Normal <-> Payload Auto Switch

[yudataguy]

Automatic switch between Normal and Payload mode

Description

Added debounced low-voltage protection in payload mode: invalid/low readings for 10s trigger AutoPayloadModeExit event, drop to NORMAL, and shed all load switches; re-entry now powers all loads to ensure consistent state; manual exit leaves faces on.
Updated integration tests for payload behavior (manual exit power state, voltage monitoring sanity) plus manual low-voltage test coverage; documented new behavior and thresholds in ModeManager SDD.

Next: Automatic mode switch between normal and safe

Related Issues/Tickets

#106

#141 should be merged first before this PR

How Has This Been Tested?

Test maybe an issue due to I don't have battery that's in good condition right now, top loader incoming next week.

• Unit tests
• Integration tests
• Z Tests
• Manual testing (describe steps)

Screenshots / Recordings (if applicable)

Checklist

• Written detailed sdd with requirements, channels, ports, commands, telemetry defined and correctly formatted and spelled
• Have written relevant integration tests and have documented them in the sdd
• Have done a code review with
• Have tested this PR on every supported board with correct board definitions

Further Notes / Considerations

[Copilot]

Pull request overview

This PR implements automatic low-voltage protection for payload mode with debounced monitoring, along with a refactored mode enumeration scheme that enforces sequential transitions. The implementation adds voltage monitoring at 1Hz with a 10-second debounce window, automatically exiting payload mode when voltage drops below 7.2V or becomes invalid. The mode enum values have been reordered (SAFE_MODE=1, NORMAL=2, PAYLOAD_MODE=3) to support a +1/-1 sequential transition pattern, preventing direct jumps between non-adjacent modes.

Key changes:

• Debounced low-voltage monitoring with automatic payload mode exit after 10 consecutive fault readings
• Sequential mode transition enforcement (PAYLOAD→NORMAL→SAFE, no direct PAYLOAD→SAFE)
• Differential power management: manual exit preserves face switches ON, automatic exit sheds all loads
• Comprehensive integration test suite with 7 tests (6 automated, 1 manual)

Reviewed changes

Copilot reviewed 9 out of 9 changed files in this pull request and generated 18 comments.

Show a summary per file

File	Description
Makefile	Adds TEST parameter for selective test execution with pattern matching
README.md	Documents single test file execution using TEST variable
FprimeZephyrReference/test/int/payload_mode_test.py	New comprehensive integration test suite covering payload mode entry/exit, validation, state persistence, voltage monitoring, and load switch behavior
FprimeZephyrReference/test/int/mode_manager_test.py	Updates mode enum values (0→2 for NORMAL, adds PAYLOAD=3) and adjusts test expectations for idempotent behavior
FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi	Adds PayloadModeEntryCount telemetry to health packet
FprimeZephyrReference/Components/ModeManager/docs/sdd.md	Comprehensive documentation update with requirements, sequence diagrams, load switch mapping, low-voltage thresholds, and integration test descriptions
FprimeZephyrReference/Components/ModeManager/ModeManager.hpp	Adds payload mode command handlers, helper methods, low-voltage counter, and voltage threshold constants
FprimeZephyrReference/Components/ModeManager/ModeManager.fpp	Defines reordered enum, new commands (ENTER/EXIT_PAYLOAD_MODE), events (EnteringPayloadMode, AutoPayloadModeExit), and PayloadModeEntryCount telemetry
FprimeZephyrReference/Components/ModeManager/ModeManager.cpp	Implements 1Hz voltage monitoring, debouncing logic, payload mode transitions, separate face/payload load switch control, and persistent state handling

[Copilot]

Pull request overview

Copilot reviewed 9 out of 9 changed files in this pull request and generated 10 comments.

[Copilot]

Pull request overview

Copilot reviewed 9 out of 9 changed files in this pull request and generated 5 comments.

Comments suppressed due to low confidence (1)

FprimeZephyrReference/test/int/payload_mode_test.py:72

• 'except' clause does nothing but pass and there is no explanatory comment.

    except Exception:

[Copilot]

Pull request overview

Copilot reviewed 9 out of 9 changed files in this pull request and generated 3 comments.