CHANGELOG.md

@@ -16,6 +16,12 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+## Added
+
+- Failure of Safe Mode Ctrl will now trigger an event. As this can only be caused by sensors not
+  being in the correct mode, the assemblies should take care that this will never happen and no
+  additional FDIR is needed.
+
 ## Changed
 
 - Telemetry relevant datasets for the RWs are now set invalid and partially reset on shotdown.

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 277 translations.
+ * @brief    Auto-generated event translation file. Contains 278 translations.
  * @details
- * Generated on: 2023-03-14 17:08:41
+ * Generated on: 2023-03-15 10:10:04
  */
 #include "translateEvents.h"
 
@@ -97,6 +97,7 @@ const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
 const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
 const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
 const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
+const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
 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";
@@ -464,6 +465,8 @@ const char *translateEvents(Event event) {
       return MEKF_INVALID_INFO_STRING;
     case (11204):
       return MEKF_INVALID_MODE_VIOLATION_STRING;
+    case (11205):
+      return SAFE_MODE_CONTROLLER_FAILURE_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):

generators/bsp_hosted_events.csv

@@ -91,6 +91,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;No description;mission/acsDefs.h
 11203;0x2bc3;MEKF_INVALID_INFO;INFO;No description;mission/acsDefs.h
 11204;0x2bc4;MEKF_INVALID_MODE_VIOLATION;HIGH;No description;mission/acsDefs.h
+11205;0x2bc5;SAFE_MODE_CONTROLLER_FAILURE;HIGH;No description;mission/acsDefs.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/devices/devicedefinitions/powerDefinitions.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/devices/devicedefinitions/powerDefinitions.h
 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/devices/devicedefinitions/powerDefinitions.h

generators/bsp_q7s_events.csv

@@ -91,6 +91,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;No description;mission/acsDefs.h
 11203;0x2bc3;MEKF_INVALID_INFO;INFO;No description;mission/acsDefs.h
 11204;0x2bc4;MEKF_INVALID_MODE_VIOLATION;HIGH;No description;mission/acsDefs.h
+11205;0x2bc5;SAFE_MODE_CONTROLLER_FAILURE;HIGH;No description;mission/acsDefs.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/devices/devicedefinitions/powerDefinitions.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/devices/devicedefinitions/powerDefinitions.h
 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/devices/devicedefinitions/powerDefinitions.h

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 277 translations.
+ * @brief    Auto-generated event translation file. Contains 278 translations.
  * @details
- * Generated on: 2023-03-14 17:08:41
+ * Generated on: 2023-03-15 10:10:04
  */
 #include "translateEvents.h"
 
@@ -97,6 +97,7 @@ const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
 const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
 const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
 const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
+const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
 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";
@@ -464,6 +465,8 @@ const char *translateEvents(Event event) {
       return MEKF_INVALID_INFO_STRING;
     case (11204):
       return MEKF_INVALID_MODE_VIOLATION_STRING;
+    case (11205):
+      return SAFE_MODE_CONTROLLER_FAILURE_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 277 translations.
+ * @brief    Auto-generated event translation file. Contains 278 translations.
  * @details
- * Generated on: 2023-03-14 17:08:41
+ * Generated on: 2023-03-15 10:10:04
  */
 #include "translateEvents.h"
 
@@ -97,6 +97,7 @@ const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
 const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
 const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
 const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
+const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
 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";
@@ -464,6 +465,8 @@ const char *translateEvents(Event event) {
       return MEKF_INVALID_INFO_STRING;
     case (11204):
       return MEKF_INVALID_MODE_VIOLATION_STRING;
+    case (11205):
+      return SAFE_MODE_CONTROLLER_FAILURE_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):

mission/acsDefs.h

@@ -32,6 +32,8 @@ static constexpr Event MULTIPLE_RW_INVALID = MAKE_EVENT(2, severity::HIGH);
 static constexpr Event MEKF_INVALID_INFO = MAKE_EVENT(3, severity::INFO);
 //!< 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(4, severity::HIGH);
+//!< The ACS safe mode controller was not able to compute a solution and has failed.
+static constexpr Event SAFE_MODE_CONTROLLER_FAILURE = MAKE_EVENT(5, severity::HIGH);
 
 extern const char* getModeStr(AcsMode mode);
 

mission/controller/AcsController.cpp

@@ -173,7 +173,16 @@ void AcsController::performSafe() {
         sunTargetDir, satRateSafe, &errAng, magMomMtq);
   }
   if (result == returnvalue::FAILED) {
-    // ToDo: this should never ever happen or we are dead. prob add an event at least
+    if (not safeCtrlFailureFlag) {
+      triggerEvent(acs::SAFE_MODE_CONTROLLER_FAILURE);
+      safeCtrlFailureFlag = true;
+    }
+    safeCtrlFailureCounter++;
+    if (safeCtrlFailureCounter > 50) {
+      safeCtrlFailureFlag = false;
+    }
+  } else {
+    safeCtrlFailureFlag = false;
   }
 
   actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs,

mission/controller/AcsController.h

@@ -62,6 +62,9 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   uint8_t multipleRwUnavailableCounter = 0;
   bool mekfInvalidFlag = false;
   uint16_t mekfInvalidCounter = 0;
+  bool safeCtrlFailureFlag = false;
+  uint8_t safeCtrlFailureCounter = 0;
+
   int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
   int16_t cmdDipolMtqs[3] = {0, 0, 0};