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I recently came upon a JPL paper that goes into quite a lot of detail about the Mars Exploration Rovers (MER), Spirit and Opportunity*. These were the two rovers that landed on Mars in 2004 and ran until 2010 and 2018, resp., a very long time past their planned mission of 90 days. This is probably the most detailed description I've found of a NASA rover's software.
I recently came upon a JPL paper that goes into quite a lot of detail about the software controllign the Mars Exploration Rovers (MER), Spirit and Opportunity*. These were the two rovers that landed on Mars in 2004 and ran until 2010 and 2018 (resp.), a very long time past their planned mission of 90 days. This is probably the most detailed description I've found of a NASA rover's software.