2024-02-27 13:48:20 +01:00
34 changed files with 412 additions and 290 deletions
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -16,6 +16,56 @@ will consitute of a breaking change warranting a new major release:

 # [unreleased]

+# [v7.6.0] 2024-01-30
+
+- Bumped `eive-tmtc` to v5.13.0
+- Bumped `eive-fsfw`
+
+## Added
+
+- Added new parameter for MPSoC which allows to skip SUPV commanding.
+
+## Changed
+
+- Increased allowed mode transition time for PLOC SUPV.
+- Detumbling can now be triggered from all modes of the `AcsController`. In case the
+  current mode is a higher pointing mode, the STR will be set to faulty, to trigger a
+  transition to safe first. Then, in a second step, a transition to detumble is triggered.
+
+## Fixed
+
+- If the PCDU handler fails reading data from the IPC store, it will
+  not try to do a deserialization anymore.
+- All action commands sent by the PLOC SUPV to itself will have no sender now.
+- RW speed commands get reset to 0 RPM, if the `AcsController` has changed its mode
+  to Safe
+- Antistiction for RWs will set commanded speed to 0 RPM, if a wheel is detected as not
+  working
+- Removed parameter to disable antistiction, as deactivating it would result in the
+  `AcsController` being allowed sending invalid speed commands to the RW Handler, which
+  would then trigger FDIR and turning off the functioning device
+- `RwHandler` returnvalues would use the `INTERFACE_ID` of the `DeviceHandlerBase`
+- The `AcsController` will reset its stored guidance values on mode change and lost
+  orientation.
+- The nullspace controller will only be used if all RWs are available.
+- Calculation of required rotation rate in pointing modes has been fixed to actual
+  calculation of rotation rate from two quaternions.
+- Fixed alignment matrix and pseudo inverses of RWs, to match the wrong definition of
+  positive rotation.
+
+# [v7.5.5] 2024-01-22
+
+## Fixed
+
+- Calculation of error quaternion was done with inverse of the required target quaternion.
+
+# [v7.5.4] 2024-01-16
+
+## Fixed
+
+- Pointing strategy now actually uses fused rotation rate source instead of its valid flag.
+- All datasets now get updated during pointing mode, even if the strategy is a fault one.
+
 # [v7.5.3] 2023-12-19

 ## Fixed
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -10,8 +10,8 @@
 cmake_minimum_required(VERSION 3.13)

 set(OBSW_VERSION_MAJOR 7)
-set(OBSW_VERSION_MINOR 5)
-set(OBSW_VERSION_REVISION 3)
+set(OBSW_VERSION_MINOR 6)
+set(OBSW_VERSION_REVISION 0)

 # set(CMAKE_VERBOSE TRUE)

--- a/bsp_hosted/fsfwconfig/events/translateEvents.cpp
+++ b/bsp_hosted/fsfwconfig/events/translateEvents.cpp
@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 318 translations.
+ * @brief    Auto-generated event translation file. Contains 319 translations.
 * @details
- * Generated on: 2023-12-13 11:29:45
+ * Generated on: 2024-01-30 09:10:05
 */
 #include "translateEvents.h"

@ -94,7 +94,7 @@ const char *FILESTORE_ERROR_STRING = "FILESTORE_ERROR";
 const char *FILENAME_TOO_LARGE_ERROR_STRING = "FILENAME_TOO_LARGE_ERROR";
 const char *HANDLING_CFDP_REQUEST_FAILED_STRING = "HANDLING_CFDP_REQUEST_FAILED";
 const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
-const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
+const char *RATE_RECOVERY_STRING = "RATE_RECOVERY";
 const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
 const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
 const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY";
@ -103,6 +103,7 @@ const char *PTG_CTRL_NO_ATTITUDE_INFORMATION_STRING = "PTG_CTRL_NO_ATTITUDE_INFO
 const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
 const char *TLE_TOO_OLD_STRING = "TLE_TOO_OLD";
 const char *TLE_FILE_READ_FAILED_STRING = "TLE_FILE_READ_FAILED";
+const char *PTG_RATE_VIOLATION_STRING = "PTG_RATE_VIOLATION";
 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";
@ -505,7 +506,7 @@ const char *translateEvents(Event event) {
    case (11200):
      return SAFE_RATE_VIOLATION_STRING;
    case (11201):
-      return SAFE_RATE_RECOVERY_STRING;
+      return RATE_RECOVERY_STRING;
    case (11202):
      return MULTIPLE_RW_INVALID_STRING;
    case (11203):
@ -522,6 +523,8 @@ const char *translateEvents(Event event) {
      return TLE_TOO_OLD_STRING;
    case (11209):
      return TLE_FILE_READ_FAILED_STRING;
+    case (11210):
+      return PTG_RATE_VIOLATION_STRING;
    case (11300):
      return SWITCH_CMD_SENT_STRING;
    case (11301):
--- a/bsp_hosted/fsfwconfig/objects/translateObjects.cpp
+++ b/bsp_hosted/fsfwconfig/objects/translateObjects.cpp
@ -2,7 +2,7 @@
 * @brief  Auto-generated object translation file.
 * @details
 * Contains 175 translations.
- * Generated on: 2023-12-13 11:29:45
+ * Generated on: 2024-01-30 09:10:05
 */
 #include "translateObjects.h"

--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit e64e8b274d436502d5c5b87865b9006e52e4b1aa
+Subproject commit b5e7179af1da085b9be598b4897f2664012781af
--- a/generators/bsp_hosted_events.csv
+++ b/generators/bsp_hosted_events.csv
@ -88,7 +88,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 10804;0x2a34;FILENAME_TOO_LARGE_ERROR;LOW;P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name;fsfw/src/fsfw/cfdp/handler/defs.h
 10805;0x2a35;HANDLING_CFDP_REQUEST_FAILED;LOW;CFDP request handling failed. P2: Returncode.;fsfw/src/fsfw/cfdp/handler/defs.h
 11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;The limits for the rotation in safe mode were violated.;mission/acs/defs.h
-11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;The system has recovered from a safe rate rotation violation.;mission/acs/defs.h
+11201;0x2bc1;RATE_RECOVERY;MEDIUM;The system has recovered from a rate rotation violation.;mission/acs/defs.h
 11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;Multiple RWs are invalid, uncommandable and therefore higher ACS modes cannot be maintained.;mission/acs/defs.h
 11203;0x2bc3;MEKF_INVALID_INFO;INFO;MEKF was not able to compute a solution. P1: MEKF state on exit;mission/acs/defs.h
 11204;0x2bc4;MEKF_RECOVERY;INFO;MEKF is able to compute a solution again.;mission/acs/defs.h
@ -97,6 +97,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11207;0x2bc7;SAFE_MODE_CONTROLLER_FAILURE;HIGH;The ACS safe mode controller was not able to compute a solution and has failed. P1: Missing information about magnetic field, P2: Missing information about rotational rate;mission/acs/defs.h
 11208;0x2bc8;TLE_TOO_OLD;INFO;The TLE for the SGP4 Propagator has become too old.;mission/acs/defs.h
 11209;0x2bc9;TLE_FILE_READ_FAILED;LOW;The TLE could not be read from the filesystem.;mission/acs/defs.h
+11210;0x2bca;PTG_RATE_VIOLATION;MEDIUM;The limits for the rotation in pointing mode were violated.;mission/acs/defs.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/power/defs.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/power/defs.h
 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/power/defs.h
--- a/generators/bsp_hosted_returnvalues.csv
+++ b/generators/bsp_hosted_returnvalues.csv
@ -454,6 +454,12 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x5208;IMTQ_CmdErrUnknown;No description;8;IMTQ_HANDLER;mission/acs/imtqHelpers.h
 0x5209;IMTQ_StartupCfgError;No description;9;IMTQ_HANDLER;mission/acs/imtqHelpers.h
 0x520a;IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;10;IMTQ_HANDLER;mission/acs/imtqHelpers.h
+0x53a0;RWHA_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;RW_HANDLER;mission/acs/RwHandler.h
+0x53a1;RWHA_InvalidRampTime;Action Message with invalid ramp time was received.;161;RW_HANDLER;mission/acs/RwHandler.h
+0x53a2;RWHA_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;RW_HANDLER;mission/acs/RwHandler.h
+0x53a3;RWHA_ExecutionFailed;Command execution failed;163;RW_HANDLER;mission/acs/RwHandler.h
+0x53a4;RWHA_CrcError;Reaction wheel reply has invalid crc;164;RW_HANDLER;mission/acs/RwHandler.h
+0x53a5;RWHA_ValueNotRead;No description;165;RW_HANDLER;mission/acs/RwHandler.h
 0x53b0;RWHA_SpiWriteFailure;No description;176;RW_HANDLER;mission/acs/rwHelpers.h
 0x53b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;177;RW_HANDLER;mission/acs/rwHelpers.h
 0x53b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;178;RW_HANDLER;mission/acs/rwHelpers.h
@ -487,12 +493,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x54b6;STRH_StartrackerAlreadyBooted;Star tracker is already in firmware mode;182;STR_HANDLER;mission/acs/str/StarTrackerHandler.h
 0x54b7;STRH_StartrackerNotRunningFirmware;Star tracker must be in firmware mode to run this command;183;STR_HANDLER;mission/acs/str/StarTrackerHandler.h
 0x54b8;STRH_StartrackerNotRunningBootloader;Star tracker must be in bootloader mode to run this command;184;STR_HANDLER;mission/acs/str/StarTrackerHandler.h
-0x59a0;SUSS_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;SUS_HANDLER;mission/acs/RwHandler.h
-0x59a1;SUSS_InvalidRampTime;Action Message with invalid ramp time was received.;161;SUS_HANDLER;mission/acs/RwHandler.h
-0x59a2;SUSS_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;SUS_HANDLER;mission/acs/RwHandler.h
-0x59a3;SUSS_ExecutionFailed;Command execution failed;163;SUS_HANDLER;mission/acs/RwHandler.h
-0x59a4;SUSS_CrcError;Reaction wheel reply has invalid crc;164;SUS_HANDLER;mission/acs/RwHandler.h
-0x59a5;SUSS_ValueNotRead;No description;165;SUS_HANDLER;mission/acs/RwHandler.h
+0x59a0;SUSS_ErrorUnlockMutex;No description;160;SUS_HANDLER;mission/acs/archive/LegacySusHandler.h
+0x59a1;SUSS_ErrorLockMutex;No description;161;SUS_HANDLER;mission/acs/archive/LegacySusHandler.h
 0x5e00;GOMS_PacketTooLong;No description;0;GOM_SPACE_HANDLER;mission/power/GomspaceDeviceHandler.h
 0x5e01;GOMS_InvalidTableId;No description;1;GOM_SPACE_HANDLER;mission/power/GomspaceDeviceHandler.h
 0x5e02;GOMS_InvalidAddress;No description;2;GOM_SPACE_HANDLER;mission/power/GomspaceDeviceHandler.h
@ -509,9 +511,11 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x67a2;SADPL_MainSwitchTimeoutFailure;No description;162;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
 0x67a3;SADPL_SwitchingDeplSa1Failed;No description;163;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
 0x67a4;SADPL_SwitchingDeplSa2Failed;No description;164;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
-0x6a00;ACSCTRL_FileDeletionFailed;File deletion failed and at least one file is still existent.;0;ACS_CTRL;mission/controller/AcsController.h
-0x6a01;ACSCTRL_WriteFileFailed;Writing the TLE to the file has failed.;1;ACS_CTRL;mission/controller/AcsController.h
-0x6a02;ACSCTRL_ReadFileFailed;Reading the TLE to the file has failed.;2;ACS_CTRL;mission/controller/AcsController.h
+0x6aa0;ACSCTRL_FileDeletionFailed;File deletion failed and at least one file is still existent.;160;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
+0x6aa1;ACSCTRL_WriteFileFailed;Writing the TLE to the file has failed.;161;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
+0x6aa2;ACSCTRL_ReadFileFailed;Reading the TLE to the file has failed.;162;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
+0x6aa3;ACSCTRL_SingleRwUnavailable;A single RW has failed.;163;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
+0x6aa4;ACSCTRL_MultipleRwUnavailable;Multiple RWs have failed.;164;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
 0x6b02;ACSMEKF_MekfUninitialized;No description;2;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
 0x6b03;ACSMEKF_MekfNoGyrData;No description;3;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
 0x6b04;ACSMEKF_MekfNoModelVectors;No description;4;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
--- a/generators/bsp_q7s_events.csv
+++ b/generators/bsp_q7s_events.csv
@ -88,7 +88,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 10804;0x2a34;FILENAME_TOO_LARGE_ERROR;LOW;P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name;fsfw/src/fsfw/cfdp/handler/defs.h
 10805;0x2a35;HANDLING_CFDP_REQUEST_FAILED;LOW;CFDP request handling failed. P2: Returncode.;fsfw/src/fsfw/cfdp/handler/defs.h
 11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;The limits for the rotation in safe mode were violated.;mission/acs/defs.h
-11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;The system has recovered from a safe rate rotation violation.;mission/acs/defs.h
+11201;0x2bc1;RATE_RECOVERY;MEDIUM;The system has recovered from a rate rotation violation.;mission/acs/defs.h
 11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;Multiple RWs are invalid, uncommandable and therefore higher ACS modes cannot be maintained.;mission/acs/defs.h
 11203;0x2bc3;MEKF_INVALID_INFO;INFO;MEKF was not able to compute a solution. P1: MEKF state on exit;mission/acs/defs.h
 11204;0x2bc4;MEKF_RECOVERY;INFO;MEKF is able to compute a solution again.;mission/acs/defs.h
@ -97,6 +97,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11207;0x2bc7;SAFE_MODE_CONTROLLER_FAILURE;HIGH;The ACS safe mode controller was not able to compute a solution and has failed. P1: Missing information about magnetic field, P2: Missing information about rotational rate;mission/acs/defs.h
 11208;0x2bc8;TLE_TOO_OLD;INFO;The TLE for the SGP4 Propagator has become too old.;mission/acs/defs.h
 11209;0x2bc9;TLE_FILE_READ_FAILED;LOW;The TLE could not be read from the filesystem.;mission/acs/defs.h
+11210;0x2bca;PTG_RATE_VIOLATION;MEDIUM;The limits for the rotation in pointing mode were violated.;mission/acs/defs.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/power/defs.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/power/defs.h
 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/power/defs.h
--- a/generators/bsp_q7s_returnvalues.csv
+++ b/generators/bsp_q7s_returnvalues.csv
@ -454,6 +454,12 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x5208;IMTQ_CmdErrUnknown;No description;8;IMTQ_HANDLER;mission/acs/imtqHelpers.h
 0x5209;IMTQ_StartupCfgError;No description;9;IMTQ_HANDLER;mission/acs/imtqHelpers.h
 0x520a;IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;10;IMTQ_HANDLER;mission/acs/imtqHelpers.h
+0x53a0;RWHA_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;RW_HANDLER;mission/acs/RwHandler.h
+0x53a1;RWHA_InvalidRampTime;Action Message with invalid ramp time was received.;161;RW_HANDLER;mission/acs/RwHandler.h
+0x53a2;RWHA_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;RW_HANDLER;mission/acs/RwHandler.h
+0x53a3;RWHA_ExecutionFailed;Command execution failed;163;RW_HANDLER;mission/acs/RwHandler.h
+0x53a4;RWHA_CrcError;Reaction wheel reply has invalid crc;164;RW_HANDLER;mission/acs/RwHandler.h
+0x53a5;RWHA_ValueNotRead;No description;165;RW_HANDLER;mission/acs/RwHandler.h
 0x53b0;RWHA_SpiWriteFailure;No description;176;RW_HANDLER;mission/acs/rwHelpers.h
 0x53b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;177;RW_HANDLER;mission/acs/rwHelpers.h
 0x53b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;178;RW_HANDLER;mission/acs/rwHelpers.h
@ -499,12 +505,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x58a1;PLSPVhLP_ProcessTerminated;Process has been terminated by command;161;PLOC_SUPV_HELPER;linux/payload/PlocSupvUartMan.h
 0x58a2;PLSPVhLP_PathNotExists;Received command with invalid pathname;162;PLOC_SUPV_HELPER;linux/payload/PlocSupvUartMan.h
 0x58a3;PLSPVhLP_EventBufferReplyInvalidApid;Expected event buffer TM but received space packet with other APID;163;PLOC_SUPV_HELPER;linux/payload/PlocSupvUartMan.h
-0x59a0;SUSS_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;SUS_HANDLER;mission/acs/RwHandler.h
-0x59a1;SUSS_InvalidRampTime;Action Message with invalid ramp time was received.;161;SUS_HANDLER;mission/acs/RwHandler.h
-0x59a2;SUSS_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;SUS_HANDLER;mission/acs/RwHandler.h
-0x59a3;SUSS_ExecutionFailed;Command execution failed;163;SUS_HANDLER;mission/acs/RwHandler.h
-0x59a4;SUSS_CrcError;Reaction wheel reply has invalid crc;164;SUS_HANDLER;mission/acs/RwHandler.h
-0x59a5;SUSS_ValueNotRead;No description;165;SUS_HANDLER;mission/acs/RwHandler.h
+0x59a0;SUSS_ErrorUnlockMutex;No description;160;SUS_HANDLER;mission/acs/archive/LegacySusHandler.h
+0x59a1;SUSS_ErrorLockMutex;No description;161;SUS_HANDLER;mission/acs/archive/LegacySusHandler.h
 0x5aa0;IPCI_PapbBusy;No description;160;CCSDS_IP_CORE_BRIDGE;linux/ipcore/PapbVcInterface.h
 0x5ba0;PTME_UnknownVcId;No description;160;PTME;linux/ipcore/Ptme.h
 0x5d01;STRHLP_SdNotMounted;SD card specified in path string not mounted;1;STR_HELPER;linux/acs/StrComHandler.h
@ -593,9 +595,11 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x69b5;SPVRTVIF_SupvHelperExecuting;Supervisor helper task ist currently executing a command (wait until helper tas has finished or interrupt by sending the terminate command);181;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
 0x69c0;SPVRTVIF_BufTooSmall;No description;192;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
 0x69c1;SPVRTVIF_NoReplyTimeout;No description;193;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
-0x6a00;ACSCTRL_FileDeletionFailed;File deletion failed and at least one file is still existent.;0;ACS_CTRL;mission/controller/AcsController.h
-0x6a01;ACSCTRL_WriteFileFailed;Writing the TLE to the file has failed.;1;ACS_CTRL;mission/controller/AcsController.h
-0x6a02;ACSCTRL_ReadFileFailed;Reading the TLE to the file has failed.;2;ACS_CTRL;mission/controller/AcsController.h
+0x6aa0;ACSCTRL_FileDeletionFailed;File deletion failed and at least one file is still existent.;160;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
+0x6aa1;ACSCTRL_WriteFileFailed;Writing the TLE to the file has failed.;161;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
+0x6aa2;ACSCTRL_ReadFileFailed;Reading the TLE to the file has failed.;162;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
+0x6aa3;ACSCTRL_SingleRwUnavailable;A single RW has failed.;163;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
+0x6aa4;ACSCTRL_MultipleRwUnavailable;Multiple RWs have failed.;164;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
 0x6b02;ACSMEKF_MekfUninitialized;No description;2;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
 0x6b03;ACSMEKF_MekfNoGyrData;No description;3;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
 0x6b04;ACSMEKF_MekfNoModelVectors;No description;4;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
--- a/generators/events/translateEvents.cpp
+++ b/generators/events/translateEvents.cpp
@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 318 translations.
+ * @brief    Auto-generated event translation file. Contains 319 translations.
 * @details
- * Generated on: 2023-12-13 11:29:45
+ * Generated on: 2024-01-30 09:10:05
 */
 #include "translateEvents.h"

@ -94,7 +94,7 @@ const char *FILESTORE_ERROR_STRING = "FILESTORE_ERROR";
 const char *FILENAME_TOO_LARGE_ERROR_STRING = "FILENAME_TOO_LARGE_ERROR";
 const char *HANDLING_CFDP_REQUEST_FAILED_STRING = "HANDLING_CFDP_REQUEST_FAILED";
 const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
-const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
+const char *RATE_RECOVERY_STRING = "RATE_RECOVERY";
 const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
 const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
 const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY";
@ -103,6 +103,7 @@ const char *PTG_CTRL_NO_ATTITUDE_INFORMATION_STRING = "PTG_CTRL_NO_ATTITUDE_INFO
 const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
 const char *TLE_TOO_OLD_STRING = "TLE_TOO_OLD";
 const char *TLE_FILE_READ_FAILED_STRING = "TLE_FILE_READ_FAILED";
+const char *PTG_RATE_VIOLATION_STRING = "PTG_RATE_VIOLATION";
 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";
@ -505,7 +506,7 @@ const char *translateEvents(Event event) {
    case (11200):
      return SAFE_RATE_VIOLATION_STRING;
    case (11201):
-      return SAFE_RATE_RECOVERY_STRING;
+      return RATE_RECOVERY_STRING;
    case (11202):
      return MULTIPLE_RW_INVALID_STRING;
    case (11203):
@ -522,6 +523,8 @@ const char *translateEvents(Event event) {
      return TLE_TOO_OLD_STRING;
    case (11209):
      return TLE_FILE_READ_FAILED_STRING;
+    case (11210):
+      return PTG_RATE_VIOLATION_STRING;
    case (11300):
      return SWITCH_CMD_SENT_STRING;
    case (11301):
--- a/generators/objects/translateObjects.cpp
+++ b/generators/objects/translateObjects.cpp
@ -2,7 +2,7 @@
 * @brief  Auto-generated object translation file.
 * @details
 * Contains 179 translations.
- * Generated on: 2023-12-13 11:29:45
+ * Generated on: 2024-01-30 09:10:05
 */
 #include "translateObjects.h"

--- a/linux/fsfwconfig/events/translateEvents.cpp
+++ b/linux/fsfwconfig/events/translateEvents.cpp
@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 318 translations.
+ * @brief    Auto-generated event translation file. Contains 319 translations.
 * @details
- * Generated on: 2023-12-13 11:29:45
+ * Generated on: 2024-01-30 09:10:05
 */
 #include "translateEvents.h"

@ -94,7 +94,7 @@ const char *FILESTORE_ERROR_STRING = "FILESTORE_ERROR";
 const char *FILENAME_TOO_LARGE_ERROR_STRING = "FILENAME_TOO_LARGE_ERROR";
 const char *HANDLING_CFDP_REQUEST_FAILED_STRING = "HANDLING_CFDP_REQUEST_FAILED";
 const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
-const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
+const char *RATE_RECOVERY_STRING = "RATE_RECOVERY";
 const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
 const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
 const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY";
@ -103,6 +103,7 @@ const char *PTG_CTRL_NO_ATTITUDE_INFORMATION_STRING = "PTG_CTRL_NO_ATTITUDE_INFO
 const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
 const char *TLE_TOO_OLD_STRING = "TLE_TOO_OLD";
 const char *TLE_FILE_READ_FAILED_STRING = "TLE_FILE_READ_FAILED";
+const char *PTG_RATE_VIOLATION_STRING = "PTG_RATE_VIOLATION";
 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";
@ -505,7 +506,7 @@ const char *translateEvents(Event event) {
    case (11200):
      return SAFE_RATE_VIOLATION_STRING;
    case (11201):
-      return SAFE_RATE_RECOVERY_STRING;
+      return RATE_RECOVERY_STRING;
    case (11202):
      return MULTIPLE_RW_INVALID_STRING;
    case (11203):
@ -522,6 +523,8 @@ const char *translateEvents(Event event) {
      return TLE_TOO_OLD_STRING;
    case (11209):
      return TLE_FILE_READ_FAILED_STRING;
+    case (11210):
+      return PTG_RATE_VIOLATION_STRING;
    case (11300):
      return SWITCH_CMD_SENT_STRING;
    case (11301):
--- a/linux/fsfwconfig/objects/translateObjects.cpp
+++ b/linux/fsfwconfig/objects/translateObjects.cpp
@ -2,7 +2,7 @@
 * @brief  Auto-generated object translation file.
 * @details
 * Contains 179 translations.
- * Generated on: 2023-12-13 11:29:45
+ * Generated on: 2024-01-30 09:10:05
 */
 #include "translateObjects.h"

--- a/linux/payload/FreshSupvHandler.cpp
+++ b/linux/payload/FreshSupvHandler.cpp
@ -1115,7 +1115,8 @@ void FreshSupvHandler::handleEvent(EventMessage* eventMessage) {
        if (not isCommandAlreadyActive(supv::SHUTDOWN_MPSOC)) {
          CommandMessage actionMsg;
          ActionMessage::setCommand(&actionMsg, supv::SHUTDOWN_MPSOC, store_address_t::invalid());
-          result = messageQueue->sendMessage(getCommandQueue(), &actionMsg);
+          result = messageQueue->sendMessageFrom(getCommandQueue(), &actionMsg,
+                                                 MessageQueueIF::NO_QUEUE);
          if (result != returnvalue::OK) {
            triggerEvent(supv::SUPV_MPSOC_SHUTDOWN_BUILD_FAILED);
            sif::warning << "PlocSupervisorHandler::handleEvent: Failed to build MPSoC shutdown "
--- a/linux/payload/PlocMpsocHandler.cpp
+++ b/linux/payload/PlocMpsocHandler.cpp
@ -7,6 +7,7 @@
 #include "OBSWConfig.h"
 #include "fsfw/datapool/PoolReadGuard.h"
 #include "fsfw/globalfunctions/CRC.h"
+#include "fsfw/parameters/HasParametersIF.h"

 PlocMpsocHandler::PlocMpsocHandler(object_id_t objectId, object_id_t uartComIFid,
                                   CookieIF* comCookie, PlocMpsocSpecialComHelper* plocMPSoCHelper,
@ -1395,6 +1396,9 @@ bool PlocMpsocHandler::handleHwStartup() {
  return true;
 #endif
  if (powerState == PowerState::IDLE) {
+    if (skipSupvCommandingToOn) {
+      powerState = PowerState::DONE;
+    } else {
      if (supv::SUPV_ON) {
        commandActionHelper.commandAction(supervisorHandler, supv::START_MPSOC);
        supvTransitionCd.resetTimer();
@ -1405,6 +1409,7 @@ bool PlocMpsocHandler::handleHwStartup() {
        setMode(MODE_OFF);
      }
    }
+  }
  if (powerState == PowerState::SUPV_FAILED) {
    setMode(MODE_OFF);
    powerState = PowerState::IDLE;
@ -1532,3 +1537,20 @@ ReturnValue_t PlocMpsocHandler::checkModeCommand(Mode_t commandedMode, Submode_t
  }
  return DeviceHandlerBase::checkModeCommand(commandedMode, commandedSubmode, msToReachTheMode);
 }
+
+ReturnValue_t PlocMpsocHandler::getParameter(uint8_t domainId, uint8_t uniqueId,
+                                             ParameterWrapper* parameterWrapper,
+                                             const ParameterWrapper* newValues,
+                                             uint16_t startAtIndex) {
+  if (uniqueId == mpsoc::ParamId::SKIP_SUPV_ON_COMMANDING) {
+    uint8_t value = 0;
+    newValues->getElement(&value);
+    if (value > 1) {
+      return HasParametersIF::INVALID_VALUE;
+    }
+    parameterWrapper->set(skipSupvCommandingToOn);
+    return returnvalue::OK;
+  }
+  return DeviceHandlerBase::getParameter(domainId, uniqueId, parameterWrapper, newValues,
+                                         startAtIndex);
+}
--- a/linux/payload/PlocMpsocHandler.h
+++ b/linux/payload/PlocMpsocHandler.h
@ -201,6 +201,8 @@ class PlocMpsocHandler : public DeviceHandlerBase, public CommandsActionsIF {

  PowerState powerState = PowerState::IDLE;

+  uint8_t skipSupvCommandingToOn = false;
+
  /**
   * @brief   Handles events received from the PLOC MPSoC helper
   */
@ -316,6 +318,9 @@ class PlocMpsocHandler : public DeviceHandlerBase, public CommandsActionsIF {
  pwrctrl::EnablePl enablePl = pwrctrl::EnablePl(objects::POWER_CONTROLLER);
  ReturnValue_t checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
                                 uint32_t* msToReachTheMode) override;
+
+  ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper* parameterWrapper,
+                             const ParameterWrapper* newValues, uint16_t startAtIndex) override;
 };

 #endif /* BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_ */
--- a/linux/payload/PlocSupvUartMan.cpp
+++ b/linux/payload/PlocSupvUartMan.cpp
@ -945,15 +945,7 @@ ReturnValue_t PlocSupvUartManager::handleRunningLongerRequest() {
      break;
    }
    case Request::REQUEST_EVENT_BUFFER: {
-      //      result = performEventBufferRequest();
-      //      if (result == returnvalue::OK) {
-      //        triggerEvent(SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL, result);
-      //      } else if (result == PROCESS_TERMINATED) {
-      //        // Event already triggered
-      //        break;
-      //      } else {
-      //        triggerEvent(SUPV_EVENT_BUFFER_REQUEST_FAILED, result);
-      //      }
+      sif::error << "Requesting event buffer is not implemented" << std::endl;
      break;
    }
    case Request::DEFAULT: {
--- a/linux/payload/plocMpsocHelpers.h
+++ b/linux/payload/plocMpsocHelpers.h
@ -13,6 +13,8 @@

 namespace mpsoc {

+enum ParamId : uint8_t { SKIP_SUPV_ON_COMMANDING = 0x01 };
+
 enum FileAccessModes : uint8_t {
  // Opens a file, fails if the file does not exist.
  OPEN_EXISTING = 0x00,
--- a/linux/payload/plocSupvDefs.h
+++ b/linux/payload/plocSupvDefs.h
@ -49,7 +49,7 @@ static const Event SUPV_EXE_ACK_UNKNOWN_COMMAND = MAKE_EVENT(10, severity::LOW);
 extern std::atomic_bool SUPV_ON;
 static constexpr uint32_t INTER_COMMAND_DELAY = 20;
 static constexpr uint32_t BOOT_TIMEOUT_MS = 4000;
-static constexpr uint32_t MAX_TRANSITION_TIME_TO_ON_MS = BOOT_TIMEOUT_MS + 2000;
+static constexpr uint32_t MAX_TRANSITION_TIME_TO_ON_MS = BOOT_TIMEOUT_MS + 3000;
 static constexpr uint32_t MAX_TRANSITION_TIME_TO_OFF_MS = 1000;

 namespace result {
--- a/mission/acs/RwHandler.h
+++ b/mission/acs/RwHandler.h
@ -59,6 +59,7 @@ class RwHandler : public DeviceHandlerBase {
  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;

 private:
+  static const uint8_t INTERFACE_ID = CLASS_ID::RW_HANDLER;
  //! [EXPORT] : [COMMENT] Action Message with invalid speed was received. Valid speeds must be in
  //! the range of [-65000; 1000] or [1000; 65000]
  static const ReturnValue_t INVALID_SPEED = MAKE_RETURN_CODE(0xA0);
--- a/mission/acs/defs.h
+++ b/mission/acs/defs.h
@ -66,8 +66,10 @@ enum Source : uint8_t {
 static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
 //! [EXPORT] : [COMMENT] The limits for the rotation in safe mode were violated.
 static constexpr Event SAFE_RATE_VIOLATION = MAKE_EVENT(0, severity::MEDIUM);
-//! [EXPORT] : [COMMENT] The system has recovered from a safe rate rotation violation.
-static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
+//! [EXPORT] : [COMMENT] The limits for the rotation in pointing mode were violated.
+static constexpr Event PTG_RATE_VIOLATION = MAKE_EVENT(10, severity::MEDIUM);
+//! [EXPORT] : [COMMENT] The system has recovered from a rate rotation violation.
+static constexpr Event RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
 //! [EXPORT] : [COMMENT] Multiple RWs are invalid, uncommandable and therefore higher ACS modes
 //! cannot be maintained.
 static constexpr Event MULTIPLE_RW_INVALID = MAKE_EVENT(2, severity::HIGH);
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@ -49,7 +49,7 @@ ReturnValue_t AcsController::executeAction(ActionId_t actionId, MessageQueueId_t
    case SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL: {
      ReturnValue_t result = guidance.solarArrayDeploymentComplete();
      if (result == returnvalue::FAILED) {
-        return FILE_DELETION_FAILED;
+        return acsctrl::FILE_DELETION_FAILED;
      }
      return HasActionsIF::EXECUTION_FINISHED;
    }
@ -195,6 +195,8 @@ void AcsController::performAttitudeControl() {
    mekfInvalidFlag = false;
  }

+  handleDetumbling();
+
  switch (mode) {
    case acs::SAFE:
      switch (submode) {
@ -284,33 +286,6 @@ void AcsController::performSafe() {
  actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
                           acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs);

-  // detumble check and switch
-  if (acsParameters.safeModeControllerParameters.useMekf) {
-    if (attitudeEstimationData.satRotRateMekf.isValid() and
-        VectorOperations<double>::norm(attitudeEstimationData.satRotRateMekf.value, 3) >
-            acsParameters.detumbleParameter.omegaDetumbleStart) {
-      detumbleCounter++;
-    }
-  } else if (acsParameters.safeModeControllerParameters.useGyr) {
-    if (gyrDataProcessed.gyrVecTot.isValid() and
-        VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) >
-            acsParameters.detumbleParameter.omegaDetumbleStart) {
-      detumbleCounter++;
-    }
-  } else if (fusedRotRateData.rotRateTotal.isValid() and
-             VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) >
-                 acsParameters.detumbleParameter.omegaDetumbleStart) {
-    detumbleCounter++;
-  } else if (detumbleCounter > 0) {
-    detumbleCounter -= 1;
-  }
-  if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
-    detumbleCounter = 0;
-    // Triggers detumble mode transition in subsystem
-    triggerEvent(acs::SAFE_RATE_VIOLATION);
-    startTransition(mode, acs::SafeSubmode::DETUMBLE);
-  }
-
  updateCtrlValData(errAng, safeCtrlStrat);
  updateActuatorCmdData(cmdDipoleMtqs);
  commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2],
@ -346,33 +321,6 @@ void AcsController::performDetumble() {
  actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
                           acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs);

-  if (acsParameters.safeModeControllerParameters.useMekf) {
-    if (attitudeEstimationData.satRotRateMekf.isValid() and
-        VectorOperations<double>::norm(attitudeEstimationData.satRotRateMekf.value, 3) <
-            acsParameters.detumbleParameter.omegaDetumbleEnd) {
-      detumbleCounter++;
-    }
-  } else if (acsParameters.safeModeControllerParameters.useGyr) {
-    if (gyrDataProcessed.gyrVecTot.isValid() and
-        VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) <
-            acsParameters.detumbleParameter.omegaDetumbleEnd) {
-      detumbleCounter++;
-    }
-  } else if (fusedRotRateData.rotRateTotal.isValid() and
-             VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) <
-                 acsParameters.detumbleParameter.omegaDetumbleEnd) {
-    detumbleCounter++;
-  } else if (detumbleCounter > 0) {
-    detumbleCounter -= 1;
-  }
-
-  if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
-    detumbleCounter = 0;
-    // Triggers safe mode transition in subsystem
-    triggerEvent(acs::SAFE_RATE_RECOVERY);
-    startTransition(mode, acs::SafeSubmode::DEFAULT);
-  }
-
  updateCtrlValData(safeCtrlStrat);
  updateActuatorCmdData(cmdDipoleMtqs);
  commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2],
@ -403,14 +351,18 @@ void AcsController::performPointingCtrl() {
  acs::ControlModeStrategy ptgCtrlStrat = ptgCtrl.pointingCtrlStrategy(
      mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag, strValid,
      attitudeEstimationData.quatQuest.isValid(), fusedRotRateData.rotRateTotal.isValid(),
-      fusedRotRateData.rotRateSource.isValid(), useMekf);
+      fusedRotRateData.rotRateSource.value, useMekf);

-  if (ptgCtrlStrat == acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL) {
+  if (ptgCtrlStrat == acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL or
+      ptgCtrlStrat == acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL) {
    ptgCtrlLostCounter++;
    if (ptgCtrlLostCounter > acsParameters.onBoardParams.ptgCtrlLostTimer) {
      triggerEvent(acs::PTG_CTRL_NO_ATTITUDE_INFORMATION);
      ptgCtrlLostCounter = 0;
    }
+    guidance.resetValues();
+    updateCtrlValData(ptgCtrlStrat);
+    updateActuatorCmdData(ZERO_VEC4, cmdSpeedRws, ZERO_VEC3_INT16);
    commandActuators(0, 0, 0, acsParameters.magnetorquerParameter.torqueDuration, cmdSpeedRws[0],
                     cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
                     acsParameters.rwHandlingParameters.rampTime);
@ -437,15 +389,15 @@ void AcsController::performPointingCtrl() {
      std::memcpy(rotRateB, fusedRotRateData.rotRateTotal.value, sizeof(rotRateB));
      break;
    default:
-      sif::error << "AcsController: Invalid pointing mode strategy for performDetumble"
+      sif::error << "AcsController: Invalid pointing mode strategy for performPointingCtrl"
                 << std::endl;
      break;
  }

-  uint8_t enableAntiStiction = true;
+  bool allRwAvailable = true;
  double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
  ReturnValue_t result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
-  if (result == returnvalue::FAILED) {
+  if (result == acsctrl::MULTIPLE_RW_UNAVAILABLE) {
    if (multipleRwUnavailableCounter >=
        acsParameters.rwHandlingParameters.multipleRwInvalidTimeout) {
      triggerEvent(acs::MULTIPLE_RW_INVALID);
@ -453,8 +405,10 @@ void AcsController::performPointingCtrl() {
    }
    multipleRwUnavailableCounter++;
    return;
-  } else {
+  }
  multipleRwUnavailableCounter = 0;
+  if (result == acsctrl::SINGLE_RW_UNAVAILABLE) {
+    allRwAvailable = false;
  }

  // Variables required for guidance
@ -472,7 +426,7 @@ void AcsController::performPointingCtrl() {
                          errorSatRotRate, errorAngle);
      ptgCtrl.ptgLaw(&acsParameters.idleModeControllerParameters, errorQuat, errorSatRotRate,
                     *rwPseudoInv, torquePtgRws);
-      ptgCtrl.ptgNullspace(&acsParameters.idleModeControllerParameters,
+      ptgCtrl.ptgNullspace(allRwAvailable, &acsParameters.idleModeControllerParameters,
                           sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
                           sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
                           rwTrqNs);
@ -483,7 +437,6 @@ void AcsController::performPointingCtrl() {
          mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value,
          sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value,
          sensorValues.rw4Set.currSpeed.value, mgtDpDes);
-      enableAntiStiction = acsParameters.idleModeControllerParameters.enableAntiStiction;
      break;

    case acs::PTG_TARGET:
@ -496,7 +449,7 @@ void AcsController::performPointingCtrl() {
                          errorSatRotRate, errorAngle);
      ptgCtrl.ptgLaw(&acsParameters.targetModeControllerParameters, errorQuat, errorSatRotRate,
                     *rwPseudoInv, torquePtgRws);
-      ptgCtrl.ptgNullspace(&acsParameters.targetModeControllerParameters,
+      ptgCtrl.ptgNullspace(allRwAvailable, &acsParameters.targetModeControllerParameters,
                           sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
                           sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
                           rwTrqNs);
@ -507,7 +460,6 @@ void AcsController::performPointingCtrl() {
          mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value,
          sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value,
          sensorValues.rw4Set.currSpeed.value, mgtDpDes);
-      enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
      break;

    case acs::PTG_TARGET_GS:
@ -517,7 +469,7 @@ void AcsController::performPointingCtrl() {
                          errorSatRotRate, errorAngle);
      ptgCtrl.ptgLaw(&acsParameters.gsTargetModeControllerParameters, errorQuat, errorSatRotRate,
                     *rwPseudoInv, torquePtgRws);
-      ptgCtrl.ptgNullspace(&acsParameters.gsTargetModeControllerParameters,
+      ptgCtrl.ptgNullspace(allRwAvailable, &acsParameters.gsTargetModeControllerParameters,
                           sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
                           sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
                           rwTrqNs);
@ -528,7 +480,6 @@ void AcsController::performPointingCtrl() {
          mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value,
          sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value,
          sensorValues.rw4Set.currSpeed.value, mgtDpDes);
-      enableAntiStiction = acsParameters.gsTargetModeControllerParameters.enableAntiStiction;
      break;

    case acs::PTG_NADIR:
@ -541,7 +492,7 @@ void AcsController::performPointingCtrl() {
                          errorSatRotRate, errorAngle);
      ptgCtrl.ptgLaw(&acsParameters.nadirModeControllerParameters, errorQuat, errorSatRotRate,
                     *rwPseudoInv, torquePtgRws);
-      ptgCtrl.ptgNullspace(&acsParameters.nadirModeControllerParameters,
+      ptgCtrl.ptgNullspace(allRwAvailable, &acsParameters.nadirModeControllerParameters,
                           sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
                           sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
                           rwTrqNs);
@ -552,7 +503,6 @@ void AcsController::performPointingCtrl() {
          mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value,
          sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value,
          sensorValues.rw4Set.currSpeed.value, mgtDpDes);
-      enableAntiStiction = acsParameters.nadirModeControllerParameters.enableAntiStiction;
      break;

    case acs::PTG_INERTIAL:
@ -564,7 +514,7 @@ void AcsController::performPointingCtrl() {
                          errorSatRotRate, errorAngle);
      ptgCtrl.ptgLaw(&acsParameters.inertialModeControllerParameters, errorQuat, errorSatRotRate,
                     *rwPseudoInv, torquePtgRws);
-      ptgCtrl.ptgNullspace(&acsParameters.inertialModeControllerParameters,
+      ptgCtrl.ptgNullspace(allRwAvailable, &acsParameters.inertialModeControllerParameters,
                           sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
                           sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
                           rwTrqNs);
@ -575,7 +525,6 @@ void AcsController::performPointingCtrl() {
          mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value,
          sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value,
          sensorValues.rw4Set.currSpeed.value, mgtDpDes);
-      enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction;
      break;
    default:
      sif::error << "AcsController: Invalid mode for performPointingCtrl" << std::endl;
@ -587,13 +536,11 @@ void AcsController::performPointingCtrl() {
      sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
      acsParameters.onBoardParams.sampleTime, acsParameters.rwHandlingParameters.inertiaWheel,
      acsParameters.rwHandlingParameters.maxRwSpeed, torqueRws, cmdSpeedRws);
-  if (enableAntiStiction) {
  ptgCtrl.rwAntistiction(&sensorValues, cmdSpeedRws);
-  }
  actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
                           acsParameters.magnetorquerParameter.dipoleMax, mgtDpDes, cmdDipoleMtqs);

-  updateCtrlValData(targetQuat, errorQuat, errorAngle, targetSatRotRate);
+  updateCtrlValData(targetQuat, errorQuat, errorAngle, targetSatRotRate, ptgCtrlStrat);
  updateActuatorCmdData(torqueRws, cmdSpeedRws, cmdDipoleMtqs);
  commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2],
                   acsParameters.magnetorquerParameter.torqueDuration, cmdSpeedRws[0],
@ -601,6 +548,62 @@ void AcsController::performPointingCtrl() {
                   acsParameters.rwHandlingParameters.rampTime);
 }

+void AcsController::handleDetumbling() {
+  switch (detumbleState) {
+    case DetumbleState::NO_DETUMBLE:
+      if (fusedRotRateData.rotRateTotal.isValid() and
+          VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) >
+              acsParameters.detumbleParameter.omegaDetumbleStart) {
+        detumbleCounter++;
+      } else if (detumbleCounter > 0) {
+        detumbleCounter -= 1;
+      }
+      if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
+        if (mode == acs::AcsMode::SAFE) {
+          detumbleState = DetumbleState::DETUMBLE_FROM_SAFE;
+          break;
+        }
+        detumbleState = DetumbleState::DETUMBLE_FROM_PTG;
+      }
+      break;
+    case DetumbleState::DETUMBLE_FROM_PTG:
+      triggerEvent(acs::PTG_RATE_VIOLATION);
+      detumbleState = DetumbleState::PTG_TO_SAFE_TRANSITION;
+      break;
+    case DetumbleState::PTG_TO_SAFE_TRANSITION:
+      if (mode == acs::AcsMode::SAFE) {
+        detumbleState = DetumbleState::DETUMBLE_FROM_SAFE;
+      }
+      break;
+    case DetumbleState::DETUMBLE_FROM_SAFE:
+      detumbleCounter = 0;
+      // Triggers detumble mode transition in subsystem
+      triggerEvent(acs::SAFE_RATE_VIOLATION);
+      startTransition(mode, acs::SafeSubmode::DETUMBLE);
+      detumbleState = DetumbleState::IN_DETUMBLE;
+      break;
+    case DetumbleState::IN_DETUMBLE:
+      if (fusedRotRateData.rotRateTotal.isValid() and
+          VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) <
+              acsParameters.detumbleParameter.omegaDetumbleEnd) {
+        detumbleCounter++;
+      } else if (detumbleCounter > 0) {
+        detumbleCounter -= 1;
+      }
+
+      if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
+        detumbleCounter = 0;
+        // Triggers safe mode transition in subsystem
+        triggerEvent(acs::RATE_RECOVERY);
+        startTransition(mode, acs::SafeSubmode::DEFAULT);
+        detumbleState = DetumbleState::NO_DETUMBLE;
+      }
+      break;
+    default:
+      sif::error << "AcsController: Invalid DetumbleState" << std::endl;
+  }
+}
+
 void AcsController::safeCtrlFailure(uint8_t mgmFailure, uint8_t sensorFailure) {
  if (not safeCtrlFailureFlag) {
    triggerEvent(acs::SAFE_MODE_CONTROLLER_FAILURE, mgmFailure, sensorFailure);
@ -671,7 +674,7 @@ void AcsController::updateActuatorCmdData(const double *rwTargetTorque,
  }
 }

-void AcsController::updateCtrlValData(uint8_t safeModeStrat) {
+void AcsController::updateCtrlValData(acs::ControlModeStrategy ctrlStrat) {
  PoolReadGuard pg(&ctrlValData);
  if (pg.getReadResult() == returnvalue::OK) {
    std::memcpy(ctrlValData.tgtQuat.value, ZERO_VEC4, 4 * sizeof(double));
@ -682,13 +685,13 @@ void AcsController::updateCtrlValData(uint8_t safeModeStrat) {
    ctrlValData.errAng.setValid(false);
    std::memcpy(ctrlValData.tgtRotRate.value, ZERO_VEC3, 3 * sizeof(double));
    ctrlValData.tgtRotRate.setValid(false);
-    ctrlValData.safeStrat.value = safeModeStrat;
+    ctrlValData.safeStrat.value = ctrlStrat;
    ctrlValData.safeStrat.setValid(true);
    ctrlValData.setValidity(true, false);
  }
 }

-void AcsController::updateCtrlValData(double errAng, uint8_t safeModeStrat) {
+void AcsController::updateCtrlValData(double errAng, acs::ControlModeStrategy ctrlStrat) {
  PoolReadGuard pg(&ctrlValData);
  if (pg.getReadResult() == returnvalue::OK) {
    std::memcpy(ctrlValData.tgtQuat.value, ZERO_VEC4, 4 * sizeof(double));
@ -699,21 +702,22 @@ void AcsController::updateCtrlValData(double errAng, uint8_t safeModeStrat) {
    ctrlValData.errAng.setValid(true);
    std::memcpy(ctrlValData.tgtRotRate.value, ZERO_VEC3, 3 * sizeof(double));
    ctrlValData.tgtRotRate.setValid(false);
-    ctrlValData.safeStrat.value = safeModeStrat;
+    ctrlValData.safeStrat.value = ctrlStrat;
    ctrlValData.safeStrat.setValid(true);
    ctrlValData.setValidity(true, false);
  }
 }

 void AcsController::updateCtrlValData(const double *tgtQuat, const double *errQuat, double errAng,
-                                      const double *tgtRotRate) {
+                                      const double *tgtRotRate,
+                                      acs::ControlModeStrategy ctrlStrat) {
  PoolReadGuard pg(&ctrlValData);
  if (pg.getReadResult() == returnvalue::OK) {
    std::memcpy(ctrlValData.tgtQuat.value, tgtQuat, 4 * sizeof(double));
    std::memcpy(ctrlValData.errQuat.value, errQuat, 4 * sizeof(double));
    ctrlValData.errAng.value = errAng;
    std::memcpy(ctrlValData.tgtRotRate.value, tgtRotRate, 3 * sizeof(double));
-    ctrlValData.safeStrat.value = acs::ControlModeStrategy::CTRL_OFF;
+    ctrlValData.safeStrat.value = ctrlStrat;
    ctrlValData.setValidity(true, true);
  }
 }
@ -881,6 +885,25 @@ ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
 }

 void AcsController::modeChanged(Mode_t mode, Submode_t submode) {
+  if (mode == acs::AcsMode::SAFE) {
+    {
+      PoolReadGuard pg(&rw1SpeedSet);
+      rw1SpeedSet.setRwSpeed(0, 10);
+    }
+    {
+      PoolReadGuard pg(&rw2SpeedSet);
+      rw2SpeedSet.setRwSpeed(0, 10);
+    }
+    {
+      PoolReadGuard pg(&rw3SpeedSet);
+      rw3SpeedSet.setRwSpeed(0, 10);
+    }
+    {
+      PoolReadGuard pg(&rw4SpeedSet);
+      rw4SpeedSet.setRwSpeed(0, 10);
+    }
+  }
+  guidance.resetValues();
  return ExtendedControllerBase::modeChanged(mode, submode);
 }

@ -1077,7 +1100,7 @@ ReturnValue_t AcsController::writeTleToFs(const uint8_t *tle) {
    tleFile << "\n";
    tleFile.write(reinterpret_cast<const char *>(tle + 69), 69);
  } else {
-    return WRITE_FILE_FAILED;
+    return acsctrl::WRITE_FILE_FAILED;
  }
  tleFile.close();
  return returnvalue::OK;
@ -1101,12 +1124,12 @@ ReturnValue_t AcsController::readTleFromFs(uint8_t *line1, uint8_t *line2) {
      std::memcpy(line2, tleLine2.c_str(), 69);
    } else {
      triggerEvent(acs::TLE_FILE_READ_FAILED);
-      return READ_FILE_FAILED;
+      return acsctrl::READ_FILE_FAILED;
    }
    tleFile.close();
  } else {
    triggerEvent(acs::TLE_FILE_READ_FAILED);
-    return READ_FILE_FAILED;
+    return acsctrl::READ_FILE_FAILED;
  }
  return returnvalue::OK;
 }
--- a/mission/controller/AcsController.h
+++ b/mission/controller/AcsController.h
@ -46,12 +46,8 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
                             uint16_t startAtIndex) override;

 protected:
-  void performAttitudeControl();
-  void performSafe();
-  void performDetumble();
-  void performPointingCtrl();
-
 private:
+  static constexpr int16_t ZERO_VEC3_INT16[3] = {0, 0, 0};
  static constexpr double ZERO_VEC3[3] = {0, 0, 0};
  static constexpr double ZERO_VEC4[4] = {0, 0, 0, 0};
  static constexpr double RW_OFF_TORQUE[4] = {0, 0, 0, 0};
@ -100,6 +96,15 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
  enum class InternalState { STARTUP, INITIAL_DELAY, READY };
  InternalState internalState = InternalState::STARTUP;

+  enum class DetumbleState {
+    NO_DETUMBLE,
+    DETUMBLE_FROM_PTG,
+    PTG_TO_SAFE_TRANSITION,
+    DETUMBLE_FROM_SAFE,
+    IN_DETUMBLE
+  };
+  DetumbleState detumbleState = DetumbleState::NO_DETUMBLE;
+
  /** Device command IDs */
  static const DeviceCommandId_t SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL = 0x0;
  static const DeviceCommandId_t RESET_MEKF = 0x1;
@ -107,14 +112,6 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
  static const DeviceCommandId_t UPDATE_TLE = 0x3;
  static const DeviceCommandId_t READ_TLE = 0x4;

-  static const uint8_t INTERFACE_ID = CLASS_ID::ACS_CTRL;
-  //! [EXPORT] : [COMMENT] File deletion failed and at least one file is still existent.
-  static constexpr ReturnValue_t FILE_DELETION_FAILED = MAKE_RETURN_CODE(0);
-  //! [EXPORT] : [COMMENT] Writing the TLE to the file has failed.
-  static constexpr ReturnValue_t WRITE_FILE_FAILED = MAKE_RETURN_CODE(1);
-  //! [EXPORT] : [COMMENT] Reading the TLE to the file has failed.
-  static constexpr ReturnValue_t READ_FILE_FAILED = MAKE_RETURN_CODE(2);
-
  ReturnValue_t initialize() override;
  ReturnValue_t handleCommandMessage(CommandMessage* message) override;
  void performControlOperation() override;
@ -133,6 +130,13 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
  void modeChanged(Mode_t mode, Submode_t submode);
  void announceMode(bool recursive);

+  void performAttitudeControl();
+  void performSafe();
+  void performDetumble();
+  void performPointingCtrl();
+
+  void handleDetumbling();
+
  void safeCtrlFailure(uint8_t mgmFailure, uint8_t sensorFailure);

  ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
@ -143,10 +147,10 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
  void updateActuatorCmdData(const int16_t* mtqTargetDipole);
  void updateActuatorCmdData(const double* rwTargetTorque, const int32_t* rwTargetSpeed,
                             const int16_t* mtqTargetDipole);
-  void updateCtrlValData(uint8_t safeModeStrat);
-  void updateCtrlValData(double errAng, uint8_t safeModeStrat);
+  void updateCtrlValData(acs::ControlModeStrategy ctrlStrat);
+  void updateCtrlValData(double errAng, acs::ControlModeStrategy ctrlStrat);
  void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng,
-                         const double* tgtRotRate);
+                         const double* tgtRotRate, acs::ControlModeStrategy cStrat);

  ReturnValue_t updateTle(const uint8_t* line1, const uint8_t* line2, bool fromFile);
  ReturnValue_t writeTleToFs(const uint8_t* tle);
--- a/mission/controller/acs/AcsParameters.cpp
+++ b/mission/controller/acs/AcsParameters.cpp
@ -333,16 +333,16 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
          parameterWrapper->setMatrix(rwMatrices.pseudoInverse);
          break;
        case 0x2:
-          parameterWrapper->setMatrix(rwMatrices.without1);
+          parameterWrapper->setMatrix(rwMatrices.pseudoInverseWithoutRW1);
          break;
        case 0x3:
-          parameterWrapper->setMatrix(rwMatrices.without2);
+          parameterWrapper->setMatrix(rwMatrices.pseudoInverseWithoutRW2);
          break;
        case 0x4:
-          parameterWrapper->setMatrix(rwMatrices.without3);
+          parameterWrapper->setMatrix(rwMatrices.pseudoInverseWithoutRW3);
          break;
        case 0x5:
-          parameterWrapper->setMatrix(rwMatrices.without4);
+          parameterWrapper->setMatrix(rwMatrices.pseudoInverseWithoutRW4);
          break;
        case 0x6:
          parameterWrapper->setVector(rwMatrices.nullspaceVector);
@ -432,9 +432,6 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
          parameterWrapper->set(idleModeControllerParameters.desatOn);
          break;
        case 0x9:
-          parameterWrapper->set(idleModeControllerParameters.enableAntiStiction);
-          break;
-        case 0xA:
          parameterWrapper->set(idleModeControllerParameters.useMekf);
          break;
        default:
@ -471,42 +468,39 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
          parameterWrapper->set(targetModeControllerParameters.desatOn);
          break;
        case 0x9:
-          parameterWrapper->set(targetModeControllerParameters.enableAntiStiction);
-          break;
-        case 0xA:
          parameterWrapper->set(targetModeControllerParameters.useMekf);
          break;
-        case 0xB:
+        case 0xA:
          parameterWrapper->setVector(targetModeControllerParameters.refDirection);
          break;
-        case 0xC:
+        case 0xB:
          parameterWrapper->setVector(targetModeControllerParameters.refRotRate);
          break;
-        case 0xD:
+        case 0xC:
          parameterWrapper->setVector(targetModeControllerParameters.quatRef);
          break;
-        case 0xE:
+        case 0xD:
          parameterWrapper->set(targetModeControllerParameters.timeElapsedMax);
          break;
-        case 0xF:
+        case 0xE:
          parameterWrapper->set(targetModeControllerParameters.latitudeTgt);
          break;
-        case 0x10:
+        case 0xF:
          parameterWrapper->set(targetModeControllerParameters.longitudeTgt);
          break;
-        case 0x11:
+        case 0x10:
          parameterWrapper->set(targetModeControllerParameters.altitudeTgt);
          break;
-        case 0x12:
+        case 0x11:
          parameterWrapper->set(targetModeControllerParameters.avoidBlindStr);
          break;
-        case 0x13:
+        case 0x12:
          parameterWrapper->set(targetModeControllerParameters.blindAvoidStart);
          break;
-        case 0x14:
+        case 0x13:
          parameterWrapper->set(targetModeControllerParameters.blindAvoidStop);
          break;
-        case 0x15:
+        case 0x14:
          parameterWrapper->set(targetModeControllerParameters.blindRotRate);
          break;
        default:
@ -543,24 +537,21 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
          parameterWrapper->set(gsTargetModeControllerParameters.desatOn);
          break;
        case 0x9:
-          parameterWrapper->set(gsTargetModeControllerParameters.enableAntiStiction);
-          break;
-        case 0xA:
          parameterWrapper->set(gsTargetModeControllerParameters.useMekf);
          break;
-        case 0xB:
+        case 0xA:
          parameterWrapper->setVector(gsTargetModeControllerParameters.refDirection);
          break;
-        case 0xC:
+        case 0xB:
          parameterWrapper->set(gsTargetModeControllerParameters.timeElapsedMax);
          break;
-        case 0xD:
+        case 0xC:
          parameterWrapper->set(gsTargetModeControllerParameters.latitudeTgt);
          break;
-        case 0xE:
+        case 0xD:
          parameterWrapper->set(gsTargetModeControllerParameters.longitudeTgt);
          break;
-        case 0xF:
+        case 0xE:
          parameterWrapper->set(gsTargetModeControllerParameters.altitudeTgt);
          break;
        default:
@ -597,21 +588,18 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
          parameterWrapper->set(nadirModeControllerParameters.desatOn);
          break;
        case 0x9:
-          parameterWrapper->set(nadirModeControllerParameters.enableAntiStiction);
-          break;
-        case 0xA:
          parameterWrapper->set(nadirModeControllerParameters.useMekf);
          break;
-        case 0xB:
+        case 0xA:
          parameterWrapper->setVector(nadirModeControllerParameters.refDirection);
          break;
-        case 0xC:
+        case 0xB:
          parameterWrapper->setVector(nadirModeControllerParameters.quatRef);
          break;
-        case 0xD:
+        case 0xC:
          parameterWrapper->setVector(nadirModeControllerParameters.refRotRate);
          break;
-        case 0xE:
+        case 0xD:
          parameterWrapper->set(nadirModeControllerParameters.timeElapsedMax);
          break;
        default:
@ -648,18 +636,15 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
          parameterWrapper->set(inertialModeControllerParameters.desatOn);
          break;
        case 0x9:
-          parameterWrapper->set(inertialModeControllerParameters.enableAntiStiction);
-          break;
-        case 0xA:
          parameterWrapper->set(inertialModeControllerParameters.useMekf);
          break;
-        case 0xB:
+        case 0xA:
          parameterWrapper->setVector(inertialModeControllerParameters.tgtQuat);
          break;
-        case 0xC:
+        case 0xB:
          parameterWrapper->setVector(inertialModeControllerParameters.refRotRate);
          break;
-        case 0xD:
+        case 0xC:
          parameterWrapper->setVector(inertialModeControllerParameters.quatRef);
          break;
        default:
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@ -815,19 +815,19 @@ class AcsParameters : public HasParametersIF {
  } rwHandlingParameters;

  struct RwMatrices {
-    double alignmentMatrix[3][4] = {{0.9205, 0.0000, -0.9205, 0.0000},
-                                    {0.0000, -0.9205, 0.0000, 0.9205},
-                                    {0.3907, 0.3907, 0.3907, 0.3907}};
+    double alignmentMatrix[3][4] = {{-0.9205, 0.0000, 0.9205, 0.0000},
+                                    {0.0000, 0.9205, 0.0000, -0.9205},
+                                    {-0.3907, -0.3907, -0.3907, -0.3907}};
    double pseudoInverse[4][3] = {
-        {0.5432, 0, 0.6398}, {0, -0.5432, 0.6398}, {-0.5432, 0, 0.6398}, {0, 0.5432, 0.6398}};
-    double without1[4][3] = {
-        {0, 0, 0}, {0.5432, -0.5432, 1.2797}, {-1.0864, 0, 0}, {0.5432, 0.5432, 1.2797}};
-    double without2[4][3] = {
-        {0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 1.0864, 0}};
-    double without3[4][3] = {
-        {1.0864, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, 0.5432, 1.2797}};
-    double without4[4][3] = {
-        {0.5432, 0.5432, 1.2797}, {0, -1.0864, 0}, {-0.5432, 0.5432, 1.2797}, {0, 0, 0}};
+        {-0.5432, 0, -0.6399}, {0, 0.5432, -0.6399}, {0.5432, 0, -0.6399}, {0, -0.5432, -0.6399}};
+    double pseudoInverseWithoutRW1[4][3] = {
+        {0, 0, 0}, {-0.5432, 0.5432, -1.2798}, {1.0864, 0, 0}, {-0.5432, -0.5432, -1.2798}};
+    double pseudoInverseWithoutRW2[4][3] = {
+        {-0.5432, 0.5432, -1.2798}, {0, 0, 0}, {0.5432, 0.5432, -1.2798}, {0, -1.0864, 0}};
+    double pseudoInverseWithoutRW3[4][3] = {
+        {-1.0864, 0, 0}, {0.5432, 0.5432, -1.2798}, {0, 0, 0}, {0.5432, -0.5432, -1.2798}};
+    double pseudoInverseWithoutRW4[4][3] = {
+        {-0.5432, -0.5432, -1.2798}, {0, 1.0864, 0}, {0.5432, -0.5432, -1.2798}, {0, 0, 0}};
    double nullspaceVector[4] = {-1, 1, -1, 1};
  } rwMatrices;

@ -866,7 +866,6 @@ class AcsParameters : public HasParametersIF {
    double desatMomentumRef[3] = {0, 0, 0};
    double deSatGainFactor = 1000;
    uint8_t desatOn = true;
-    uint8_t enableAntiStiction = true;
    uint8_t useMekf = false;
  } pointingLawParameters;

--- a/mission/controller/acs/Guidance.cpp
+++ b/mission/controller/acs/Guidance.cpp
@ -1,15 +1,5 @@
 #include "Guidance.h"

-#include <fsfw/datapool/PoolReadGuard.h>
-#include <fsfw/globalfunctions/math/MatrixOperations.h>
-#include <fsfw/globalfunctions/math/QuaternionOperations.h>
-#include <fsfw/globalfunctions/math/VectorOperations.h>
-#include <mission/controller/acs/util/MathOperations.h>
-
-#include <cmath>
-#include <filesystem>
-#include <string>
-
 Guidance::Guidance(AcsParameters *acsParameters_) { acsParameters = acsParameters_; }

 Guidance::~Guidance() {}
@ -418,7 +408,9 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
                          double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3],
                          double errorQuat[4], double errorSatRotRate[3], double &errorAngle) {
  // First calculate error quaternion between current and target orientation
-  QuaternionOperations::multiply(currentQuat, targetQuat, errorQuat);
+  double invTargetQuat[4] = {0, 0, 0, 0};
+  QuaternionOperations::inverse(targetQuat, invTargetQuat);
+  QuaternionOperations::multiply(currentQuat, invTargetQuat, errorQuat);
  // Last calculate add rotation from reference quaternion
  QuaternionOperations::multiply(refQuat, errorQuat, errorQuat);
  // Keep scalar part of quaternion positive
@ -429,7 +421,11 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
  errorAngle = QuaternionOperations::getAngle(errorQuat, true);

  // Calculate error satellite rotational rate
-  // First combine the target and reference satellite rotational rates
+  // Convert target rotational rate into body RF
+  double errorQuatInv[4] = {0, 0, 0, 0}, targetSatRotRateB[3] = {0, 0, 0};
+  QuaternionOperations::inverse(errorQuat, errorQuatInv);
+  QuaternionOperations::multiplyVector(errorQuatInv, targetSatRotRate, targetSatRotRateB);
+  // Combine the target and reference satellite rotational rates
  double combinedRefSatRotRate[3] = {0, 0, 0};
  VectorOperations<double>::add(targetSatRotRate, refSatRotRate, combinedRefSatRotRate, 3);
  // Then subtract the combined required satellite rotational rates from the actual rate
@ -453,44 +449,16 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
 }

 void Guidance::targetRotationRate(const int8_t timeElapsedMax, const double timeDelta,
-                                  double quatInertialTarget[4], double *refSatRate) {
-  //-------------------------------------------------------------------------------------
-  //	Calculation of target rotation rate
-  //-------------------------------------------------------------------------------------
-  if (VectorOperations<double>::norm(savedQuaternion, 4) == 0) {
-    std::memcpy(savedQuaternion, quatInertialTarget, sizeof(savedQuaternion));
+                                  double quatIX[4], double *refSatRate) {
+  if (VectorOperations<double>::norm(quatIXprev, 4) == 0) {
+    std::memcpy(quatIXprev, quatIX, sizeof(quatIXprev));
  }
-  if (timeDelta < timeElapsedMax and timeDelta != 0.0) {
-    double q[4] = {0, 0, 0, 0}, qS[4] = {0, 0, 0, 0};
-    QuaternionOperations::inverse(quatInertialTarget, q);
-    QuaternionOperations::inverse(savedQuaternion, qS);
-    double qDiff[4] = {0, 0, 0, 0};
-    VectorOperations<double>::subtract(q, qS, qDiff, 4);
-    VectorOperations<double>::mulScalar(qDiff, 1. / timeDelta, qDiff, 4);
-
-    double tgtQuatVec[3] = {q[0], q[1], q[2]};
-    double qDiffVec[3] = {qDiff[0], qDiff[1], qDiff[2]};
-    double sum1[3] = {0, 0, 0}, sum2[3] = {0, 0, 0}, sum3[3] = {0, 0, 0}, sum[3] = {0, 0, 0};
-    VectorOperations<double>::cross(tgtQuatVec, qDiffVec, sum1);
-    VectorOperations<double>::mulScalar(tgtQuatVec, qDiff[3], sum2, 3);
-    VectorOperations<double>::mulScalar(qDiffVec, q[3], sum3, 3);
-    VectorOperations<double>::add(sum1, sum2, sum, 3);
-    VectorOperations<double>::subtract(sum, sum3, sum, 3);
-    double omegaRefNew[3] = {0, 0, 0};
-    VectorOperations<double>::mulScalar(sum, -2, omegaRefNew, 3);
-
-    VectorOperations<double>::mulScalar(omegaRefNew, 2, refSatRate, 3);
-    VectorOperations<double>::subtract(refSatRate, omegaRefSaved, refSatRate, 3);
-    omegaRefSaved[0] = omegaRefNew[0];
-    omegaRefSaved[1] = omegaRefNew[1];
-    omegaRefSaved[2] = omegaRefNew[2];
+  if (timeDelta != 0.0) {
+    QuaternionOperations::rotationFromQuaternions(quatIX, quatIXprev, timeDelta, refSatRate);
  } else {
-    refSatRate[0] = 0;
-    refSatRate[1] = 0;
-    refSatRate[2] = 0;
+    std::memcpy(refSatRate, ZERO_VEC3, 3 * sizeof(double));
  }
-
-  std::memcpy(savedQuaternion, quatInertialTarget, sizeof(savedQuaternion));
+  std::memcpy(quatIXprev, quatIX, sizeof(quatIXprev));
 }

 ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues,
@ -504,22 +472,27 @@ ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues,
    std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverse, 12 * sizeof(double));
    return returnvalue::OK;
  } else if (not rw1valid and rw2valid and rw3valid and rw4valid) {
-    std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without1, 12 * sizeof(double));
-    return returnvalue::OK;
+    std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverseWithoutRW1,
+                12 * sizeof(double));
+    return acsctrl::SINGLE_RW_UNAVAILABLE;
  } else if (rw1valid and not rw2valid and rw3valid and rw4valid) {
-    std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without2, 12 * sizeof(double));
-    return returnvalue::OK;
+    std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverseWithoutRW2,
+                12 * sizeof(double));
+    return acsctrl::SINGLE_RW_UNAVAILABLE;
  } else if (rw1valid and rw2valid and not rw3valid and rw4valid) {
-    std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without3, 12 * sizeof(double));
-    return returnvalue::OK;
+    std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverseWithoutRW3,
+                12 * sizeof(double));
+    return acsctrl::SINGLE_RW_UNAVAILABLE;
  } else if (rw1valid and rw2valid and rw3valid and not rw4valid) {
-    std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without4, 12 * sizeof(double));
-    return returnvalue::OK;
-  } else {
-    return returnvalue::FAILED;
+    std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverseWithoutRW4,
+                12 * sizeof(double));
+    return acsctrl::SINGLE_RW_UNAVAILABLE;
  }
+  return acsctrl::MULTIPLE_RW_UNAVAILABLE;
 }

+void Guidance::resetValues() { std::memcpy(quatIXprev, ZERO_VEC4, sizeof(quatIXprev)); }
+
 void Guidance::getTargetParamsSafe(double sunTargetSafe[3]) {
  std::error_code e;
  if (not std::filesystem::exists(SD_0_SKEWED_PTG_FILE, e) or
--- a/mission/controller/acs/Guidance.h
+++ b/mission/controller/acs/Guidance.h
@ -1,11 +1,19 @@
 #ifndef GUIDANCE_H_
 #define GUIDANCE_H_

+#include <fsfw/datapool/PoolReadGuard.h>
+#include <fsfw/globalfunctions/math/MatrixOperations.h>
+#include <fsfw/globalfunctions/math/QuaternionOperations.h>
+#include <fsfw/globalfunctions/math/VectorOperations.h>
+#include <mission/controller/acs/AcsParameters.h>
+#include <mission/controller/acs/SensorValues.h>
+#include <mission/controller/acs/util/MathOperations.h>
+#include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
 #include <time.h>

-#include "../controllerdefinitions/AcsCtrlDefinitions.h"
-#include "AcsParameters.h"
-#include "SensorValues.h"
+#include <cmath>
+#include <filesystem>
+#include <string>

 class Guidance {
 public:
@ -14,6 +22,7 @@ class Guidance {

  void getTargetParamsSafe(double sunTargetSafe[3]);
  ReturnValue_t solarArrayDeploymentComplete();
+  void resetValues();

  // Function to get the target quaternion and reference rotation rate from gps position and
  // position of the ground station
@ -59,9 +68,11 @@ class Guidance {
 private:
  const AcsParameters *acsParameters;

+  static constexpr double ZERO_VEC3[3] = {0, 0, 0};
+  static constexpr double ZERO_VEC4[4] = {0, 0, 0, 0};
+
  bool strBlindAvoidFlag = false;
-  double savedQuaternion[4] = {0, 0, 0, 0};
-  double omegaRefSaved[3] = {0, 0, 0};
+  double quatIXprev[4] = {0, 0, 0, 0};

  static constexpr char SD_0_SKEWED_PTG_FILE[] = "/mnt/sd0/conf/acsDeploymentConfirm";
  static constexpr char SD_1_SKEWED_PTG_FILE[] = "/mnt/sd1/conf/acsDeploymentConfirm";
--- a/mission/controller/acs/control/PtgCtrl.cpp
+++ b/mission/controller/acs/control/PtgCtrl.cpp
@ -21,9 +21,8 @@ acs::ControlModeStrategy PtgCtrl::pointingCtrlStrategy(
    return acs::ControlModeStrategy::PTGCTRL_STR;
  } else if (questValid and fusedRateValid and rotRateSource > acs::rotrate::Source::SUSMGM) {
    return acs::ControlModeStrategy::PTGCTRL_QUEST;
-  } else {
-    return acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL;
  }
+  return acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL;
 }

 void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters,
@ -40,7 +39,7 @@ void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters
  double qError[3] = {errorQuat[0], errorQuat[1], errorQuat[2]};

  double cInt = 2 * om * zeta;
-  double kInt = 2 * pow(om, 2);
+  double kInt = 2 * om * om;

  double qErrorLaw[3] = {0, 0, 0};

@ -112,9 +111,13 @@ void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters
  VectorOperations<double>::mulScalar(torqueRws, -1, torqueRws, 4);
 }

-void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters,
+void PtgCtrl::ptgNullspace(const bool allRwAvabilable,
+                           AcsParameters::PointingLawParameters *pointingLawParameters,
                           const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
                           const int32_t speedRw3, double *rwTrqNs) {
+  if (not allRwAvabilable) {
+    return;
+  }
  // concentrate RW speeds as vector and convert to double
  double speedRws[4] = {static_cast<double>(speedRw0), static_cast<double>(speedRw1),
                        static_cast<double>(speedRw2), static_cast<double>(speedRw3)};
@ -221,6 +224,8 @@ void PtgCtrl::rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpee
          }
        }
      }
+    } else {
+      rwCmdSpeeds[i] = 0;
    }
  }
 }
--- a/mission/controller/acs/control/PtgCtrl.h
+++ b/mission/controller/acs/control/PtgCtrl.h
@ -33,7 +33,8 @@ class PtgCtrl {
  void ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters, const double *qError,
              const double *deltaRate, const double *rwPseudoInv, double *torqueRws);

-  void ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters,
+  void ptgNullspace(const bool allRwAvabilable,
+                    AcsParameters::PointingLawParameters *pointingLawParameters,
                    const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
                    const int32_t speedRw3, double *rwTrqNs);

--- a/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
+++ b/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
@ -1,6 +1,7 @@
 #ifndef MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCTRLDEFINITIONS_H_
 #define MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCTRLDEFINITIONS_H_

+#include <common/config/eive/resultClassIds.h>
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/datapoollocal/localPoolDefinitions.h>

@ -8,6 +9,18 @@

 namespace acsctrl {

+static const uint8_t INTERFACE_ID = CLASS_ID::ACS_CTRL;
+//! [EXPORT] : [COMMENT] File deletion failed and at least one file is still existent.
+static constexpr ReturnValue_t FILE_DELETION_FAILED = MAKE_RETURN_CODE(0xA0);
+//! [EXPORT] : [COMMENT] Writing the TLE to the file has failed.
+static constexpr ReturnValue_t WRITE_FILE_FAILED = MAKE_RETURN_CODE(0xA1);
+//! [EXPORT] : [COMMENT] Reading the TLE to the file has failed.
+static constexpr ReturnValue_t READ_FILE_FAILED = MAKE_RETURN_CODE(0xA2);
+//! [EXPORT] : [COMMENT] A single RW has failed.
+static constexpr ReturnValue_t SINGLE_RW_UNAVAILABLE = MAKE_RETURN_CODE(0xA3);
+//! [EXPORT] : [COMMENT] Multiple RWs have failed.
+static constexpr ReturnValue_t MULTIPLE_RW_UNAVAILABLE = MAKE_RETURN_CODE(0xA4);
+
 enum SetIds : uint32_t {
  MGM_SENSOR_DATA,
  MGM_PROCESSED_DATA,
--- a/mission/power/PcduHandler.cpp
+++ b/mission/power/PcduHandler.cpp
@ -65,8 +65,8 @@ ReturnValue_t PcduHandler::performOperation(uint8_t counter) {
 ReturnValue_t PcduHandler::initialize() {
  ReturnValue_t result;

-  IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
-  if (IPCStore == nullptr) {
+  ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
+  if (ipcStore == nullptr) {
    return ObjectManagerIF::CHILD_INIT_FAILED;
  }

@ -162,10 +162,13 @@ void PcduHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSet
                                    sizeof(CCSDSTime::CDS_short), dataset);
  const uint8_t* packet_ptr = nullptr;
  size_t size = 0;
-  result = IPCStore->getData(storeId, &packet_ptr, &size);
+  result = ipcStore->getData(storeId, &packet_ptr, &size);
  if (result != returnvalue::OK) {
-    sif::error << "PCDUHandler::updateHkTableDataset: Failed to get data from IPCStore."
-               << std::endl;
+    sif::error << "PCDUHandler::updateHkTableDataset: Failed to get data from IPC store, result 0x"
+               << std::hex << std::setw(4) << std::setfill('0') << result << std::dec
+               << std::setfill(' ') << std::endl;
+    result = ipcStore->deleteData(storeId);
+    return;
  }
  result = packetUpdate.deSerialize(&packet_ptr, &size, SerializeIF::Endianness::MACHINE);
  if (result != returnvalue::OK) {
@ -173,7 +176,7 @@ void PcduHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSet
                  "in hk table dataset"
               << std::endl;
  }
-  result = IPCStore->deleteData(storeId);
+  result = ipcStore->deleteData(storeId);
  if (result != returnvalue::OK) {
    sif::error << "PCDUHandler::updateHkTableDataset: Failed to delete data in IPCStore"
               << std::endl;
@ -396,7 +399,7 @@ ReturnValue_t PcduHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onO
  setParamMessage.serialize(&commandPtr, &serializedLength, maxSize, SerializeIF::Endianness::BIG);

  store_address_t storeAddress;
-  result = IPCStore->addData(&storeAddress, command, sizeof(command));
+  result = ipcStore->addData(&storeAddress, command, sizeof(command));

  CommandMessage message;
  ActionMessage::setCommand(&message, GOMSPACE::PARAM_SET, storeAddress);
--- a/mission/power/PcduHandler.h
+++ b/mission/power/PcduHandler.h
@ -94,7 +94,7 @@ class PcduHandler : public PowerSwitchIF,
   * Pointer to the IPCStore.
   * This caches the pointer received from the objectManager in the constructor.
   */
-  StorageManagerIF* IPCStore = nullptr;
+  StorageManagerIF* ipcStore = nullptr;

  /**
   * Message queue to communicate with other objetcs. Used for example to receive
--- a/mission/system/EiveSystem.cpp
+++ b/mission/system/EiveSystem.cpp
@ -174,6 +174,7 @@ ReturnValue_t EiveSystem::initialize() {
  manager->subscribeToEvent(eventQueue->getId(), event::getEventId(pdec::INVALID_TC_FRAME));
  manager->subscribeToEvent(eventQueue->getId(), event::getEventId(power::POWER_LEVEL_LOW));
  manager->subscribeToEvent(eventQueue->getId(), event::getEventId(power::POWER_LEVEL_CRITICAL));
+  manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::PTG_RATE_VIOLATION));
  return Subsystem::initialize();
 }

@ -224,6 +225,16 @@ void EiveSystem::handleEventMessages() {
            }
            break;
          }
+          case acs::PTG_RATE_VIOLATION: {
+            CommandMessage msg;
+            HealthMessage::setHealthMessage(&msg, HealthMessage::HEALTH_SET, HasHealthIF::FAULTY);
+            ReturnValue_t result = MessageQueueSenderIF::sendMessage(
+                strQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
+            if (result != returnvalue::OK) {
+              sif::error << "EIVE System: Sending FAULTY command to STR Assembly failed"
+                         << std::endl;
+            }
+          }
        }
        break;
      default:
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 747ad34eec5baa5199de49a1330687508c991550
+Subproject commit d33013ed58131a69d09145af4f3c7a71766cebd3