CHANGELOG.md

@@ -16,6 +16,12 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+## Fixed
+
+- Proper Faulty/External Control handling for the dual lane assemblies.
+- ACS board devices: Go to ON mode instead of going to NORMAL mode directly.
+- SUS device handlers: Go to ON mode on startup instead of NORMAL mode.
+
 ## Changed
 
 - Enabled periodic hosuekeeping generation for release images.

mission/acs/GyrAdis1650XHandler.cpp

@@ -28,11 +28,7 @@ void GyrAdis1650XHandler::doStartUp() {
     }
     if (breakCountdown.hasTimedOut()) {
       updatePeriodicReply(true, adis1650x::REPLY);
-      if (goToNormalMode) {
-        setMode(MODE_NORMAL);
-      } else {
-        setMode(MODE_ON);
-      }
+      setMode(MODE_ON);
       internalState = InternalState::NONE;
     }
   }
@@ -208,8 +204,6 @@ adis1650x::BurstModes GyrAdis1650XHandler::getBurstMode() {
   return adis1650x::burstModeFromMscCtrl(currentCtrlReg);
 }
 
-void GyrAdis1650XHandler::setToGoToNormalModeImmediately() { goToNormalMode = true; }
-
 void GyrAdis1650XHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
   periodicPrintout = enable;
   debugDivider.setDivider(divider);

mission/acs/GyrAdis1650XHandler.h

@@ -21,7 +21,6 @@ class GyrAdis1650XHandler : public DeviceHandlerBase {
                       adis1650x::Type type);
 
   void enablePeriodicPrintouts(bool enable, uint8_t divider);
-  void setToGoToNormalModeImmediately();
 
   // DeviceHandlerBase abstract function implementation
   void doStartUp() override;
@@ -47,7 +46,6 @@ class GyrAdis1650XHandler : public DeviceHandlerBase {
   AdisGyroConfigDataset configDataset;
   double sensitivity = adis1650x::SENSITIVITY_UNSET;
 
-  bool goToNormalMode = false;
   bool warningSwitch = true;
 
   enum class InternalState { NONE, STARTUP, SHUTDOWN };

mission/acs/GyrL3gCustomHandler.cpp

@@ -23,11 +23,7 @@ void GyrL3gCustomHandler::doStartUp() {
 
   if (internalState == InternalState::STARTUP) {
     if (commandExecuted) {
-      if (goNormalModeImmediately) {
-        setMode(MODE_NORMAL);
-      } else {
-        setMode(_MODE_TO_ON);
-      }
+      setMode(MODE_ON);
       internalState = InternalState::NONE;
       commandExecuted = false;
     }
@@ -145,8 +141,6 @@ uint32_t GyrL3gCustomHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
   return this->transitionDelayMs;
 }
 
-void GyrL3gCustomHandler::setToGoToNormalMode(bool enable) { this->goNormalModeImmediately = true; }
-
 ReturnValue_t GyrL3gCustomHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                            LocalDataPoolManager &poolManager) {
   localDataPoolMap.emplace(l3gd20h::ANG_VELOC_X, new PoolEntry<float>({0.0}));

mission/acs/GyrL3gCustomHandler.h

@@ -32,11 +32,6 @@ class GyrL3gCustomHandler : public DeviceHandlerBase {
    */
   void setAbsoluteLimits(float limitX, float limitY, float limitZ);
 
-  /**
-   * @brief   Configure device handler to go to normal mode immediately
-   */
-  void setToGoToNormalMode(bool enable);
-
  protected:
   /* DeviceHandlerBase overrides */
   ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
@@ -69,7 +64,6 @@ class GyrL3gCustomHandler : public DeviceHandlerBase {
   bool commandExecuted = false;
 
   uint8_t statusReg = 0;
-  bool goNormalModeImmediately = false;
 
   uint8_t ctrlReg1Value = l3gd20h::CTRL_REG_1_VAL;
   uint8_t ctrlReg2Value = l3gd20h::CTRL_REG_2_VAL;

mission/acs/MgmLis3CustomHandler.cpp

@@ -20,7 +20,7 @@ void MgmLis3CustomHandler::doStartUp() {
   }
   if (internalState == InternalState::STARTUP) {
     if (commandExecuted) {
-      setMode(MODE_NORMAL);
+      setMode(MODE_ON);
       internalState = InternalState::NONE;
       commandExecuted = false;
     }

mission/acs/MgmRm3100CustomHandler.cpp

@@ -25,7 +25,7 @@ void MgmRm3100CustomHandler::doStartUp() {
     if (commandExecuted) {
       commandExecuted = false;
       internalState = InternalState::NONE;
-      setMode(MODE_NORMAL);
+      setMode(MODE_ON);
     }
   }
 }

mission/acs/SusHandler.cpp

@@ -20,7 +20,7 @@ void SusHandler::doStartUp() {
   }
   if (internalState == InternalState::STARTUP) {
     if (commandExecuted) {
-      setMode(MODE_NORMAL);
+      setMode(MODE_ON);
       internalState = InternalState::NONE;
       commandExecuted = false;
     }