Merge pull request 'PLOC SUPV bugfix' (#898) from ploc-supv-bugfix into main

Reviewed-on: #898
Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -16,6 +16,21 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+# [v8.1.0] 2024-05-29
+
+## Fixed
+
+- Small fix for transition failure handling of the MPSoC when the `START_MPSOC` action command
+  to the supervisor fails.
+- Fixed inits of arrays within the `MEKF` not being zeros.
+- Important bugfix for PLOC SUPV: The SUPV previously was able to steal packets from the special
+  communication helper, for example during software updates.
+- Corrected sigma of STR for `MEKF`.
+
+## Added
+
+- Added new command to cancel the PLOC SUPV special communication helper.
+
 # [v8.0.0] 2024-05-13
 
 - `eive-tmtc` v7.0.0

CMakeLists.txt

@@ -10,7 +10,7 @@
 cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 8)
-set(OBSW_VERSION_MINOR 0)
+set(OBSW_VERSION_MINOR 1)
 set(OBSW_VERSION_REVISION 0)
 
 # set(CMAKE_VERBOSE TRUE)

linux/payload/FreshMpsocHandler.cpp

@@ -456,7 +456,7 @@ void FreshMpsocHandler::handleActionCommandFailure(ActionId_t actionId, ReturnVa
       if (actionId != supv::START_MPSOC) {
         return;
       }
-      sif::info << "PlocMPSoCHandler::handleActionCommandFailure: MPSoC boot command failed"
+      sif::info << "FreshMpsocHandler::handleActionCommandFailure: MPSoC boot command failed"
                 << std::endl;
       // This is commonly the case when the MPSoC is already operational. Thus the power state is
       // set to on here
@@ -1224,6 +1224,7 @@ bool FreshMpsocHandler::handleHwStartup() {
   if (powerState == PowerState::SUPV_FAILED) {
     setMode(MODE_OFF);
     powerState = PowerState::IDLE;
+    transitionState = TransitionState::NONE;
     return false;
   }
   if (powerState == PowerState::PENDING_STARTUP) {

linux/payload/FreshSupvHandler.cpp

@@ -241,6 +241,10 @@ ReturnValue_t FreshSupvHandler::executeAction(ActionId_t actionId, MessageQueueI
       uartManager->initiateUpdateContinuation();
       return EXECUTION_FINISHED;
     }
+    case ABORT_LONGER_REQUEST: {
+      uartManager->stop();
+      return EXECUTION_FINISHED;
+    }
     case MEMORY_CHECK_WITH_FILE: {
       UpdateParams params;
       result = extractBaseParams(&data, size, params);
@@ -849,6 +853,10 @@ ReturnValue_t FreshSupvHandler::prepareWipeMramCmd(const uint8_t* commandData, s
 ReturnValue_t FreshSupvHandler::parseTmPackets() {
   uint8_t* receivedData = nullptr;
   size_t receivedSize = 0;
+  // We do not want to steal packets from the long request handler.
+  if (uartManager->longerRequestActive()) {
+    return returnvalue::OK;
+  }
   while (true) {
     ReturnValue_t result =
         uartManager->readReceivedMessage(comCookie, &receivedData, &receivedSize);

linux/payload/plocSupvDefs.h

@@ -159,6 +159,7 @@ static const DeviceCommandId_t ENABLE_NVMS = 59;
 static const DeviceCommandId_t CONTINUE_UPDATE = 60;
 static const DeviceCommandId_t MEMORY_CHECK_WITH_FILE = 61;
 static constexpr DeviceCommandId_t MEMORY_CHECK = 62;
+static constexpr DeviceCommandId_t ABORT_LONGER_REQUEST = 63;
 
 /** Reply IDs */
 enum ReplyId : DeviceCommandId_t {

mission/controller/acs/AcsParameters.h

@@ -941,7 +941,7 @@ class AcsParameters : public HasParametersIF {
   } sunModelParameters;
 
   struct KalmanFilterParameters {
-    double sensorNoiseStr = 0.1 * DEG2RAD;
+    double sensorNoiseStr = 0.0028 * DEG2RAD;
     double sensorNoiseSus = 8. * DEG2RAD;
     double sensorNoiseMgm = 4. * DEG2RAD;
     double sensorNoiseGyr = 0.1 * DEG2RAD;

mission/controller/acs/MultiplicativeKalmanFilter.cpp

@@ -114,12 +114,13 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
     return result;
   }
 
-  double measSensMatrix[matrixDimensionFactor][6] = {{0}},
-         measCovMatrix[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
-         measVec[matrixDimensionFactor] = {0}, estVec[matrixDimensionFactor] = {0};
+  double measSensMatrix[matrixDimensionFactor][6] = {},
+         measCovMatrix[matrixDimensionFactor][matrixDimensionFactor] = {},
+         measVec[matrixDimensionFactor] = {}, estVec[matrixDimensionFactor] = {};
   kfUpdate(susData, mgmData, *measSensMatrix, *measCovMatrix, measVec, estVec);
 
-  double kalmanGain[6][matrixDimensionFactor] = {{0}};
+  double kalmanGain[6][matrixDimensionFactor];
+  std::memset(kalmanGain, 0, sizeof(kalmanGain));
   result = kfGain(*measSensMatrix, *measCovMatrix, *kalmanGain, attitudeEstimationData);
   if (result != returnvalue::OK) {
     reset(attitudeEstimationData);
@@ -342,10 +343,11 @@ ReturnValue_t MultiplicativeKalmanFilter::kfGain(
     double *measSensMatrix, double *measCovMatrix, double *kalmanGain,
     acsctrl::AttitudeEstimationData *attitudeEstimationData) {
   // Kalman Gain: K = P * H' / (H * P * H' + R)
-  double kalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
-         invKalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
-         residualCov[6][matrixDimensionFactor] = {{0}},
-         measSensMatrixTransposed[6][matrixDimensionFactor] = {{0}};
+  double kalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {},
+         invKalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {};
+  double residualCov[6][matrixDimensionFactor], measSensMatrixTransposed[6][matrixDimensionFactor];
+  std::memset(residualCov, 0, sizeof(residualCov));
+  std::memset(measSensMatrixTransposed, 0, sizeof(measSensMatrixTransposed));
 
   MatrixOperations<double>::transpose(measSensMatrix, *measSensMatrixTransposed,
                                       matrixDimensionFactor, 6);
@@ -382,8 +384,7 @@ void MultiplicativeKalmanFilter::kfCovAposteriori(double *kalmanGain, double *me
 
 void MultiplicativeKalmanFilter::kfStateAposteriori(double *kalmanGain, double *measVec,
                                                     double *estVec) {
-  double stateVecErr[6] = {0, 0, 0, 0, 0, 0};
-  double plantOutputDiff[matrixDimensionFactor] = {0};
+  double stateVecErr[6] = {0, 0, 0, 0, 0, 0}, plantOutputDiff[matrixDimensionFactor] = {};
   VectorOperations<double>::subtract(measVec, estVec, plantOutputDiff, matrixDimensionFactor);
   MatrixOperations<double>::multiply(kalmanGain, plantOutputDiff, stateVecErr, 6,
                                      matrixDimensionFactor, 1);