From 3a56297a83b5d966d16f04daa79c09e1d43ff21d Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Tue, 14 Mar 2023 13:15:48 +0100
Subject: [PATCH 1/3] mekfViolationTimer as parameter

---
 mission/controller/AcsController.cpp     | 2 +-
 mission/controller/acs/AcsParameters.cpp | 3 +++
 mission/controller/acs/AcsParameters.h   | 1 +
 3 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index b4e7c5d3..a2d01719 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -271,7 +271,7 @@ void AcsController::performPointingCtrl() {
       triggerEvent(acs::MEKF_INVALID_INFO);
       mekfInvalidFlag = true;
     }
-    if (mekfInvalidCounter == 5) {
+    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);
     }
diff --git a/mission/controller/acs/AcsParameters.cpp b/mission/controller/acs/AcsParameters.cpp
index 4abe0d7a..060e0aac 100644
--- a/mission/controller/acs/AcsParameters.cpp
+++ b/mission/controller/acs/AcsParameters.cpp
@@ -23,6 +23,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0x0:
           parameterWrapper->set(onBoardParams.sampleTime);
           break;
+        case 0x1:
+          parameterWrapper->set(onBoardParams.mekfViolationTimer);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }
diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h
index 822cfabc..fca8ed8e 100644
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@@ -18,6 +18,7 @@ class AcsParameters : public HasParametersIF {
 
   struct OnBoardParams {
     double sampleTime = 0.4;  // [s]
+    uint16_t mekfViolationTimer = 750;
   } onBoardParams;
 
   struct InertiaEIVE {
-- 
2.43.0


From 4664a9f4e73af57243cb9f6aa1067bf63eea3c6d Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Tue, 14 Mar 2023 13:19:48 +0100
Subject: [PATCH 2/3] changelog

---
 CHANGELOG.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index be95f310..f93786b0 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -19,6 +19,7 @@ will consitute of a breaking change warranting a new major release:
 ## Added
 
 - Added `EXECUTE_SHELL_CMD` action command for `CoreController` to execute arbitrary Linux commands.
+- Added parameter for timeout until `MEKF_INVALID_MODE_VIOLATION` event is triggered.
 
 ## Fixed
 
-- 
2.43.0


From 90d00b44eea63995c26b9d0c4065d34c176730e7 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Tue, 14 Mar 2023 14:12:55 +0100
Subject: [PATCH 3/3] nothing to see here

---
 mission/controller/AcsController.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mission/controller/AcsController.h b/mission/controller/AcsController.h
index c0376127..62bbf5a3 100644
--- a/mission/controller/AcsController.h
+++ b/mission/controller/AcsController.h
@@ -61,7 +61,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   uint8_t detumbleCounter = 0;
   uint8_t multipleRwUnavailableCounter = 0;
   bool mekfInvalidFlag = false;
-  uint8_t mekfInvalidCounter = 0;
+  uint16_t mekfInvalidCounter = 0;
   int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
   int16_t cmdDipolMtqs[3] = {0, 0, 0};
 
-- 
2.43.0