperations<double>::cross(orbitalNormalI, xAxisXI, yAxisXI);
+  VectorOperations<double>::normalize(yAxisXI, yAxisXI, 3);
 
   // z-axis completes RHS
-  double zAxis[3] = {0, 0, 0};
-  VectorOperations<double>::cross(xAxis, yAxis, zAxis);
+  double zAxisXI[3] = {0, 0, 0};
+  VectorOperations<double>::cross(xAxisXI, yAxisXI, zAxisXI);
 
   // join transformation matrix
-  double dcmIX[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
-                        {xAxis[1], yAxis[1], zAxis[1]},
-                        {xAxis[2], yAxis[2], zAxis[2]}};
+  double dcmIX[3][3] = {{xAxisXI[0], yAxisXI[0], zAxisXI[0]},
+                        {xAxisXI[1], yAxisXI[1], zAxisXI[1]},
+                        {xAxisXI[2], yAxisXI[2], zAxisXI[2]}};
   QuaternionOperations::fromDcm(dcmIX, targetQuat);
 
-  int8_t timeElapsedMax = acsParameters->targetModeControllerParameters.timeElapsedMax;
-  targetRotationRate(timeElapsedMax, now, targetQuat, targetSatRotRate);
+  targetRotationRate(timeDelta, targetQuat, targetSatRotRate);
 }
 
-void Guidance::targetQuatPtgGs(timeval now, double posSatE[3], double sunDirI[3],
-                               double targetQuat[4], double targetSatRotRate[3]) {
+void Guidance::targetQuatPtgGs(timeval timeAbsolute, const double timeDelta, double posSatF[3],
+                               double sunDirI[3], double targetQuat[4],
+                               double targetSatRotRate[3]) {
   //-------------------------------------------------------------------------------------
   //	Calculation of target quaternion for ground station pointing
   //-------------------------------------------------------------------------------------
   // transform longitude, latitude and altitude to cartesian coordiantes (ECEF)
-  double groundStationE[3] = {0, 0, 0};
-
+  double posGroundStationF[3] = {0, 0, 0};
   MathOperations<double>::cartesianFromLatLongAlt(
       acsParameters->gsTargetModeControllerParameters.latitudeTgt,
       acsParameters->gsTargetModeControllerParameters.longitudeTgt,
-      acsParameters->gsTargetModeControllerParameters.altitudeTgt, groundStationE);
-  double targetDirE[3] = {0, 0, 0};
-  VectorOperations<double>::subtract(groundStationE, posSatE, targetDirE, 3);
-
-  // transformation between ECEF and ECI frame
-  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>::inverseMatrixDimThree(*dcmEI, *dcmIE);
-
-  double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
+      acsParameters->gsTargetModeControllerParameters.altitudeTgt, posGroundStationF);
 
   // target direction in the ECI frame
-  double posSatI[3] = {0, 0, 0}, groundStationI[3] = {0, 0, 0}, groundStationDirI[3] = {0, 0, 0};
-  MatrixOperations<double>::multiply(*dcmIE, posSatE, posSatI, 3, 3, 1);
-  MatrixOperations<double>::multiply(*dcmIE, groundStationE, groundStationI, 3, 3, 1);
-  VectorOperations<double>::subtract(groundStationI, posSatI, groundStationDirI, 3);
+  double posSatI[3] = {0, 0, 0}, posGroundStationI[3] = {0, 0, 0}, groundStationDirI[3] = {0, 0, 0};
+  CoordinateTransformations::positionEcfToEci(posSatF, posSatI, &timeAbsolute);
+  CoordinateTransformations::positionEcfToEci(posGroundStationI, posGroundStationI, &timeAbsolute);
+  VectorOperations<double>::subtract(posGroundStationI, posSatI, groundStationDirI, 3);
 
   // negative x-axis aligned with target direction
   // this aligns with the camera, E- and S-band antennas
-  double xAxis[3] = {0, 0, 0};
-  VectorOperations<double>::normalize(groundStationDirI, xAxis, 3);
-  VectorOperations<double>::mulScalar(xAxis, -1, xAxis, 3);
+  double xAxisXI[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(groundStationDirI, xAxisXI, 3);
+  VectorOperations<double>::mulScalar(xAxisXI, -1, xAxisXI, 3);
 
   // get sun vector model in ECI
   VectorOperations<double>::normalize(sunDirI, sunDirI, 3);
 
   // calculate z-axis as projection of sun vector into plane defined by x-axis as normal vector
   // z = sPerpenticular =  s - sParallel = s - (x*s)/norm(x)^2 * x
-  double xDotS = VectorOperations<double>::dot(xAxis, sunDirI);
-  xDotS /= pow(VectorOperations<double>::norm(xAxis, 3), 2);
-  double sunParallel[3], zAxis[3];
-  VectorOperations<double>::mulScalar(xAxis, xDotS, sunParallel, 3);
-  VectorOperations<double>::subtract(sunDirI, sunParallel, zAxis, 3);
-  VectorOperations<double>::normalize(zAxis, zAxis, 3);
+  double xDotS = VectorOperations<double>::dot(xAxisXI, sunDirI);
+  xDotS /= pow(VectorOperations<double>::norm(xAxisXI, 3), 2);
+  double sunParallel[3], zAxisXI[3];
+  VectorOperations<double>::mulScalar(xAxisXI, xDotS, sunParallel, 3);
+  VectorOperations<double>::subtract(sunDirI, sunParallel, zAxisXI, 3);
+  VectorOperations<double>::normalize(zAxisXI, zAxisXI, 3);
 
   // y-axis completes RHS
-  double yAxis[3];
-  VectorOperations<double>::cross(zAxis, xAxis, yAxis);
-  VectorOperations<double>::normalize(yAxis, yAxis, 3);
+  double yAxisXI[3];
+  VectorOperations<double>::cross(zAxisXI, xAxisXI, yAxisXI);
+  VectorOperations<double>::normalize(yAxisXI, yAxisXI, 3);
 
   // join transformation matrix
-  double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
-                         {xAxis[1], yAxis[1], zAxis[1]},
-                         {xAxis[2], yAxis[2], zAxis[2]}};
-  QuaternionOperations::fromDcm(dcmTgt, targetQuat);
+  double dcmXI[3][3] = {{xAxisXI[0], yAxisXI[0], zAxisXI[0]},
+                        {xAxisXI[1], yAxisXI[1], zAxisXI[1]},
+                        {xAxisXI[2], yAxisXI[2], zAxisXI[2]}};
+  QuaternionOperations::fromDcm(dcmXI, targetQuat);
 
-  int8_t timeElapsedMax = acsParameters->gsTargetModeControllerParameters.timeElapsedMax;
-  targetRotationRate(timeElapsedMax, now, targetQuat, targetSatRotRate);
+  targetRotationRate(timeDelta, targetQuat, targetSatRotRate);
 }
 
-void Guidance::targetQuatPtgSun(timeval now, double sunDirI[3], double targetQuat[4],
-                                double targetSatRotRate[3]) {
-  //-------------------------------------------------------------------------------------
-  //	Calculation of target quaternion to sun
-  //-------------------------------------------------------------------------------------
-  //  positive z-Axis of EIVE in direction of sun
-  double zAxis[3] = {0, 0, 0};
-  VectorOperations<double>::normalize(sunDirI, zAxis, 3);
-
-  //  assign helper vector (north pole inertial)
-  double helperVec[3] = {0, 0, 1};
-
-  //  construct y-axis from helper vector and z-axis
-  double yAxis[3] = {0, 0, 0};
-  VectorOperations<double>::cross(zAxis, helperVec, yAxis);
-  VectorOperations<double>::normalize(yAxis, yAxis, 3);
-
-  //  x-axis completes RHS
-  double xAxis[3] = {0, 0, 0};
-  VectorOperations<double>::cross(yAxis, zAxis, xAxis);
-  VectorOperations<double>::normalize(xAxis, xAxis, 3);
-
-  // join transformation matrix
-  double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
-                         {xAxis[1], yAxis[1], zAxis[1]},
-                         {xAxis[2], yAxis[2], zAxis[2]}};
-  QuaternionOperations::fromDcm(dcmTgt, targetQuat);
-
-  //----------------------------------------------------------------------------
-  //	Calculation of reference rotation rate
-  //----------------------------------------------------------------------------
-  int8_t timeElapsedMax = acsParameters->gsTargetModeControllerParameters.timeElapsedMax;
-  targetRotationRate(timeElapsedMax, now, targetQuat, targetSatRotRate);
-}
-
-void Guidance::targetQuatPtgNadirSingleAxis(timeval now, double posSatE[3], double quatBI[4],
-                                            double targetQuat[4], double refDirB[3],
-                                            double refSatRate[3]) {
+void Guidance::targetQuatPtgNadir(timeval timeAbsolute, const double timeDelta, double posSatE[3],
+                                  double velSatE[3], double targetQuat[4], double refSatRate[3]) {
   //-------------------------------------------------------------------------------------
   //	Calculation of target quaternion for Nadir pointing
   //-------------------------------------------------------------------------------------
-  double targetDirE[3] = {0, 0, 0};
-  VectorOperations<double>::mulScalar(posSatE, -1, targetDirE, 3);
-
-  // transformation between ECEF and ECI frame
-  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>::inverseMatrixDimThree(*dcmEI, *dcmIE);
-
-  double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
-
-  // transformation between ECEF and Body frame
-  double dcmBI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  double dcmBE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  QuaternionOperations::toDcm(quatBI, dcmBI);
-  MatrixOperations<double>::multiply(*dcmBI, *dcmIE, *dcmBE, 3, 3, 3);
-
-  // target Direction in the body frame
-  double targetDirB[3] = {0, 0, 0};
-  MatrixOperations<double>::multiply(*dcmBE, targetDirE, targetDirB, 3, 3, 1);
-
-  // rotation quaternion from two vectors
-  double refDir[3] = {0, 0, 0};
-  refDir[0] = acsParameters->nadirModeControllerParameters.refDirection[0];
-  refDir[1] = acsParameters->nadirModeControllerParameters.refDirection[1];
-  refDir[2] = acsParameters->nadirModeControllerParameters.refDirection[2];
-  double noramlizedTargetDirB[3] = {0, 0, 0};
-  VectorOperations<double>::normalize(targetDirB, noramlizedTargetDirB, 3);
-  VectorOperations<double>::normalize(refDir, refDir, 3);
-  double normTargetDirB = VectorOperations<double>::norm(noramlizedTargetDirB, 3);
-  double normRefDir = VectorOperations<double>::norm(refDir, 3);
-  double crossDir[3] = {0, 0, 0};
-  double dotDirections = VectorOperations<double>::dot(noramlizedTargetDirB, refDir);
-  VectorOperations<double>::cross(noramlizedTargetDirB, refDir, crossDir);
-  targetQuat[0] = crossDir[0];
-  targetQuat[1] = crossDir[1];
-  targetQuat[2] = crossDir[2];
-  targetQuat[3] = sqrt(pow(normTargetDirB, 2) * pow(normRefDir, 2) + dotDirections);
-  VectorOperations<double>::normalize(targetQuat, targetQuat, 4);
-
-  //-------------------------------------------------------------------------------------
-  //	Calculation of reference rotation rate
-  //-------------------------------------------------------------------------------------
-  refSatRate[0] = 0;
-  refSatRate[1] = 0;
-  refSatRate[2] = 0;
-
-  // revert calculated quaternion from qBX to qIX
-  double quatIB[4] = {0, 0, 0, 1};
-  QuaternionOperations::inverse(quatBI, quatIB);
-  QuaternionOperations::multiply(quatIB, targetQuat, targetQuat);
-}
-
-void Guidance::targetQuatPtgNadirThreeAxes(timeval now, double posSatE[3], double velSatE[3],
-                                           double targetQuat[4], double refSatRate[3]) {
-  //-------------------------------------------------------------------------------------
-  //	Calculation of target quaternion for Nadir pointing
-  //-------------------------------------------------------------------------------------
-  // transformation between ECEF and ECI frame
-  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>::inverseMatrixDimThree(*dcmEI, *dcmIE);
-
-  double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
 
   // satellite position in inertial reference frame
   double posSatI[3] = {0, 0, 0};
-  MatrixOperations<double>::multiply(*dcmIE, posSatE, posSatI, 3, 3, 1);
+  CoordinateTransformations::positionEcfToEci(posSatE, posSatI, &timeAbsolute);
 
   // negative x-axis aligned with position vector
   // this aligns with the camera, E- and S-band antennas
-  double xAxis[3] = {0, 0, 0};
-  VectorOperations<double>::normalize(posSatI, xAxis, 3);
-  VectorOperations<double>::mulScalar(xAxis, -1, xAxis, 3);
+  double xAxisXI[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(posSatI, xAxisXI, 3);
+  VectorOperations<double>::mulScalar(xAxisXI, -1, xAxisXI, 3);
 
   // make z-Axis parallel to major part of camera resolution
-  double zAxis[3] = {0, 0, 0};
-  double velocityI[3] = {0, 0, 0}, velPart1[3] = {0, 0, 0}, velPart2[3] = {0, 0, 0};
-  MatrixOperations<double>::multiply(*dcmIE, velSatE, velPart1, 3, 3, 1);
-  MatrixOperations<double>::multiply(*dcmIEDot, posSatE, velPart2, 3, 3, 1);
-  VectorOperations<double>::add(velPart1, velPart2, velocityI, 3);
-  VectorOperations<double>::cross(xAxis, velocityI, zAxis);
-  VectorOperations<double>::normalize(zAxis, zAxis, 3);
+  double zAxisXI[3] = {0, 0, 0};
+  double velSatI[3] = {0, 0, 0};
+  CoordinateTransformations::velocityEcfToEci(velSatE, posSatE, velSatI, &timeAbsolute);
+  VectorOperations<double>::cross(xAxisXI, velSatI, zAxisXI);
+  VectorOperations<double>::normalize(zAxisXI, zAxisXI, 3);
 
   // y-Axis completes RHS
-  double yAxis[3] = {0, 0, 0};
-  VectorOperations<double>::cross(zAxis, xAxis, yAxis);
+  double yAxisXI[3] = {0, 0, 0};
+  VectorOperations<double>::cross(zAxisXI, xAxisXI, yAxisXI);
 
   // join transformation matrix
-  double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
-                         {xAxis[1], yAxis[1], zAxis[1]},
-                         {xAxis[2], yAxis[2], zAxis[2]}};
-  QuaternionOperations::fromDcm(dcmTgt, targetQuat);
+  double dcmXI[3][3] = {{xAxisXI[0], yAxisXI[0], zAxisXI[0]},
+                        {xAxisXI[1], yAxisXI[1], zAxisXI[1]},
+                        {xAxisXI[2], yAxisXI[2], zAxisXI[2]}};
+  QuaternionOperations::fromDcm(dcmXI, targetQuat);
 
-  int8_t timeElapsedMax = acsParameters->nadirModeControllerParameters.timeElapsedMax;
-  targetRotationRate(timeElapsedMax, now, targetQuat, refSatRate);
+  targetRotationRate(timeDelta, targetQuat, refSatRate);
+}
+
+void Guidance::targetRotationRate(const double timeDelta, double quatIX[4], double *refSatRate) {
+  if (VectorOperations<double>::norm(quatIXprev, 4) == 0) {
+    std::memcpy(quatIXprev, quatIX, sizeof(quatIXprev));
+  }
+  if (timeDelta != 0.0) {
+    QuaternionOperations::rotationFromQuaternions(quatIX, quatIXprev, timeDelta, refSatRate);
+  } else {
+    std::memcpy(refSatRate, ZERO_VEC3, 3 * sizeof(double));
+  }
+  std::memcpy(quatIXprev, quatIX, sizeof(quatIXprev));
 }
 
 void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
                           double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3],
                           double errorQuat[4], double errorSatRotRate[3], double &errorAngle) {
-  // First calculate error quaternion between current and target orientation
-  QuaternionOperations::multiply(currentQuat, targetQuat, errorQuat);
-  // Last calculate add rotation from reference quaternion
-  QuaternionOperations::multiply(refQuat, errorQuat, errorQuat);
+  // First calculate error quaternion between current and target orientation without reference
+  // quaternion
+  double errorQuatWoRef[4] = {0, 0, 0, 0};
+  QuaternionOperations::multiply(currentQuat, targetQuat, errorQuatWoRef);
+  // Then add rotation from reference quaternion
+  QuaternionOperations::multiply(refQuat, errorQuatWoRef, errorQuat);
   // Keep scalar part of quaternion positive
   if (errorQuat[3] < 0) {
     VectorOperations<double>::mulScalar(errorQuat, -1, errorQuat, 4);
@@ -425,7 +206,11 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
   errorAngle = QuaternionOperations::getAngle(errorQuat, true);
 
   // Calculate error satellite rotational rate
-  // First combine the target and reference satellite rotational rates
+  // Convert target rotational rate into body RF
+  double errorQuatInv[4] = {0, 0, 0, 0}, targetSatRotRateB[3] = {0, 0, 0};
+  QuaternionOperations::inverse(errorQuat, errorQuatInv);
+  QuaternionOperations::multiplyVector(errorQuatInv, targetSatRotRate, targetSatRotRateB);
+  // Combine the target and reference satellite rotational rates
   double combinedRefSatRotRate[3] = {0, 0, 0};
   VectorOperations<double>::add(targetSatRotRate, refSatRotRate, combinedRefSatRotRate, 3);
   // Then subtract the combined required satellite rotational rates from the actual rate
@@ -435,93 +220,43 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
 void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
                           double targetSatRotRate[3], double errorQuat[4],
                           double errorSatRotRate[3], double &errorAngle) {
-  // First calculate error quaternion between current and target orientation
-  QuaternionOperations::multiply(currentQuat, targetQuat, errorQuat);
-  // Keep scalar part of quaternion positive
-  if (errorQuat[3] < 0) {
-    VectorOperations<double>::mulScalar(errorQuat, -1, errorQuat, 4);
-  }
-  // Calculate error angle
-  errorAngle = QuaternionOperations::getAngle(errorQuat, true);
-
-  // Calculate error satellite rotational rate
-  VectorOperations<double>::subtract(currentSatRotRate, targetSatRotRate, errorSatRotRate, 3);
-}
-
-void Guidance::targetRotationRate(int8_t timeElapsedMax, timeval now, 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) {
-    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);
-
-    double tgtQuatVec[3] = {q[0], q[1], q[2]};
-    double qDiffVec[3] = {qDiff[0], qDiff[1], qDiff[2]};
-    double sum1[3] = {0, 0, 0}, sum2[3] = {0, 0, 0}, sum3[3] = {0, 0, 0}, sum[3] = {0, 0, 0};
-    VectorOperations<double>::cross(tgtQuatVec, qDiffVec, sum1);
-    VectorOperations<double>::mulScalar(tgtQuatVec, qDiff[3], sum2, 3);
-    VectorOperations<double>::mulScalar(qDiffVec, q[3], sum3, 3);
-    VectorOperations<double>::add(sum1, sum2, sum, 3);
-    VectorOperations<double>::subtract(sum, sum3, sum, 3);
-    double omegaRefNew[3] = {0, 0, 0};
-    VectorOperations<double>::mulScalar(sum, -2, omegaRefNew, 3);
-
-    VectorOperations<double>::mulScalar(omegaRefNew, 2, refSatRate, 3);
-    VectorOperations<double>::subtract(refSatRate, omegaRefSaved, refSatRate, 3);
-    omegaRefSaved[0] = omegaRefNew[0];
-    omegaRefSaved[1] = omegaRefNew[1];
-    omegaRefSaved[2] = omegaRefNew[2];
-  } else {
-    refSatRate[0] = 0;
-    refSatRate[1] = 0;
-    refSatRate[2] = 0;
-  }
-
-  timeSavedQuaternion = now;
-  savedQuaternion[0] = quatInertialTarget[0];
-  savedQuaternion[1] = quatInertialTarget[1];
-  savedQuaternion[2] = quatInertialTarget[2];
-  savedQuaternion[3] = quatInertialTarget[3];
+  double refQuat[4] = {0, 0, 0, 1}, refSatRotRate[3] = {0, 0, 0};
+  comparePtg(currentQuat, currentSatRotRate, targetQuat, targetSatRotRate, refQuat, refSatRotRate,
+             errorQuat, errorSatRotRate, errorAngle);
 }
 
 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) {
-    std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without1, 12 * sizeof(double));
-    return returnvalue::OK;
-  } else if (rw1valid && !rw2valid && rw3valid && rw4valid) {
-    std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without2, 12 * sizeof(double));
-    return returnvalue::OK;
-  } else if (rw1valid && rw2valid && !rw3valid && rw4valid) {
-    std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without3, 12 * sizeof(double));
-    return returnvalue::OK;
-  } else if (rw1valid && rw2valid && rw3valid && !rw4valid) {
-    std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without4, 12 * sizeof(double));
-    return returnvalue::OK;
-  } else {
-    return returnvalue::FAILED;
+  } else if (not rw1valid and rw2valid and rw3valid and rw4valid) {
+    std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverseWithoutRW1,
+                12 * sizeof(double));
+    return acsctrl::SINGLE_RW_UNAVAILABLE;
+  } else if (rw1valid and not rw2valid and rw3valid and rw4valid) {
+    std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverseWithoutRW2,
+                12 * sizeof(double));
+    return acsctrl::SINGLE_RW_UNAVAILABLE;
+  } else if (rw1valid and rw2valid and not rw3valid and rw4valid) {
+    std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverseWithoutRW3,
+                12 * sizeof(double));
+    return acsctrl::SINGLE_RW_UNAVAILABLE;
+  } else if (rw1valid and rw2valid and rw3valid and not rw4valid) {
+    std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverseWithoutRW4,
+                12 * sizeof(double));
+    return acsctrl::SINGLE_RW_UNAVAILABLE;
   }
+  return acsctrl::MULTIPLE_RW_UNAVAILABLE;
 }
 
+void Guidance::resetValues() { std::memcpy(quatIXprev, ZERO_VEC4, sizeof(quatIXprev)); }
+
 void Guidance::getTargetParamsSafe(double sunTargetSafe[3]) {
   std::error_code e;
   if (not std::filesystem::exists(SD_0_SKEWED_PTG_FILE, e) or

mission/controller/acs/Guidance.h

@@ -1,11 +1,20 @@
 #ifndef GUIDANCE_H_
 #define GUIDANCE_H_
 
+#include <fsfw/coordinates/CoordinateTransformations.h>
+#include <fsfw/datapool/PoolReadGuard.h>
+#include <fsfw/globalfunctions/math/MatrixOperations.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/acs/util/MathOperations.h>
+#include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
 #include <time.h>
 
-#include "../controllerdefinitions/AcsCtrlDefinitions.h"
-#include "AcsParameters.h"
-#include "SensorValues.h"
+#include <cmath>
+#include <filesystem>
+#include <string>
 
 class Guidance {
  public:
@@ -14,33 +23,20 @@ class Guidance {
 
   void getTargetParamsSafe(double sunTargetSafe[3]);
   ReturnValue_t solarArrayDeploymentComplete();
+  void resetValues();
 
-  // 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 targetQuatPtgIdle(timeval timeAbsolute, const double timeDelta, const double sunDirI[3],
+                         const double posSatF[4], double targetQuat[4], double targetSatRotRate[3]);
+  void targetQuatPtgTarget(timeval timeAbsolute, const double timeDelta, double posSatF[3],
+                           double velSatE[3], double quatIX[4], double targetSatRotRate[3]);
+  void targetQuatPtgGs(timeval timeAbsolute, const double timeDelta, double posSatF[3],
+                       double sunDirI[3], double quatIX[4], double targetSatRotRate[3]);
+  void targetQuatPtgNadir(timeval timeAbsolute, const double timeDelta, double posSatF[3],
+                          double velSatF[3], double targetQuat[4], double refSatRate[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],
-                        double targetSatRotRate[3]);
+  void targetRotationRate(const double timeDelta, double quatInertialTarget[4],
+                          double *targetSatRotRate);
 
-  // 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],
-                                    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]);
-
-  // @note: Calculates the error quaternion between the current orientation and the target
-  // quaternion, considering a reference quaternion. Additionally the difference between the actual
-  // and a desired satellite rotational rate is calculated, again considering a reference rotational
-  // rate. Lastly gives back the error angle of the error quaternion.
   void comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
                   double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3],
                   double errorQuat[4], double errorSatRotRate[3], double &errorAngle);
@@ -48,20 +44,16 @@ 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);
-
-  // @note: will give back the pseudoinverse matrix for the reaction wheel depending on the valid
-  // reation wheel 	maybe can be done in "commanding.h"
   ReturnValue_t getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv);
 
  private:
   const AcsParameters *acsParameters;
 
+  static constexpr double ZERO_VEC3[3] = {0, 0, 0};
+  static constexpr double ZERO_VEC4[4] = {0, 0, 0, 0};
+
   bool strBlindAvoidFlag = false;
-  timeval timeSavedQuaternion;
-  double savedQuaternion[4] = {0, 0, 0, 0};
-  double omegaRefSaved[3] = {0, 0, 0};
+  double quatIXprev[4] = {0, 0, 0, 0};
 
   static constexpr char SD_0_SKEWED_PTG_FILE[] = "/mnt/sd0/conf/acsDeploymentConfirm";
   static constexpr char SD_1_SKEWED_PTG_FILE[] = "/mnt/sd1/conf/acsDeploymentConfirm";

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,
+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

@@ -11,7 +11,7 @@ class Detumble {
   Detumble();
   virtual ~Detumble();
 
-  acs::SafeModeStrategy detumbleStrategy(const bool magFieldValid, const bool satRotRateValid,
+  acs::ControlModeStrategy detumbleStrategy(const bool magFieldValid, const bool satRotRateValid,
                                             const bool magFieldRateValid,
                                             const bool useFullDetumbleLaw);
 

mission/controller/acs/control/PtgCtrl.cpp

@@ -10,6 +10,21 @@ 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;
+  }
+  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) {
@@ -24,7 +39,7 @@ void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters
   double qError[3] = {errorQuat[0], errorQuat[1], errorQuat[2]};
 
   double cInt = 2 * om * zeta;
-  double kInt = 2 * pow(om, 2);
+  double kInt = 2 * om * om;
 
   double qErrorLaw[3] = {0, 0, 0};
 
@@ -96,9 +111,13 @@ void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters
   VectorOperations<double>::mulScalar(torqueRws, -1, torqueRws, 4);
 }
 
-void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters,
+void PtgCtrl::ptgNullspace(const bool allRwAvabilable,
+                           AcsParameters::PointingLawParameters *pointingLawParameters,
                            const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
                            const int32_t speedRw3, double *rwTrqNs) {
+  if (not allRwAvabilable) {
+    return;
+  }
   // concentrate RW speeds as vector and convert to double
   double speedRws[4] = {static_cast<double>(speedRw0), static_cast<double>(speedRw1),
                         static_cast<double>(speedRw2), static_cast<double>(speedRw3)};
@@ -205,6 +224,8 @@ void PtgCtrl::rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpee
           }
         }
       }
+    } else {
+      rwCmdSpeeds[i] = 0;
     }
   }
 }

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
@@ -21,12 +22,19 @@ 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,
               const double *deltaRate, const double *rwPseudoInv, double *torqueRws);
 
-  void ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters,
+  void ptgNullspace(const bool allRwAvabilable,
+                    AcsParameters::PointingLawParameters *pointingLawParameters,
                     const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
                     const int32_t speedRw3, double *rwTrqNs);
 
@@ -36,7 +44,7 @@ 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,
+  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);
+                                            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,

mission/controller/acs/util/MathOperations.h

@@ -4,15 +4,12 @@
 #include <fsfw/src/fsfw/globalfunctions/constants.h>
 #include <fsfw/src/fsfw/globalfunctions/math/MatrixOperations.h>
 #include <fsfw/src/fsfw/globalfunctions/sign.h>
-#include <stdint.h>
-#include <string.h>
-#include <sys/time.h>
+#include <fsfw/src/fsfw/serviceinterface.h>
 
 #include <cmath>
+#include <cstring>
 #include <iostream>
 
-#include "fsfw/serviceinterface.h"
-
 template <typename T1, typename T2 = T1>
 class MathOperations {
  public:
@@ -46,7 +43,7 @@ class MathOperations {
   static void selectionSort(const T1 *matrix, T1 *result, uint8_t rowSize, uint8_t colSize) {
     int min_idx;
     T1 temp;
-    memcpy(result, matrix, rowSize * colSize * sizeof(*result));
+    std::memcpy(result, matrix, rowSize * colSize * sizeof(*result));
     // One by one move boundary of unsorted subarray
     for (int k = 0; k < rowSize; k++) {
       for (int i = 0; i < colSize - 1; i++) {

mission/controller/controllerdefinitions/AcsCtrlDefinitions.h

@@ -1,6 +1,7 @@
 #ifndef MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCTRLDEFINITIONS_H_
 #define MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCTRLDEFINITIONS_H_
 
+#include <common/config/eive/resultClassIds.h>
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/datapoollocal/localPoolDefinitions.h>
 
@@ -8,6 +9,18 @@
 
 namespace acsctrl {
 
+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(0xA0);
+//! [EXPORT] : [COMMENT] Writing the TLE to the file has failed.
+static constexpr ReturnValue_t WRITE_FILE_FAILED = MAKE_RETURN_CODE(0xA1);
+//! [EXPORT] : [COMMENT] Reading the TLE to the file has failed.
+static constexpr ReturnValue_t READ_FILE_FAILED = MAKE_RETURN_CODE(0xA2);
+//! [EXPORT] : [COMMENT] A single RW has failed.
+static constexpr ReturnValue_t SINGLE_RW_UNAVAILABLE = MAKE_RETURN_CODE(0xA3);
+//! [EXPORT] : [COMMENT] Multiple RWs have failed.
+static constexpr ReturnValue_t MULTIPLE_RW_UNAVAILABLE = MAKE_RETURN_CODE(0xA4);
+
 enum SetIds : uint32_t {
   MGM_SENSOR_DATA,
   MGM_PROCESSED_DATA,
@@ -20,6 +33,7 @@ enum SetIds : uint32_t {
   CTRL_VAL_DATA,
   ACTUATOR_CMD_DATA,
   FUSED_ROTATION_RATE_DATA,
+  FUSED_ROTATION_RATE_SOURCES_DATA,
   TLE_SET,
 };
 
@@ -96,6 +110,7 @@ enum PoolIds : lp_id_t {
   SAT_ROT_RATE_MEKF,
   QUAT_MEKF,
   MEKF_STATUS,
+  QUAT_QUEST,
   // Ctrl Values
   SAFE_STRAT,
   TGT_QUAT,
@@ -110,9 +125,13 @@ enum PoolIds : lp_id_t {
   ROT_RATE_ORTHOGONAL,
   ROT_RATE_PARALLEL,
   ROT_RATE_TOTAL,
-  // TLE
-  TLE_LINE_1,
-  TLE_LINE_2,
+  ROT_RATE_SOURCE,
+  // Fused Rotation Rate Sources
+  ROT_RATE_ORTHOGONAL_SUSMGM,
+  ROT_RATE_PARALLEL_SUSMGM,
+  ROT_RATE_TOTAL_SUSMGM,
+  ROT_RATE_TOTAL_QUEST,
+  ROT_RATE_TOTAL_STR,
 };
 
 static constexpr uint8_t MGM_SET_RAW_ENTRIES = 6;
@@ -122,11 +141,11 @@ static constexpr uint8_t SUS_SET_PROCESSED_ENTRIES = 15;
 static constexpr uint8_t GYR_SET_RAW_ENTRIES = 4;
 static constexpr uint8_t GYR_SET_PROCESSED_ENTRIES = 5;
 static constexpr uint8_t GPS_SET_PROCESSED_ENTRIES = 6;
-static constexpr uint8_t MEKF_SET_ENTRIES = 3;
+static constexpr uint8_t ATTITUDE_ESTIMATION_SET_ENTRIES = 4;
 static constexpr uint8_t CTRL_VAL_SET_ENTRIES = 5;
 static constexpr uint8_t ACT_CMD_SET_ENTRIES = 3;
-static constexpr uint8_t FUSED_ROT_RATE_SET_ENTRIES = 3;
-static constexpr uint8_t TLE_SET_ENTRIES = 2;
+static constexpr uint8_t FUSED_ROT_RATE_SET_ENTRIES = 4;
+static constexpr uint8_t FUSED_ROT_RATE_SOURCES_SET_ENTRIES = 5;
 
 /**
  * @brief   Raw MGM sensor data. Includes the IMTQ sensor data and actuator status.
@@ -250,13 +269,14 @@ class GpsDataProcessed : public StaticLocalDataSet<GPS_SET_PROCESSED_ENTRIES> {
  private:
 };
 
-class MekfData : public StaticLocalDataSet<MEKF_SET_ENTRIES> {
+class AttitudeEstimationData : public StaticLocalDataSet<ATTITUDE_ESTIMATION_SET_ENTRIES> {
  public:
-  MekfData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MEKF_DATA) {}
+  AttitudeEstimationData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MEKF_DATA) {}
 
   lp_vec_t<double, 4> quatMekf = lp_vec_t<double, 4>(sid.objectId, QUAT_MEKF, this);
   lp_vec_t<double, 3> satRotRateMekf = lp_vec_t<double, 3>(sid.objectId, SAT_ROT_RATE_MEKF, this);
   lp_var_t<uint8_t> mekfStatus = lp_var_t<uint8_t>(sid.objectId, MEKF_STATUS, this);
+  lp_vec_t<double, 4> quatQuest = lp_vec_t<double, 4>(sid.objectId, QUAT_MEKF, this);
 
  private:
 };
@@ -295,16 +315,25 @@ class FusedRotRateData : public StaticLocalDataSet<FUSED_ROT_RATE_SET_ENTRIES> {
       lp_vec_t<double, 3>(sid.objectId, ROT_RATE_ORTHOGONAL, this);
   lp_vec_t<double, 3> rotRateParallel = lp_vec_t<double, 3>(sid.objectId, ROT_RATE_PARALLEL, this);
   lp_vec_t<double, 3> rotRateTotal = lp_vec_t<double, 3>(sid.objectId, ROT_RATE_TOTAL, this);
+  lp_var_t<uint8_t> rotRateSource = lp_var_t<uint8_t>(sid.objectId, ROT_RATE_SOURCE, this);
 
  private:
 };
 
-class TleData : public StaticLocalDataSet<TLE_SET_ENTRIES> {
+class FusedRotRateSourcesData : public StaticLocalDataSet<FUSED_ROT_RATE_SOURCES_SET_ENTRIES> {
  public:
-  TleData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, TLE_SET) {}
+  FusedRotRateSourcesData(HasLocalDataPoolIF* hkOwner)
+      : StaticLocalDataSet(hkOwner, FUSED_ROTATION_RATE_SOURCES_DATA) {}
 
-  lp_vec_t<uint8_t, 69> line1 = lp_vec_t<uint8_t, 69>(sid.objectId, TLE_LINE_1, this);
-  lp_vec_t<uint8_t, 69> line2 = lp_vec_t<uint8_t, 69>(sid.objectId, TLE_LINE_1, this);
+  lp_vec_t<double, 3> rotRateOrthogonalSusMgm =
+      lp_vec_t<double, 3>(sid.objectId, ROT_RATE_ORTHOGONAL_SUSMGM, this);
+  lp_vec_t<double, 3> rotRateParallelSusMgm =
+      lp_vec_t<double, 3>(sid.objectId, ROT_RATE_PARALLEL_SUSMGM, this);
+  lp_vec_t<double, 3> rotRateTotalSusMgm =
+      lp_vec_t<double, 3>(sid.objectId, ROT_RATE_TOTAL_SUSMGM, this);
+  lp_vec_t<double, 3> rotRateTotalQuest =
+      lp_vec_t<double, 3>(sid.objectId, ROT_RATE_TOTAL_QUEST, this);
+  lp_vec_t<double, 3> rotRateTotalStr = lp_vec_t<double, 3>(sid.objectId, ROT_RATE_TOTAL_STR, this);
 
  private:
 };

mission/payload/PayloadPcduHandler.cpp

@@ -4,6 +4,7 @@
 
 #include "OBSWConfig.h"
 #include "fsfw/thermal/tcsDefinitions.h"
+#include "mission/payload/payloadPcduDefinitions.h"
 
 #ifdef XIPHOS_Q7S
 #include <fsfw_hal/linux/UnixFileGuard.h>
@@ -428,20 +429,20 @@ void PayloadPcduHandler::checkAdcValues() {
     params.getValue(PARAM_KEY_MAP[NEG_V_UPPER_BOUND], upperBound);
     if (not checkVoltage(adcSet.processed[U_NEG_V_FB], lowerBound, upperBound,
                          NEG_V_OUT_OF_BOUNDS)) {
+      sif::warning << "Negative voltage was out of bounds, went back to OFF" << std::endl;
       return;
     }
     params.getValue(PARAM_KEY_MAP[DRO_U_LOWER_BOUND], lowerBound);
     params.getValue(PARAM_KEY_MAP[DRO_U_UPPER_BOUND], upperBound);
     if (not checkVoltage(adcSet.processed[U_DRO_DIV_6], lowerBound, upperBound,
                          U_DRO_OUT_OF_BOUNDS)) {
+      sif::warning << "DRO voltage was out of bounds, went back to OFF" << std::endl;
       return;
     }
     params.getValue(PARAM_KEY_MAP[DRO_I_UPPER_BOUND], upperBound);
     if (not checkCurrent(adcSet.processed[I_DRO], upperBound, I_DRO_OUT_OF_BOUNDS)) {
-#if OBSW_VERBOSE_LEVEL >= 1
       sif::warning << "Detected out of bounds current for DRO: " << adcSet.processed[I_DRO]
                    << ", Raw: " << adcSet.channels[I_DRO] << std::endl;
-#endif
       return;
     }
   }
@@ -455,10 +456,12 @@ void PayloadPcduHandler::checkAdcValues() {
     params.getValue(PARAM_KEY_MAP[X8_U_UPPER_BOUND], upperBound);
     if (not checkVoltage(adcSet.processed[U_X8_DIV_6], lowerBound, upperBound,
                          U_X8_OUT_OF_BOUNDS)) {
+      sif::warning << "X8 voltage was out of bounds, went back to OFF" << std::endl;
       return;
     }
     params.getValue(PARAM_KEY_MAP[X8_I_UPPER_BOUND], upperBound);
     if (not checkCurrent(adcSet.processed[I_X8], upperBound, I_X8_OUT_OF_BOUNDS)) {
+      sif::warning << "X8 current was out of bounds, went back to OFF" << std::endl;
       return;
     }
   }
@@ -472,10 +475,12 @@ void PayloadPcduHandler::checkAdcValues() {
     params.getValue(PARAM_KEY_MAP[TX_U_UPPER_BOUND], upperBound);
     if (not checkVoltage(adcSet.processed[U_TX_DIV_6], lowerBound, upperBound,
                          U_TX_OUT_OF_BOUNDS)) {
+      sif::warning << "TX voltage was out of bounds, went back to OFF" << std::endl;
       return;
     }
     params.getValue(PARAM_KEY_MAP[TX_I_UPPER_BOUND], upperBound);
     if (not checkCurrent(adcSet.processed[I_TX], upperBound, I_TX_OUT_OF_BOUNDS)) {
+      sif::warning << "TX current was out of bounds, went back to OFF" << std::endl;
       return;
     }
   }
@@ -489,10 +494,12 @@ void PayloadPcduHandler::checkAdcValues() {
     params.getValue(PARAM_KEY_MAP[MPA_U_UPPER_BOUND], upperBound);
     if (not checkVoltage(adcSet.processed[U_MPA_DIV_6], lowerBound, upperBound,
                          U_MPA_OUT_OF_BOUNDS)) {
+      sif::warning << "MPA voltage was out of bounds, went back to OFF" << std::endl;
       return;
     }
     params.getValue(PARAM_KEY_MAP[MPA_I_UPPER_BOUND], upperBound);
     if (not checkCurrent(adcSet.processed[I_MPA], upperBound, I_MPA_OUT_OF_BOUNDS)) {
+      sif::warning << "MPA current was out of bounds, went back to OFF" << std::endl;
       return;
     }
   }
@@ -506,6 +513,7 @@ void PayloadPcduHandler::checkAdcValues() {
     params.getValue(PARAM_KEY_MAP[HPA_U_UPPER_BOUND], upperBound);
     if (not checkVoltage(adcSet.processed[U_HPA_DIV_6], lowerBound, upperBound,
                          U_HPA_OUT_OF_BOUNDS)) {
+      sif::warning << "HPA voltage was out of bounds, went back to OFF" << std::endl;
       return;
     }
     params.getValue(PARAM_KEY_MAP[HPA_I_UPPER_BOUND], upperBound);
@@ -576,6 +584,7 @@ void PayloadPcduHandler::performOperationHook() { checkJsonFileInit(); }
 
 ReturnValue_t PayloadPcduHandler::checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
                                                    uint32_t* msToReachTheMode) {
+  using namespace plpcdu;
   if (commandedMode != MODE_OFF) {
     PoolReadGuard pg(&enablePl);
     if (pg.getReadResult() == returnvalue::OK) {
@@ -584,45 +593,59 @@ ReturnValue_t PayloadPcduHandler::checkModeCommand(Mode_t commandedMode, Submode
       }
     }
   }
-  return DeviceHandlerBase::checkModeCommand(commandedMode, commandedSubmode, msToReachTheMode);
-}
-
-ReturnValue_t PayloadPcduHandler::isModeCombinationValid(Mode_t mode, Submode_t submode) {
-  using namespace plpcdu;
-  if (mode == MODE_NORMAL) {
+  if (commandedMode == MODE_NORMAL) {
     uint8_t dhbSubmode = getSubmode();
-    diffMask = submode ^ dhbSubmode;
-    // Also deals with the case where the mode is MODE_ON, submode should be 0 here
-    if ((((submode >> SOLID_STATE_RELAYS_ADC_ON) & 0b1) == SOLID_STATE_RELAYS_ADC_ON) and
-        (getMode() == MODE_NORMAL and dhbSubmode != ALL_OFF_SUBMODE)) {
+    diffMask = commandedSubmode ^ dhbSubmode;
+    // For all higher level modes, SSR needs to be on. This is to ensure we have valid ADC
+    // measurements
+    if ((droOnForSubmode(commandedSubmode) or x8OnForSubmode(commandedSubmode) or
+         txOnForSubmode(commandedSubmode) or mpaOnForSubmode(commandedSubmode) or
+         hpaOnForSubmode(commandedSubmode)) and
+        not ssrOnForSubmode(dhbSubmode)) {
       return TRANS_NOT_ALLOWED;
     }
-    if (((((submode >> DRO_ON) & 1) == 1) and
-         ((dhbSubmode & 0b1) != (1 << SOLID_STATE_RELAYS_ADC_ON)))) {
+    if (disableChannelOrderCheck) {
+      return returnvalue::OK;
+    }
+    if (x8OnForSubmode(commandedSubmode) and not droOnForSubmode(dhbSubmode)) {
       return TRANS_NOT_ALLOWED;
     }
-    if ((((submode >> X8_ON) & 1) == 1) and
-        ((dhbSubmode & 0b11) != ((1 << SOLID_STATE_RELAYS_ADC_ON) | (1 << DRO_ON)))) {
+    if (txOnForSubmode(commandedSubmode) and
+        (not droOnForSubmode(dhbSubmode) or not x8OnForSubmode(dhbSubmode))) {
       return TRANS_NOT_ALLOWED;
     }
-    if (((((submode >> TX_ON) & 1) == 1) and
-         ((dhbSubmode & 0b111) !=
-          ((1 << X8_ON) | (1 << DRO_ON) | (1 << SOLID_STATE_RELAYS_ADC_ON))))) {
+    if (mpaOnForSubmode(commandedSubmode) and
+        (not droOnForSubmode(dhbSubmode) or not x8OnForSubmode(dhbSubmode) or
+         not txOnForSubmode(dhbSubmode))) {
       return TRANS_NOT_ALLOWED;
     }
-    if ((((submode >> MPA_ON) & 1) == 1 and
-         ((dhbSubmode & 0b1111) !=
-          ((1 << TX_ON) | (1 << X8_ON) | (1 << DRO_ON) | (1 << SOLID_STATE_RELAYS_ADC_ON))))) {
-      return TRANS_NOT_ALLOWED;
-    }
-    if ((((submode >> HPA_ON) & 1) == 1 and
-         ((dhbSubmode & 0b11111) != ((1 << MPA_ON) | (1 << TX_ON) | (1 << X8_ON) | (1 << DRO_ON) |
-                                     (1 << SOLID_STATE_RELAYS_ADC_ON))))) {
+    if (hpaOnForSubmode(commandedSubmode) and
+        (not droOnForSubmode(dhbSubmode) or not x8OnForSubmode(dhbSubmode) or
+         not txOnForSubmode(dhbSubmode) or not mpaOnForSubmode(dhbSubmode))) {
       return TRANS_NOT_ALLOWED;
     }
     return returnvalue::OK;
   }
-  return DeviceHandlerBase::isModeCombinationValid(mode, submode);
+  return DeviceHandlerBase::checkModeCommand(commandedMode, commandedSubmode, msToReachTheMode);
+}
+
+bool PayloadPcduHandler::ssrOnForSubmode(uint8_t submode) {
+  return submode & (1 << plpcdu::SOLID_STATE_RELAYS_ADC_ON);
+}
+bool PayloadPcduHandler::droOnForSubmode(uint8_t submode) {
+  return submode & (1 << plpcdu::DRO_ON);
+}
+
+bool PayloadPcduHandler::x8OnForSubmode(uint8_t submode) { return submode & (1 << plpcdu::X8_ON); }
+
+bool PayloadPcduHandler::txOnForSubmode(uint8_t submode) { return submode & (1 << plpcdu::TX_ON); }
+
+bool PayloadPcduHandler::mpaOnForSubmode(uint8_t submode) {
+  return submode & (1 << plpcdu::MPA_ON);
+}
+
+bool PayloadPcduHandler::hpaOnForSubmode(uint8_t submode) {
+  return submode & (1 << plpcdu::HPA_ON);
 }
 
 ReturnValue_t PayloadPcduHandler::serializeFloat(uint32_t& param, float val) {
@@ -637,56 +660,68 @@ ReturnValue_t PayloadPcduHandler::getParameter(uint8_t domainId, uint8_t uniqueI
                                                uint16_t startAtIndex) {
   using namespace plpcdu;
   switch (uniqueId) {
-    case (PlPcduParamIds::NEG_V_LOWER_BOUND):
-    case (PlPcduParamIds::NEG_V_UPPER_BOUND):
-    case (PlPcduParamIds::DRO_U_LOWER_BOUND):
-    case (PlPcduParamIds::DRO_U_UPPER_BOUND):
-    case (PlPcduParamIds::DRO_I_UPPER_BOUND):
-    case (PlPcduParamIds::X8_U_LOWER_BOUND):
-    case (PlPcduParamIds::X8_U_UPPER_BOUND):
-    case (PlPcduParamIds::X8_I_UPPER_BOUND):
-    case (PlPcduParamIds::TX_U_LOWER_BOUND):
-    case (PlPcduParamIds::TX_U_UPPER_BOUND):
-    case (PlPcduParamIds::TX_I_UPPER_BOUND):
-    case (PlPcduParamIds::MPA_U_LOWER_BOUND):
-    case (PlPcduParamIds::MPA_U_UPPER_BOUND):
-    case (PlPcduParamIds::MPA_I_UPPER_BOUND):
-    case (PlPcduParamIds::HPA_U_LOWER_BOUND):
-    case (PlPcduParamIds::HPA_U_UPPER_BOUND):
-    case (PlPcduParamIds::HPA_I_UPPER_BOUND):
-    case (PlPcduParamIds::SSR_TO_DRO_WAIT_TIME):
-    case (PlPcduParamIds::DRO_TO_X8_WAIT_TIME):
-    case (PlPcduParamIds::X8_TO_TX_WAIT_TIME):
-    case (PlPcduParamIds::TX_TO_MPA_WAIT_TIME):
-    case (PlPcduParamIds::MPA_TO_HPA_WAIT_TIME): {
-      handleDoubleParamUpdate(PARAM_KEY_MAP[static_cast<PlPcduParamIds>(uniqueId)],
-                              parameterWrapper, newValues);
+    case (PlPcduParamId::NEG_V_LOWER_BOUND):
+    case (PlPcduParamId::NEG_V_UPPER_BOUND):
+    case (PlPcduParamId::DRO_U_LOWER_BOUND):
+    case (PlPcduParamId::DRO_U_UPPER_BOUND):
+    case (PlPcduParamId::DRO_I_UPPER_BOUND):
+    case (PlPcduParamId::X8_U_LOWER_BOUND):
+    case (PlPcduParamId::X8_U_UPPER_BOUND):
+    case (PlPcduParamId::X8_I_UPPER_BOUND):
+    case (PlPcduParamId::TX_U_LOWER_BOUND):
+    case (PlPcduParamId::TX_U_UPPER_BOUND):
+    case (PlPcduParamId::TX_I_UPPER_BOUND):
+    case (PlPcduParamId::MPA_U_LOWER_BOUND):
+    case (PlPcduParamId::MPA_U_UPPER_BOUND):
+    case (PlPcduParamId::MPA_I_UPPER_BOUND):
+    case (PlPcduParamId::HPA_U_LOWER_BOUND):
+    case (PlPcduParamId::HPA_U_UPPER_BOUND):
+    case (PlPcduParamId::HPA_I_UPPER_BOUND):
+    case (PlPcduParamId::SSR_TO_DRO_WAIT_TIME):
+    case (PlPcduParamId::DRO_TO_X8_WAIT_TIME):
+    case (PlPcduParamId::X8_TO_TX_WAIT_TIME):
+    case (PlPcduParamId::TX_TO_MPA_WAIT_TIME):
+    case (PlPcduParamId::MPA_TO_HPA_WAIT_TIME): {
+      handleDoubleParamUpdate(PARAM_KEY_MAP[static_cast<PlPcduParamId>(uniqueId)], parameterWrapper,
+                              newValues);
       break;
     }
-    case (PlPcduParamIds::INJECT_SSR_TO_DRO_FAILURE): {
+    case (PlPcduParamId::INJECT_SSR_TO_DRO_FAILURE): {
       ssrToDroInjectionRequested = true;
       break;
     }
-    case (PlPcduParamIds::INJECT_DRO_TO_X8_FAILURE): {
+    case (PlPcduParamId::INJECT_DRO_TO_X8_FAILURE): {
       droToX8InjectionRequested = true;
       break;
     }
-    case (PlPcduParamIds::INJECT_X8_TO_TX_FAILURE): {
+    case (PlPcduParamId::INJECT_X8_TO_TX_FAILURE): {
       x8ToTxInjectionRequested = true;
       break;
     }
-    case (PlPcduParamIds::INJECT_TX_TO_MPA_FAILURE): {
+    case (PlPcduParamId::INJECT_TX_TO_MPA_FAILURE): {
       txToMpaInjectionRequested = true;
       break;
     }
-    case (PlPcduParamIds::INJECT_MPA_TO_HPA_FAILURE): {
+    case (PlPcduParamId::INJECT_MPA_TO_HPA_FAILURE): {
       mpaToHpaInjectionRequested = true;
       break;
     }
-    case (PlPcduParamIds::INJECT_ALL_ON_FAILURE): {
+    case (PlPcduParamId::INJECT_ALL_ON_FAILURE): {
       allOnInjectRequested = true;
       break;
     }
+    case (PlPcduParamId::DISABLE_ORDER_CHECK_CHANNELS): {
+      uint8_t newValue = 0;
+      ReturnValue_t result = newValues->getElement(&newValue);
+      if (result != returnvalue::OK) {
+        return result;
+      }
+      if (newValue > 1) {
+        return HasParametersIF::INVALID_VALUE;
+      }
+      parameterWrapper->set(disableChannelOrderCheck);
+      break;
+    }
     default: {
       return DeviceHandlerBase::getParameter(domainId, uniqueId, parameterWrapper, newValues,
                                              startAtIndex);

mission/payload/PayloadPcduHandler.h

@@ -137,6 +137,12 @@ class PayloadPcduHandler : public DeviceHandlerBase {
       PoolEntry<float>({0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0});
   PoolEntry<float> tempC = PoolEntry<float>({0.0});
 
+  /**
+   * This parameter disables all checks for the channels except the SSR on check. The SSR on check
+   * is kept to ensure that there is a common start point where the ADC is enabled.
+   */
+  uint8_t disableChannelOrderCheck = false;
+
   void updateSwitchGpio(gpioId_t id, gpio::Levels level);
 
   void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
@@ -155,7 +161,6 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
-  ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
   ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper* parameterWrapper,
                              const ParameterWrapper* newValues, uint16_t startAtIndex) override;
 
@@ -177,6 +182,12 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   pwrctrl::EnablePl enablePl = pwrctrl::EnablePl(objects::POWER_CONTROLLER);
   ReturnValue_t checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
                                  uint32_t* msToReachTheMode) override;
+  static bool ssrOnForSubmode(uint8_t submode);
+  static bool droOnForSubmode(uint8_t submode);
+  static bool x8OnForSubmode(uint8_t submode);
+  static bool txOnForSubmode(uint8_t submode);
+  static bool mpaOnForSubmode(uint8_t submode);
+  static bool hpaOnForSubmode(uint8_t submode);
 };
 
 #endif /* LINUX_DEVICES_PLPCDUHANDLER_H_ */

mission/payload/ScexDeviceHandler.cpp

@@ -307,7 +307,7 @@ void ScexDeviceHandler::performOperationHook() {
   }
 }
 
-uint32_t ScexDeviceHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return OK; }
+uint32_t ScexDeviceHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 5000; }
 
 ReturnValue_t ScexDeviceHandler::getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) {
   if (switchId) {

mission/payload/payloadPcduDefinitions.h

@@ -35,7 +35,7 @@ enum PlPcduAdcChannels : uint8_t {
   NUM_CHANNELS = 12
 };
 
-enum PlPcduParamIds : uint8_t {
+enum PlPcduParamId : uint8_t {
   NEG_V_LOWER_BOUND = 0,
   NEG_V_UPPER_BOUND = 1,
   DRO_U_LOWER_BOUND = 2,
@@ -65,10 +65,12 @@ enum PlPcduParamIds : uint8_t {
   INJECT_X8_TO_TX_FAILURE = 32,
   INJECT_TX_TO_MPA_FAILURE = 33,
   INJECT_MPA_TO_HPA_FAILURE = 34,
-  INJECT_ALL_ON_FAILURE = 35
+  INJECT_ALL_ON_FAILURE = 35,
+
+  DISABLE_ORDER_CHECK_CHANNELS = 40
 };
 
-static std::map<PlPcduParamIds, std::string> PARAM_KEY_MAP = {
+static std::map<PlPcduParamId, std::string> PARAM_KEY_MAP = {
     {NEG_V_LOWER_BOUND, "negVoltLowerBound"}, {NEG_V_UPPER_BOUND, "negVoltUpperBound"},
     {DRO_U_LOWER_BOUND, "droVoltLowerBound"}, {DRO_U_UPPER_BOUND, "droVoltUpperBound"},
     {DRO_I_UPPER_BOUND, "droCurrUpperBound"}, {X8_U_LOWER_BOUND, "x8VoltLowerBound"},

mission/payload/plocSpBase.h

@@ -104,10 +104,6 @@ class SpTmReader : public SpacePacketReader {
    */
   SpTmReader(const uint8_t* buf, size_t maxSize) : SpacePacketReader(buf, maxSize) {}
 
-  ReturnValue_t setData(const uint8_t* buf, size_t maxSize) {
-    return setReadOnlyData(buf, maxSize);
-  }
-
   ReturnValue_t checkCrc() const {
     if (CRC::crc16ccitt(getFullData(), getFullPacketLen()) != 0) {
       return returnvalue::FAILED;

mission/pollingSeqTables.cpp

@@ -9,6 +9,8 @@
 
 #include "OBSWConfig.h"
 #include "eive/definitions.h"
+#include "eive/objects.h"
+#include "linux/payload/FreshSupvHandler.h"
 
 #ifndef RPI_TEST_ADIS16507
 #define RPI_TEST_ADIS16507 0
@@ -608,3 +610,31 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
                         0);
   return returnvalue::OK;
 }
+ReturnValue_t pst::pstPayload(FixedTimeslotTaskIF *thisSequence) {
+  uint32_t length = thisSequence->getPeriodMs();
+
+  thisSequence->addSlot(objects::CAM_SWITCHER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0,
+                        DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0,
+                        FreshSupvHandler::OpCode::DEFAULT_OPERATION);
+  // Two COM TM steps, which might cover telemetry which takes a bit longer to be sent.
+  thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.1,
+                        FreshSupvHandler::OpCode::PARSE_TM);
+  thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.2,
+                        FreshSupvHandler::OpCode::PARSE_TM);
+
+  thisSequence->addSlot(objects::SCEX, length * 0.6, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::SCEX, length * 0.6, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::SCEX, length * 0.6, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::SCEX, length * 0.6, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::SCEX, length * 0.6, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::SCEX, length * 0.8, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::SCEX, length * 0.8, DeviceHandlerIF::GET_READ);
+  return thisSequence->checkSequence();
+}

mission/pollingSeqTables.h

@@ -63,6 +63,8 @@ ReturnValue_t pstTcsAndAcs(FixedTimeslotTaskIF* thisSequence, AcsPstCfg cfg);
 
 ReturnValue_t pstI2c(TmpSchedConfig schedConf, FixedTimeslotTaskIF* thisSequence);
 
+ReturnValue_t pstPayload(FixedTimeslotTaskIF* thisSequence);
+
 /**
  * Generic test PST
  * @param thisSequence

mission/power/PcduHandler.cpp

@@ -65,8 +65,8 @@ ReturnValue_t PcduHandler::performOperation(uint8_t counter) {
 ReturnValue_t PcduHandler::initialize() {
   ReturnValue_t result;
 
-  IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
-  if (IPCStore == nullptr) {
+  ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
+  if (ipcStore == nullptr) {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
@@ -162,10 +162,13 @@ void PcduHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSet
                                     sizeof(CCSDSTime::CDS_short), dataset);
   const uint8_t* packet_ptr = nullptr;
   size_t size = 0;
-  result = IPCStore->getData(storeId, &packet_ptr, &size);
+  result = ipcStore->getData(storeId, &packet_ptr, &size);
   if (result != returnvalue::OK) {
-    sif::error << "PCDUHandler::updateHkTableDataset: Failed to get data from IPCStore."
-               << std::endl;
+    sif::error << "PCDUHandler::updateHkTableDataset: Failed to get data from IPC store, result 0x"
+               << std::hex << std::setw(4) << std::setfill('0') << result << std::dec
+               << std::setfill(' ') << std::endl;
+    result = ipcStore->deleteData(storeId);
+    return;
   }
   result = packetUpdate.deSerialize(&packet_ptr, &size, SerializeIF::Endianness::MACHINE);
   if (result != returnvalue::OK) {
@@ -173,7 +176,7 @@ void PcduHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSet
                   "in hk table dataset"
                << std::endl;
   }
-  result = IPCStore->deleteData(storeId);
+  result = ipcStore->deleteData(storeId);
   if (result != returnvalue::OK) {
     sif::error << "PCDUHandler::updateHkTableDataset: Failed to delete data in IPCStore"
                << std::endl;
@@ -396,7 +399,7 @@ ReturnValue_t PcduHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onO
   setParamMessage.serialize(&commandPtr, &serializedLength, maxSize, SerializeIF::Endianness::BIG);
 
   store_address_t storeAddress;
-  result = IPCStore->addData(&storeAddress, command, sizeof(command));
+  result = ipcStore->addData(&storeAddress, command, sizeof(command));
 
   CommandMessage message;
   ActionMessage::setCommand(&message, GOMSPACE::PARAM_SET, storeAddress);

mission/power/PcduHandler.h

@@ -94,7 +94,7 @@ class PcduHandler : public PowerSwitchIF,
    * Pointer to the IPCStore.
    * This caches the pointer received from the objectManager in the constructor.
    */
-  StorageManagerIF* IPCStore = nullptr;
+  StorageManagerIF* ipcStore = nullptr;
 
   /**
    * Message queue to communicate with other objetcs. Used for example to receive

mission/system/CMakeLists.txt

@@ -1,5 +1,4 @@
 add_subdirectory(objects)
-add_subdirectory(tree)
 add_subdirectory(acs)
 add_subdirectory(tcs)
 add_subdirectory(com)
@@ -8,4 +7,4 @@ add_subdirectory(power)
 target_sources(
   ${LIB_EIVE_MISSION}
   PRIVATE systemTree.cpp DualLanePowerStateMachine.cpp EiveSystem.cpp
-          treeUtil.cpp SharedPowerAssemblyBase.cpp)
+          treeUtil.cpp SharedPowerAssemblyBase.cpp payloadModeTree.cpp)

mission/system/EiveSystem.cpp

@@ -174,6 +174,7 @@ ReturnValue_t EiveSystem::initialize() {
   manager->subscribeToEvent(eventQueue->getId(), event::getEventId(pdec::INVALID_TC_FRAME));
   manager->subscribeToEvent(eventQueue->getId(), event::getEventId(power::POWER_LEVEL_LOW));
   manager->subscribeToEvent(eventQueue->getId(), event::getEventId(power::POWER_LEVEL_CRITICAL));
+  manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::PTG_RATE_VIOLATION));
   return Subsystem::initialize();
 }
 
@@ -224,6 +225,16 @@ void EiveSystem::handleEventMessages() {
             }
             break;
           }
+          case acs::PTG_RATE_VIOLATION: {
+            CommandMessage msg;
+            HealthMessage::setHealthMessage(&msg, HealthMessage::HEALTH_SET, HasHealthIF::FAULTY);
+            ReturnValue_t result = MessageQueueSenderIF::sendMessage(
+                strQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
+            if (result != returnvalue::OK) {
+              sif::error << "EIVE System: Sending FAULTY command to STR Assembly failed"
+                         << std::endl;
+            }
+          }
         }
         break;
       default:

mission/system/acs/StrFdir.cpp

@@ -6,7 +6,7 @@ StrFdir::StrFdir(object_id_t strObject)
     : DeviceHandlerFailureIsolation(strObject, objects::NO_OBJECT) {}
 
 ReturnValue_t StrFdir::eventReceived(EventMessage* event) {
-  if (event->getEvent() == acs::MEKF_INVALID_MODE_VIOLATION) {
+  if (event->getEvent() == acs::PTG_CTRL_NO_ATTITUDE_INFORMATION) {
     setFaulty(event->getEvent());
     return returnvalue::OK;
   }

mission/system/acs/acsModeTree.cpp

@@ -106,7 +106,7 @@ Subsystem& satsystem::acs::init() {
   // Build TARGET PT transition 0
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
   iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
-  iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
   iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
   iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
   check(ACS_SUBSYSTEM.addTable(
@@ -161,6 +161,7 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::IMTQ_ASSY, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
   iht(objects::STR_ASSY, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
   iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
+  iht(objects::SUS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
   iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
   check(ss.addTable(TableEntry(ACS_TABLE_OFF_TRANS_1.first, &ACS_TABLE_OFF_TRANS_1.second)), ctxc);
 
@@ -199,13 +200,13 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::ACS_CONTROLLER, acs::AcsMode::SAFE, acs::SafeSubmode::DEFAULT,
       ACS_TABLE_SAFE_TGT.second, true);
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second, true);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TGT.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_SAFE_TGT.second, true);
   check(ss.addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_SAFE_TGT.first, false, true), ctxc);
 
   // Build SAFE transition 0
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
-  iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
   iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
   iht(objects::STR_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
   iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
@@ -256,13 +257,13 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
   iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
   iht(objects::STR_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second, true);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TGT.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_IDLE_TGT.second, true);
   ss.addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true);
 
   // Build IDLE transition 0
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
-  iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
   iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
   iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
   iht(objects::STR_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
@@ -306,8 +307,8 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
   // Build TARGET PT table
   iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET, 0, ACS_TABLE_PTG_TARGET_TGT.second);
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second, true);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_TGT.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_TGT.second, true);
   iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
   iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
   check(ss.addTable(&ACS_TABLE_PTG_TARGET_TGT.second, ACS_TABLE_PTG_TARGET_TGT.first, false, true),
@@ -355,8 +356,8 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
   // Build TARGET PT table
   iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_NADIR, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
   iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
   iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
   check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TGT.first,
@@ -408,8 +409,8 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
   // Build TARGET PT table
   iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET_GS, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
   iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
   iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
   check(ss.addTable(
@@ -461,8 +462,10 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_INERTIAL, 0,
       ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second, true);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second,
+      true);
+  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second,
+      true);
   iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
   iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
   check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first,