ACS Safe Ctrl Failure Event #484
@ -16,6 +16,12 @@ will consitute of a breaking change warranting a new major release:
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# [unreleased]
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## Added
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- Failure of Safe Mode Ctrl will now trigger an event. As this can only be caused by sensors not
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being in the correct mode, the assemblies should take care that this will never happen and no
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additional FDIR is needed.
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## Changed
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- Telemetry relevant datasets for the RWs are now set invalid and partially reset on shotdown.
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@ -1,7 +1,7 @@
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/**
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* @brief Auto-generated event translation file. Contains 277 translations.
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* @brief Auto-generated event translation file. Contains 278 translations.
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* @details
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* Generated on: 2023-03-14 17:08:41
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* Generated on: 2023-03-15 10:10:04
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*/
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#include "translateEvents.h"
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@ -97,6 +97,7 @@ const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
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const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
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const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
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const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
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const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
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const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
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const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
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const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
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@ -464,6 +465,8 @@ const char *translateEvents(Event event) {
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return MEKF_INVALID_INFO_STRING;
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case (11204):
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return MEKF_INVALID_MODE_VIOLATION_STRING;
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case (11205):
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return SAFE_MODE_CONTROLLER_FAILURE_STRING;
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case (11300):
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return SWITCH_CMD_SENT_STRING;
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case (11301):
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@ -91,6 +91,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
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11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;No description;mission/acsDefs.h
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11203;0x2bc3;MEKF_INVALID_INFO;INFO;No description;mission/acsDefs.h
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11204;0x2bc4;MEKF_INVALID_MODE_VIOLATION;HIGH;No description;mission/acsDefs.h
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11205;0x2bc5;SAFE_MODE_CONTROLLER_FAILURE;HIGH;No description;mission/acsDefs.h
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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/devices/devicedefinitions/powerDefinitions.h
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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/devices/devicedefinitions/powerDefinitions.h
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11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/devices/devicedefinitions/powerDefinitions.h
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@ -91,6 +91,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
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11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;No description;mission/acsDefs.h
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11203;0x2bc3;MEKF_INVALID_INFO;INFO;No description;mission/acsDefs.h
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11204;0x2bc4;MEKF_INVALID_MODE_VIOLATION;HIGH;No description;mission/acsDefs.h
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11205;0x2bc5;SAFE_MODE_CONTROLLER_FAILURE;HIGH;No description;mission/acsDefs.h
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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/devices/devicedefinitions/powerDefinitions.h
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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/devices/devicedefinitions/powerDefinitions.h
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11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/devices/devicedefinitions/powerDefinitions.h
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@ -1,7 +1,7 @@
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/**
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* @brief Auto-generated event translation file. Contains 277 translations.
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* @brief Auto-generated event translation file. Contains 278 translations.
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* @details
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* Generated on: 2023-03-14 17:08:41
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* Generated on: 2023-03-15 10:10:04
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*/
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#include "translateEvents.h"
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@ -97,6 +97,7 @@ const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
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const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
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const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
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const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
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const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
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const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
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const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
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const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
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@ -464,6 +465,8 @@ const char *translateEvents(Event event) {
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return MEKF_INVALID_INFO_STRING;
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case (11204):
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return MEKF_INVALID_MODE_VIOLATION_STRING;
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case (11205):
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return SAFE_MODE_CONTROLLER_FAILURE_STRING;
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case (11300):
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return SWITCH_CMD_SENT_STRING;
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case (11301):
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@ -1,7 +1,7 @@
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/**
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* @brief Auto-generated event translation file. Contains 277 translations.
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* @brief Auto-generated event translation file. Contains 278 translations.
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* @details
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* Generated on: 2023-03-14 17:08:41
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* Generated on: 2023-03-15 10:10:04
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*/
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#include "translateEvents.h"
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@ -97,6 +97,7 @@ const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
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const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
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const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
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const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
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const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
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const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
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const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
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const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
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@ -464,6 +465,8 @@ const char *translateEvents(Event event) {
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return MEKF_INVALID_INFO_STRING;
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case (11204):
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return MEKF_INVALID_MODE_VIOLATION_STRING;
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case (11205):
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return SAFE_MODE_CONTROLLER_FAILURE_STRING;
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case (11300):
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return SWITCH_CMD_SENT_STRING;
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case (11301):
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@ -32,6 +32,8 @@ static constexpr Event MULTIPLE_RW_INVALID = MAKE_EVENT(2, severity::HIGH);
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static constexpr Event MEKF_INVALID_INFO = MAKE_EVENT(3, severity::INFO);
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//!< MEKF was not able to compute a solution during any pointing ACS mode for a prolonged time.
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static constexpr Event MEKF_INVALID_MODE_VIOLATION = MAKE_EVENT(4, severity::HIGH);
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//!< The ACS safe mode controller was not able to compute a solution and has failed.
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static constexpr Event SAFE_MODE_CONTROLLER_FAILURE = MAKE_EVENT(5, severity::HIGH);
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extern const char* getModeStr(AcsMode mode);
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@ -173,7 +173,16 @@ void AcsController::performSafe() {
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sunTargetDir, satRateSafe, &errAng, magMomMtq);
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}
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if (result == returnvalue::FAILED) {
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// ToDo: this should never ever happen or we are dead. prob add an event at least
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if (not safeCtrlFailureFlag) {
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triggerEvent(acs::SAFE_MODE_CONTROLLER_FAILURE);
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safeCtrlFailureFlag = true;
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}
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safeCtrlFailureCounter++;
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if (safeCtrlFailureCounter > 50) {
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safeCtrlFailureFlag = false;
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}
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} else {
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safeCtrlFailureFlag = false;
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}
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actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs,
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@ -62,6 +62,9 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
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uint8_t multipleRwUnavailableCounter = 0;
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bool mekfInvalidFlag = false;
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uint16_t mekfInvalidCounter = 0;
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bool safeCtrlFailureFlag = false;
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uint8_t safeCtrlFailureCounter = 0;
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int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
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int16_t cmdDipolMtqs[3] = {0, 0, 0};
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