# HG changeset patch
# User paul
# Date 2016-12-16 08:38:32
# Node ID 7f467c56a168323ae01ee8e1345dfc787f46ff6a
# Parent  ff57d1825f5428502d2421b4d1d2ccffa982e27f

compliance with ICD 4.3
project compatible with qmake-qt5
moving average updated and averages written in HK packets

diff --git a/.hgsubstate b/.hgsubstate
--- a/.hgsubstate
+++ b/.hgsubstate
@@ -1,2 +1,2 @@
 3081d1f9bb20b2b64a192585337a292a9804e0c5 LFR_basic-parameters
-94f0f2fccbcb8030d9437ffbb69ee0eefaaea188 header/lfr_common_headers
+5cf0bac6095ff491d937622f8253c6f05095cb39 header/lfr_common_headers
diff --git a/FSW-qt/fsw-qt.pro b/FSW-qt/fsw-qt.pro
--- a/FSW-qt/fsw-qt.pro
+++ b/FSW-qt/fsw-qt.pro
@@ -1,4 +1,15 @@
 TEMPLATE = app
+CONFIG += console
+CONFIG -= app_bundle
+CONFIG -= qt
+
+include(sparc.pri)
+
+INCLUDEPATH += ./
+
+OBJECTS_DIR=obj
+DESTDIR=bin
+
 # CONFIG += console v8 sim
 # CONFIG options =
 #           verbose
@@ -11,9 +22,6 @@ TEMPLATE = app
 #           lpp_dpu_destid      /!\ REMOVE BEFORE DELIVERY TO LESIA /!\
 #           debug_watchdog
 CONFIG += console verbose lpp_dpu_destid cpu_usage_report
-CONFIG -= qt
-
-include(./sparc.pri)
 
 INCLUDEPATH += /opt/rtems-4.10/sparc-rtems/leon3/lib/include
 
diff --git a/FSW-qt/sparc.pri b/FSW-qt/sparc.pri
--- a/FSW-qt/sparc.pri
+++ b/FSW-qt/sparc.pri
@@ -1,5 +1,4 @@
-CONFIG += console
-CONFIG -= qt
+
 QMAKE_CC=sparc-rtems-gcc
 message(C compiler forced to: $$QMAKE_CC)
 QMAKE_CXX=sparc-rtems-g++
@@ -13,14 +12,14 @@ QMAKE_OBJCOPY= sparc-rtems-objcopy
 QMAKE_STRIP=sparc-rtems-strip
 QMAKE_GDB=sparc-rtems-gdb
 
-#INCLUDEPATH += /opt/rtems-4.10
-INCLUDEPATH += /opt/rtems-4.10/sparc-rtems/leon3/lib/include
-
+QMAKE_CFLAGS_APP=""
+QMAKE_CXXFLAGS_APP=""
+QMAKE_CFLAGS=
 QMAKE_CFLAGS_DEBUG= -g
 QMAKE_CFLAGS_RELEASE=""
 QMAKE_CXXFLAGS_DEBUG= -g
 QMAKE_CXXFLAGS_RELEASE=""
-QMAKE_LFLAGS_RELEASE=""
+QMAKE_LFLAGS_RELEASE=
 QMAKE_LFLAGS_DEBUG= -g
 QMAKE_CXXFLAGS_DEPS	=
 QMAKE_CXXFLAGS_WARN_ON	= -Wall
@@ -39,7 +38,6 @@ QMAKE_CFLAGS_RELEASE	=
 QMAKE_CFLAGS_YACC	=
 QMAKE_LFLAGS_EXCEPTIONS_ON =
 QMAKE_LFLAGS_EXCEPTIONS_OFF =
-QMAKE_LFLAGS_RELEASE	= -Xlinker -Map=output.map
 QMAKE_LFLAGS_CONSOLE	=
 QMAKE_LFLAGS_WINDOWS	=
 QMAKE_LFLAGS_DLL        =
@@ -53,47 +51,19 @@ QMAKE_LIBS=""
 INCLUDEPATH=""
 DEFINES=""
 
-contains( TEMPLATE, app ) {
-    OBJECTS_DIR=obj
-    DESTDIR=bin
-}
-
-#QMAKE_CFLAGS_RELEASE    += -O0
-#QMAKE_CFLAGS_DEBUG      += -O0
-#QMAKE_CXXFLAGS_RELEASE  += -O0
-#QMAKE_CXXFLAGS_DEBUG    += -O0
 
 QMAKE_CFLAGS_RELEASE    += -O3
 QMAKE_CFLAGS_DEBUG      += -O3
 QMAKE_CXXFLAGS_RELEASE  += -O3
 QMAKE_CXXFLAGS_DEBUG    += -O3
 
-#QMAKE_CFLAGS_RELEASE    += -O3 -std=c99
-#QMAKE_CFLAGS_DEBUG      += -O3 -std=c99
-#QMAKE_CXXFLAGS_RELEASE  += -O3 -std=c99
-#QMAKE_CXXFLAGS_DEBUG    += -O3 -std=c99
-
-contains( TEMPLATE, app ) {
-    grmon.target = grmon
-    grmon.commands = cd $$DESTDIR && C:/opt/grmon-eval-2.0.29b/win32/bin/grmon.exe -uart COM4 -u
-    QMAKE_EXTRA_TARGETS += grmon
-}
-
-
-
+#QMAKE_CFLAGS_RELEASE    += -O0
+#QMAKE_CFLAGS_DEBUG      += -O0
+#QMAKE_CXXFLAGS_RELEASE  += -O0
+#QMAKE_CXXFLAGS_DEBUG    += -O0
 
 
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+#QMAKE_CFLAGS_RELEASE+= -O3 -std=c99
+#QMAKE_CFLAGS_DEBUG+= -O3 -std=c99
+#QMAKE_CXXFLAGS_RELEASE+= -O3 -std=c99
+#QMAKE_CXXFLAGS_DEBUG+= -O3  -std=c99
diff --git a/header/fsw_init.h b/header/fsw_init.h
--- a/header/fsw_init.h
+++ b/header/fsw_init.h
@@ -21,16 +21,11 @@ extern rtems_id    Task_id[];         /*
 extern rtems_name timecode_timer_name;
 extern rtems_id timecode_timer_id;
 extern unsigned char pa_bia_status_info;
-extern unsigned char cp_rpw_sc_rw_f_flags;
-extern float cp_rpw_sc_rw1_f1;
-extern float cp_rpw_sc_rw1_f2;
-extern float cp_rpw_sc_rw2_f1;
-extern float cp_rpw_sc_rw2_f2;
-extern float cp_rpw_sc_rw3_f1;
-extern float cp_rpw_sc_rw3_f2;
-extern float cp_rpw_sc_rw4_f1;
-extern float cp_rpw_sc_rw4_f2;
+extern unsigned char cp_rpw_sc_rw1_rw2_f_flags;
+extern unsigned char cp_rpw_sc_rw3_rw4_f_flags;
+
 extern filterPar_t filterPar;
+extern rw_f_t rw_f;
 
 // RTEMS TASKS
 rtems_task Init( rtems_task_argument argument);
diff --git a/header/tc_load_dump_parameters.h b/header/tc_load_dump_parameters.h
--- a/header/tc_load_dump_parameters.h
+++ b/header/tc_load_dump_parameters.h
@@ -58,6 +58,8 @@ int set_sy_lfr_s2_bp_p1( ccsdsTelecomman
 unsigned int check_update_info_hk_lfr_mode( unsigned char mode );
 unsigned int check_update_info_hk_tds_mode( unsigned char mode );
 unsigned int check_update_info_hk_thr_mode( unsigned char mode );
+void set_hk_lfr_sc_rw_f_flag( unsigned char wheel, unsigned char freq, float value );
+void set_hk_lfr_sc_rw_f_flags( void );
 void getReactionWheelsFrequencies( ccsdsTelecommandPacket_t *TC );
 void setFBinMask(unsigned char *fbins_mask, float rw_f, unsigned char deltaFreq, unsigned char flag );
 void build_sy_lfr_rw_mask( unsigned int channel );
diff --git a/python_scripts/00_LFRControlPlugin_reload_fsw.py b/python_scripts/00_LFRControlPlugin_reload_fsw.py
--- a/python_scripts/00_LFRControlPlugin_reload_fsw.py
+++ b/python_scripts/00_LFRControlPlugin_reload_fsw.py
@@ -1,7 +1,7 @@
 # LOAD FSW USING LINK 1
 SpwPlugin0.StarDundeeSelectLinkNumber( 1 )
 
-dsu3plugin0.openFile("/opt/DEV_PLE/FSW-qt/bin/fsw")
+dsu3plugin0.openFile("/home/pleroy/DEV/DEV_PLE/FSW-qt/bin/fsw")
 #dsu3plugin0.openFile("/opt/LFR/LFR-FSW/2.0.2.3/fsw")
 dsu3plugin0.loadFile()
 
diff --git a/src/fsw_globals.c b/src/fsw_globals.c
--- a/src/fsw_globals.c
+++ b/src/fsw_globals.c
@@ -66,7 +66,8 @@ unsigned int lastValidEnterModeTime;
 
 // HK PACKETS
 Packet_TM_LFR_HK_t housekeeping_packet;
-unsigned char cp_rpw_sc_rw_f_flags;
+unsigned char cp_rpw_sc_rw1_rw2_f_flags;
+unsigned char cp_rpw_sc_rw3_rw4_f_flags;
 // message queues occupancy
 unsigned char hk_lfr_q_sd_fifo_size_max;
 unsigned char hk_lfr_q_rv_fifo_size_max;
@@ -82,14 +83,7 @@ unsigned short sequenceCounterHK;
 spw_stats grspw_stats;
 
 // TC_LFR_UPDATE_INFO
-float cp_rpw_sc_rw1_f1;
-float cp_rpw_sc_rw1_f2;
-float cp_rpw_sc_rw2_f1;
-float cp_rpw_sc_rw2_f2;
-float cp_rpw_sc_rw3_f1;
-float cp_rpw_sc_rw3_f2;
-float cp_rpw_sc_rw4_f1;
-float cp_rpw_sc_rw4_f2;
+rw_f_t rw_f;
 
 // TC_LFR_LOAD_FILTER_PAR
 filterPar_t filterPar;
diff --git a/src/fsw_init.c b/src/fsw_init.c
--- a/src/fsw_init.c
+++ b/src/fsw_init.c
@@ -164,15 +164,28 @@ rtems_task Init( rtems_task_argument ign
     init_k_coefficients_prc1();
     init_k_coefficients_prc2();
     pa_bia_status_info = 0x00;
-    cp_rpw_sc_rw_f_flags = 0x00;
-    cp_rpw_sc_rw1_f1 = 0.0;
-    cp_rpw_sc_rw1_f2 = 0.0;
-    cp_rpw_sc_rw2_f1 = 0.0;
-    cp_rpw_sc_rw2_f2 = 0.0;
-    cp_rpw_sc_rw3_f1 = 0.0;
-    cp_rpw_sc_rw3_f2 = 0.0;
-    cp_rpw_sc_rw4_f1 = 0.0;
-    cp_rpw_sc_rw4_f2 = 0.0;
+
+    // initialize all reaction wheels frequencies to NaN
+    rw_f.cp_rpw_sc_rw1_f1 = NAN;
+    rw_f.cp_rpw_sc_rw1_f2 = NAN;
+    rw_f.cp_rpw_sc_rw1_f3 = NAN;
+    rw_f.cp_rpw_sc_rw1_f4 = NAN;
+    rw_f.cp_rpw_sc_rw2_f1 = NAN;
+    rw_f.cp_rpw_sc_rw2_f2 = NAN;
+    rw_f.cp_rpw_sc_rw2_f3 = NAN;
+    rw_f.cp_rpw_sc_rw2_f4 = NAN;
+    rw_f.cp_rpw_sc_rw3_f1 = NAN;
+    rw_f.cp_rpw_sc_rw3_f2 = NAN;
+    rw_f.cp_rpw_sc_rw3_f3 = NAN;
+    rw_f.cp_rpw_sc_rw3_f4 = NAN;
+    rw_f.cp_rpw_sc_rw4_f1 = NAN;
+    rw_f.cp_rpw_sc_rw4_f2 = NAN;
+    rw_f.cp_rpw_sc_rw4_f3 = NAN;
+    rw_f.cp_rpw_sc_rw4_f4 = NAN;
+
+    cp_rpw_sc_rw1_rw2_f_flags = 0x00;
+    cp_rpw_sc_rw3_rw4_f_flags = 0x00;
+
     // initialize filtering parameters
     filterPar.spare_sy_lfr_pas_filter_enabled   = DEFAULT_SY_LFR_PAS_FILTER_ENABLED;
     filterPar.sy_lfr_pas_filter_modulus         = DEFAULT_SY_LFR_PAS_FILTER_MODULUS;
diff --git a/src/fsw_misc.c b/src/fsw_misc.c
--- a/src/fsw_misc.c
+++ b/src/fsw_misc.c
@@ -7,6 +7,10 @@
 
 #include "fsw_misc.h"
 
+int16_t hk_lfr_sc_v_f3_as_int16;
+int16_t hk_lfr_sc_e1_f3_as_int16;
+int16_t hk_lfr_sc_e2_f3_as_int16;
+
 void timer_configure(unsigned char timer, unsigned int clock_divider,
                     unsigned char interrupt_level, rtems_isr (*timer_isr)() )
 {
@@ -317,7 +321,8 @@ rtems_task hous_task(rtems_task_argument
 
             hk_lfr_le_me_he_update();
 
-            housekeeping_packet.hk_lfr_sc_rw_f_flags = cp_rpw_sc_rw_f_flags;
+            housekeeping_packet.hk_lfr_sc_rw1_rw2_f_flags = cp_rpw_sc_rw1_rw2_f_flags;
+            housekeeping_packet.hk_lfr_sc_rw3_rw4_f_flags = cp_rpw_sc_rw3_rw4_f_flags;
 
             // SEND PACKET
             status =  rtems_message_queue_send( queue_id, &housekeeping_packet,
@@ -345,6 +350,9 @@ rtems_task avgv_task(rtems_task_argument
     float average_v;
     float average_e1;
     float average_e2;
+    float newValue_v;
+    float newValue_e1;
+    float newValue_e2;
     unsigned char k;
     unsigned char indexOfOldValue;
 
@@ -376,6 +384,9 @@ rtems_task avgv_task(rtems_task_argument
         average_v = 0.;
         average_e1 = 0.;
         average_e2 = 0.;
+        newValue_v = 0.;
+        newValue_e1 = 0.;
+        newValue_e2 = 0.;
     }
 
     k = 0;
@@ -386,21 +397,20 @@ rtems_task avgv_task(rtems_task_argument
             PRINTF1( "in AVGV *** ERR period: %d\n", status);
         }
         else {
-            // store new value in buffer
-            v[k] = waveform_picker_regs->v;
-            e1[k] = waveform_picker_regs->e1;
-            e2[k] = waveform_picker_regs->e2;
-            if (k == (MOVING_AVERAGE - 1))
-            {
-                indexOfOldValue = 0;
-            }
-            else
-            {
-                indexOfOldValue = k + 1;
-            }
-            average_v = average_v + v[k] - v[indexOfOldValue];
-            average_e1 = average_e1 + e1[k] - e1[indexOfOldValue];
-            average_e2 = average_e2 + e2[k] - e2[indexOfOldValue];
+            // get new values
+            newValue_v = waveform_picker_regs->v;
+            newValue_e1 = waveform_picker_regs->e1;
+            newValue_e2 = waveform_picker_regs->e2;
+
+            // compute the moving average
+            average_v = average_v + newValue_v - v[k];
+            average_e1 = average_e1 + newValue_e1 - e1[k];
+            average_e2 = average_e2 + newValue_e2 - e2[k];
+
+            // store new values in buffers
+            v[k] = newValue_v;
+            e1[k] = newValue_e1;
+            e2[k] = newValue_e2;
         }
         if (k == (MOVING_AVERAGE-1))
         {
@@ -413,9 +423,14 @@ rtems_task avgv_task(rtems_task_argument
         }
     }
 
-    PRINTF("in AVGV *** deleting task\n")
+    //update int16 values
+    hk_lfr_sc_v_f3_as_int16 =  (int16_t) (average_v / ((float) MOVING_AVERAGE) );
+    hk_lfr_sc_e1_f3_as_int16 =  (int16_t) (average_e1 / ((float) MOVING_AVERAGE) );
+    hk_lfr_sc_e2_f3_as_int16 =  (int16_t) (average_e2 / ((float) MOVING_AVERAGE) );
 
-            status = rtems_task_delete( RTEMS_SELF ); // should not return
+    PRINTF("in AVGV *** deleting task\n");
+
+    status = rtems_task_delete( RTEMS_SELF ); // should not return
 
     return;
 }
@@ -682,16 +697,16 @@ void get_v_e1_e2_f3( unsigned char *spac
     unsigned char* e1_ptr;
     unsigned char* e2_ptr;
 
-    v_ptr  = (unsigned char *) &waveform_picker_regs->v;
-    e1_ptr = (unsigned char *) &waveform_picker_regs->e1;
-    e2_ptr = (unsigned char *) &waveform_picker_regs->e2;
+    v_ptr  = (unsigned char *) &hk_lfr_sc_v_f3_as_int16;
+    e1_ptr = (unsigned char *) &hk_lfr_sc_e1_f3_as_int16;
+    e2_ptr = (unsigned char *) &hk_lfr_sc_e2_f3_as_int16;
 
-    spacecraft_potential[0] = v_ptr[2];
-    spacecraft_potential[1] = v_ptr[3];
-    spacecraft_potential[2] = e1_ptr[2];
-    spacecraft_potential[3] = e1_ptr[3];
-    spacecraft_potential[4] = e2_ptr[2];
-    spacecraft_potential[5] = e2_ptr[3];
+    spacecraft_potential[0] = v_ptr[0];
+    spacecraft_potential[1] = v_ptr[1];
+    spacecraft_potential[2] = e1_ptr[0];
+    spacecraft_potential[3] = e1_ptr[1];
+    spacecraft_potential[4] = e2_ptr[0];
+    spacecraft_potential[5] = e2_ptr[1];
 }
 
 void get_cpu_load( unsigned char *resource_statistics )
diff --git a/src/tc_handler.c b/src/tc_handler.c
--- a/src/tc_handler.c
+++ b/src/tc_handler.c
@@ -295,8 +295,9 @@ int action_update_info(ccsdsTelecommandP
             | (bytePosPtr[ BYTE_POS_UPDATE_INFO_PARAMETERS_SET1 ] & 0x1);
 
     // REACTION_WHEELS_FREQUENCY, copy the incoming parameters in the local variable (to be copied in HK packets)
-    cp_rpw_sc_rw_f_flags = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW_F_FLAGS ];
+    //cp_rpw_sc_rw_f_flags = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW_F_FLAGS ];
     getReactionWheelsFrequencies( TC );
+    set_hk_lfr_sc_rw_f_flags();
     build_sy_lfr_rw_masks();
 
     result = status;
diff --git a/src/tc_load_dump_parameters.c b/src/tc_load_dump_parameters.c
--- a/src/tc_load_dump_parameters.c
+++ b/src/tc_load_dump_parameters.c
@@ -320,8 +320,10 @@ int action_load_filter_par(ccsdsTelecomm
      */
 
     int flag;
+    unsigned char k;
 
     flag = LFR_DEFAULT;
+    k = 0;
 
     flag = check_sy_lfr_filter_parameters( TC, queue_id );
 
@@ -363,6 +365,36 @@ int action_load_filter_par(ccsdsTelecomm
         // store the parameter sy_lfr_sc_rw_delta_f as a float
         copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_sc_rw_delta_f,
                          parameter_dump_packet.sy_lfr_sc_rw_delta_f );
+
+        // copy rw.._k.. from the incoming TC to the local parameter_dump_packet
+        for (k = 0; k < NB_RW_K_COEFFS * NB_BYTES_PER_RW_K_COEFF; k++)
+        {
+            parameter_dump_packet.sy_lfr_rw1_k1[k] = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_RW1_K1 + k ];
+        }
+
+        //***********************************************
+        // store the parameter sy_lfr_rw.._k.. as a float
+        // rw1_k
+        copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw1_k1, parameter_dump_packet.sy_lfr_rw1_k1 );
+        copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw1_k2, parameter_dump_packet.sy_lfr_rw1_k2 );
+        copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw1_k3, parameter_dump_packet.sy_lfr_rw1_k3 );
+        copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw1_k4, parameter_dump_packet.sy_lfr_rw1_k4 );
+        // rw2_k
+        copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw2_k1, parameter_dump_packet.sy_lfr_rw2_k1 );
+        copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw2_k2, parameter_dump_packet.sy_lfr_rw2_k2 );
+        copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw2_k3, parameter_dump_packet.sy_lfr_rw2_k3 );
+        copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw2_k4, parameter_dump_packet.sy_lfr_rw2_k4 );
+        // rw3_k
+        copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw3_k1, parameter_dump_packet.sy_lfr_rw3_k1 );
+        copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw3_k2, parameter_dump_packet.sy_lfr_rw3_k2 );
+        copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw3_k3, parameter_dump_packet.sy_lfr_rw3_k3 );
+        copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw3_k4, parameter_dump_packet.sy_lfr_rw3_k4 );
+        // rw4_k
+        copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw4_k1, parameter_dump_packet.sy_lfr_rw4_k1 );
+        copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw4_k2, parameter_dump_packet.sy_lfr_rw4_k2 );
+        copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw4_k3, parameter_dump_packet.sy_lfr_rw4_k3 );
+        copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw4_k4, parameter_dump_packet.sy_lfr_rw4_k4 );
+
     }
 
     return flag;
@@ -914,6 +946,81 @@ unsigned int check_update_info_hk_thr_mo
     return status;
 }
 
+void set_hk_lfr_sc_rw_f_flag( unsigned char wheel, unsigned char freq, float value )
+{
+    unsigned char flag;
+    unsigned char flagPosInByte;
+    unsigned char newFlag;
+    unsigned char flagMask;
+
+    // if the frequency value is not a number, the flag is set to 0 and the frequency RWx_Fy is not filtered
+    if (isnan(value))
+    {
+        flag = 0;
+    }
+    else
+    {
+        flag = 1;
+    }
+
+    switch(wheel)
+    {
+    case 1:
+        flagPosInByte = 8 - freq;
+        flagMask = ~(1 << flagPosInByte);
+        newFlag = flag << flagPosInByte;
+        housekeeping_packet.hk_lfr_sc_rw1_rw2_f_flags = (housekeeping_packet.hk_lfr_sc_rw1_rw2_f_flags & flagMask) | newFlag;
+        break;
+    case 2:
+        flagPosInByte = 4 - freq;
+        flagMask = ~(1 << flagPosInByte);
+        newFlag = flag << flagPosInByte;
+        housekeeping_packet.hk_lfr_sc_rw1_rw2_f_flags = (housekeeping_packet.hk_lfr_sc_rw1_rw2_f_flags & flagMask) | newFlag;
+        break;
+    case 3:
+        flagPosInByte = 8 - freq;
+        flagMask = ~(1 << flagPosInByte);
+        newFlag = flag << flagPosInByte;
+        housekeeping_packet.hk_lfr_sc_rw3_rw4_f_flags = (housekeeping_packet.hk_lfr_sc_rw3_rw4_f_flags & flagMask) | newFlag;
+        break;
+    case 4:
+        flagPosInByte = 4 - freq;
+        flagMask = ~(1 << flagPosInByte);
+        newFlag = flag << flagPosInByte;
+        housekeeping_packet.hk_lfr_sc_rw3_rw4_f_flags = (housekeeping_packet.hk_lfr_sc_rw3_rw4_f_flags & flagMask) | newFlag;
+        break;
+    default:
+        break;
+    }
+}
+
+void set_hk_lfr_sc_rw_f_flags( void )
+{
+    // RW1
+    set_hk_lfr_sc_rw_f_flag( 1, 1, rw_f.cp_rpw_sc_rw1_f1 );
+    set_hk_lfr_sc_rw_f_flag( 1, 2, rw_f.cp_rpw_sc_rw1_f2 );
+    set_hk_lfr_sc_rw_f_flag( 1, 3, rw_f.cp_rpw_sc_rw1_f3 );
+    set_hk_lfr_sc_rw_f_flag( 1, 4, rw_f.cp_rpw_sc_rw1_f4 );
+
+    // RW2
+    set_hk_lfr_sc_rw_f_flag( 2, 1, rw_f.cp_rpw_sc_rw2_f1 );
+    set_hk_lfr_sc_rw_f_flag( 2, 2, rw_f.cp_rpw_sc_rw2_f2 );
+    set_hk_lfr_sc_rw_f_flag( 2, 3, rw_f.cp_rpw_sc_rw2_f3 );
+    set_hk_lfr_sc_rw_f_flag( 2, 4, rw_f.cp_rpw_sc_rw2_f4 );
+
+    // RW3
+    set_hk_lfr_sc_rw_f_flag( 3, 1, rw_f.cp_rpw_sc_rw3_f1 );
+    set_hk_lfr_sc_rw_f_flag( 3, 2, rw_f.cp_rpw_sc_rw3_f2 );
+    set_hk_lfr_sc_rw_f_flag( 3, 3, rw_f.cp_rpw_sc_rw3_f3 );
+    set_hk_lfr_sc_rw_f_flag( 3, 4, rw_f.cp_rpw_sc_rw3_f4 );
+
+    // RW4
+    set_hk_lfr_sc_rw_f_flag( 4, 1, rw_f.cp_rpw_sc_rw4_f1 );
+    set_hk_lfr_sc_rw_f_flag( 4, 2, rw_f.cp_rpw_sc_rw4_f2 );
+    set_hk_lfr_sc_rw_f_flag( 4, 3, rw_f.cp_rpw_sc_rw4_f3 );
+    set_hk_lfr_sc_rw_f_flag( 4, 4, rw_f.cp_rpw_sc_rw4_f4 );
+}
+
 void getReactionWheelsFrequencies( ccsdsTelecommandPacket_t *TC )
 {
     /** This function get the reaction wheels frequencies in the incoming TC_LFR_UPDATE_INFO and copy the values locally.
@@ -926,37 +1033,33 @@ void getReactionWheelsFrequencies( ccsds
 
     bytePosPtr = (unsigned char *) &TC->packetID;
 
-    // cp_rpw_sc_rw1_f1
-    copyFloatByChar( (unsigned char*) &cp_rpw_sc_rw1_f1,
-                     (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW1_F1 ] );
-
-    // cp_rpw_sc_rw1_f2
-    copyFloatByChar( (unsigned char*) &cp_rpw_sc_rw1_f2,
-                     (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW1_F2 ] );
+    // rw1_f
+    copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw1_f1, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW1_F1 ] );
+    copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw1_f2, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW1_F2 ] );
+    copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw1_f3, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW1_F3 ] );
+    copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw1_f4, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW1_F4 ] );
 
-    // cp_rpw_sc_rw2_f1
-    copyFloatByChar( (unsigned char*) &cp_rpw_sc_rw2_f1,
-                     (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW2_F1 ] );
-
-    // cp_rpw_sc_rw2_f2
-    copyFloatByChar( (unsigned char*) &cp_rpw_sc_rw2_f2,
-                     (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW2_F2 ] );
+    // rw2_f
+    copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw2_f1, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW2_F1 ] );
+    copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw2_f2, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW2_F2 ] );
+    copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw2_f3, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW2_F3 ] );
+    copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw2_f4, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW2_F4 ] );
 
-    // cp_rpw_sc_rw3_f1
-    copyFloatByChar( (unsigned char*) &cp_rpw_sc_rw3_f1,
-                     (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW3_F1 ] );
-
-    // cp_rpw_sc_rw3_f2
-    copyFloatByChar( (unsigned char*) &cp_rpw_sc_rw3_f2,
-                     (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW3_F2 ] );
+    // rw3_f
+    copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw3_f1, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW3_F1 ] );
+    copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw3_f2, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW3_F2 ] );
+    copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw3_f3, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW3_F3 ] );
+    copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw3_f4, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW3_F4 ] );
 
-    // cp_rpw_sc_rw4_f1
-    copyFloatByChar( (unsigned char*) &cp_rpw_sc_rw4_f1,
-                     (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW4_F1 ] );
+    // rw4_f
+    copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw4_f1, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW4_F1 ] );
+    copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw4_f2, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW4_F2 ] );
+    copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw4_f3, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW4_F3 ] );
+    copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw4_f4, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW4_F4 ] );
 
-    // cp_rpw_sc_rw4_f2
-    copyFloatByChar( (unsigned char*) &cp_rpw_sc_rw4_f2,
-                     (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW4_F2 ] );
+    // test each reaction wheel frequency value. NaN means that the frequency is not filtered
+
+
 }
 
 void setFBinMask( unsigned char *fbins_mask, float rw_f, unsigned char deltaFreq, unsigned char flag )
@@ -1103,29 +1206,29 @@ void build_sy_lfr_rw_mask( unsigned int 
         local_rw_fbins_mask[k] = 0xff;
     }
 
-    // RW1 F1
-    setFBinMask( local_rw_fbins_mask, cp_rpw_sc_rw1_f1, deltaF, (cp_rpw_sc_rw_f_flags & 0x80) >> 7 );   // [1000 0000]
-
-    // RW1 F2
-    setFBinMask( local_rw_fbins_mask, cp_rpw_sc_rw1_f2, deltaF, (cp_rpw_sc_rw_f_flags & 0x40) >> 6 );   // [0100 0000]
+    // RW1
+    setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw1_f1, deltaF, (cp_rpw_sc_rw1_rw2_f_flags & 0x80) >> 7 ); // [1000 0000]
+    setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw1_f2, deltaF, (cp_rpw_sc_rw1_rw2_f_flags & 0x40) >> 6 ); // [0100 0000]
+    setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw1_f1, deltaF, (cp_rpw_sc_rw1_rw2_f_flags & 0x20) >> 5 ); // [0010 0000]
+    setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw1_f2, deltaF, (cp_rpw_sc_rw1_rw2_f_flags & 0x10) >> 4 ); // [0001 0000]
 
-    // RW2 F1
-    setFBinMask( local_rw_fbins_mask, cp_rpw_sc_rw2_f1, deltaF, (cp_rpw_sc_rw_f_flags & 0x20) >> 5 );   // [0010 0000]
-
-    // RW2 F2
-    setFBinMask( local_rw_fbins_mask, cp_rpw_sc_rw2_f2, deltaF, (cp_rpw_sc_rw_f_flags & 0x10) >> 4 );   // [0001 0000]
+    // RW2
+    setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw2_f1, deltaF, (cp_rpw_sc_rw1_rw2_f_flags & 0x08) >> 3 ); // [0000 1000]
+    setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw2_f2, deltaF, (cp_rpw_sc_rw1_rw2_f_flags & 0x04) >> 2 ); // [0000 0100]
+    setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw2_f1, deltaF, (cp_rpw_sc_rw1_rw2_f_flags & 0x02) >> 1 ); // [0000 0010]
+    setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw2_f2, deltaF, (cp_rpw_sc_rw1_rw2_f_flags & 0x01)      ); // [0000 0001]
 
-    // RW3 F1
-    setFBinMask( local_rw_fbins_mask, cp_rpw_sc_rw3_f1, deltaF, (cp_rpw_sc_rw_f_flags & 0x08) >> 3 );   // [0000 1000]
-
-    // RW3 F2
-    setFBinMask( local_rw_fbins_mask, cp_rpw_sc_rw3_f2, deltaF, (cp_rpw_sc_rw_f_flags & 0x04) >> 2 );   // [0000 0100]
+    // RW3
+    setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw3_f1, deltaF, (cp_rpw_sc_rw3_rw4_f_flags & 0x80) >> 7 ); // [1000 0000]
+    setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw3_f2, deltaF, (cp_rpw_sc_rw3_rw4_f_flags & 0x40) >> 6 ); // [0100 0000]
+    setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw3_f1, deltaF, (cp_rpw_sc_rw3_rw4_f_flags & 0x20) >> 5 ); // [0010 0000]
+    setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw3_f2, deltaF, (cp_rpw_sc_rw3_rw4_f_flags & 0x10) >> 4 ); // [0001 0000]
 
-    // RW4 F1
-    setFBinMask( local_rw_fbins_mask, cp_rpw_sc_rw4_f1, deltaF, (cp_rpw_sc_rw_f_flags & 0x02) >> 1 );   // [0000 0010]
-
-    // RW4 F2
-    setFBinMask( local_rw_fbins_mask, cp_rpw_sc_rw4_f2, deltaF, (cp_rpw_sc_rw_f_flags & 0x01)       );  // [0000 0001]
+    // RW4
+    setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw4_f1, deltaF, (cp_rpw_sc_rw3_rw4_f_flags & 0x08) >> 3 ); // [0000 1000]
+    setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw4_f2, deltaF, (cp_rpw_sc_rw3_rw4_f_flags & 0x04) >> 2 ); // [0000 0100]
+    setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw4_f1, deltaF, (cp_rpw_sc_rw3_rw4_f_flags & 0x02) >> 1 ); // [0000 0010]
+    setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw4_f2, deltaF, (cp_rpw_sc_rw3_rw4_f_flags & 0x03)      ); // [0000 0001]
 
     // update the value of the fbins related to reaction wheels frequency filtering
     if (maskPtr != NULL)
@@ -1468,7 +1571,8 @@ void init_parameter_dump( void )
         parameter_dump_packet.sy_lfr_fbins_f0_word1[k] = 0xff;
     }
 
-    // PAS FILTER PARAMETERS
+    //******************
+    // FILTER PARAMETERS
     parameter_dump_packet.pa_rpw_spare8_2                   = 0x00;
     parameter_dump_packet.spare_sy_lfr_pas_filter_enabled   = 0x00;
     parameter_dump_packet.sy_lfr_pas_filter_modulus         = DEFAULT_SY_LFR_PAS_FILTER_MODULUS;
@@ -1477,6 +1581,27 @@ void init_parameter_dump( void )
     floatToChar( DEFAULT_SY_LFR_PAS_FILTER_SHIFT,   parameter_dump_packet.sy_lfr_pas_filter_shift );
     floatToChar( DEFAULT_SY_LFR_SC_RW_DELTA_F,      parameter_dump_packet.sy_lfr_sc_rw_delta_f );
 
+    // RW1_K
+    floatToChar( DEFAULT_SY_LFR_RW_K1, parameter_dump_packet.sy_lfr_rw1_k1);
+    floatToChar( DEFAULT_SY_LFR_RW_K2, parameter_dump_packet.sy_lfr_rw1_k2);
+    floatToChar( DEFAULT_SY_LFR_RW_K3, parameter_dump_packet.sy_lfr_rw1_k3);
+    floatToChar( DEFAULT_SY_LFR_RW_K4, parameter_dump_packet.sy_lfr_rw1_k4);
+    // RW2_K
+    floatToChar( DEFAULT_SY_LFR_RW_K1, parameter_dump_packet.sy_lfr_rw2_k1);
+    floatToChar( DEFAULT_SY_LFR_RW_K2, parameter_dump_packet.sy_lfr_rw2_k2);
+    floatToChar( DEFAULT_SY_LFR_RW_K3, parameter_dump_packet.sy_lfr_rw2_k3);
+    floatToChar( DEFAULT_SY_LFR_RW_K4, parameter_dump_packet.sy_lfr_rw2_k4);
+    // RW3_K
+    floatToChar( DEFAULT_SY_LFR_RW_K1, parameter_dump_packet.sy_lfr_rw3_k1);
+    floatToChar( DEFAULT_SY_LFR_RW_K2, parameter_dump_packet.sy_lfr_rw3_k2);
+    floatToChar( DEFAULT_SY_LFR_RW_K3, parameter_dump_packet.sy_lfr_rw3_k3);
+    floatToChar( DEFAULT_SY_LFR_RW_K4, parameter_dump_packet.sy_lfr_rw3_k4);
+    // RW4_K
+    floatToChar( DEFAULT_SY_LFR_RW_K1, parameter_dump_packet.sy_lfr_rw4_k1);
+    floatToChar( DEFAULT_SY_LFR_RW_K2, parameter_dump_packet.sy_lfr_rw4_k2);
+    floatToChar( DEFAULT_SY_LFR_RW_K3, parameter_dump_packet.sy_lfr_rw4_k3);
+    floatToChar( DEFAULT_SY_LFR_RW_K4, parameter_dump_packet.sy_lfr_rw4_k4);
+
     // LFR_RW_MASK
     for (k=0; k < NB_FBINS_MASKS * NB_BYTES_PER_FBINS_MASK; k++)
     {