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This commit is contained in:
Timur A. Fatkhullin
2025-11-11 18:10:06 +03:00
parent 90acf1ee8c
commit 08ad1e665b
6 changed files with 28 additions and 12 deletions
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10
mcc/mcc_slewing_model.h
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@@ -199,7 +199,7 @@ public:
return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
}
std::chrono::steady_clock::time_point start_slewing_tp, last_adjust_tp;
// std::chrono::steady_clock::time_point start_slewing_tp, last_adjust_tp;
// mcc_tp2tp(hw_state.time_point, start_slewing_tp); // not compiled!!
// double dist, dx, dy, sinY, rate2, xrate;
@@ -210,6 +210,10 @@ public:
bool adjust_mode = false;
static constexpr auto sideral_rate2 = slewing_params_t::sideralRate * slewing_params_t::sideralRate;
std::chrono::steady_clock::time_point start_slewing_tp, last_adjust_tp;
start_slewing_tp = std::chrono::steady_clock::now();
last_adjust_tp = start_slewing_tp;
while (true) {
// wait for updated telemetry data
{
@@ -231,10 +235,10 @@ public:
// and check them for getting into the prohibited zones
if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
cpt.X = tdata.HA + tdata.speedX * min_time_to_pzone_in_secs;
cpt.X = tdata.DEC_APP + tdata.speedY * min_time_to_pzone_in_secs;
cpt.Y = tdata.DEC_APP + tdata.speedY * min_time_to_pzone_in_secs;
} else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
cpt.X = tdata.AZ + tdata.speedX * min_time_to_pzone_in_secs;
cpt.X = tdata.ZD + tdata.speedY * min_time_to_pzone_in_secs;
cpt.Y = tdata.ZD + tdata.speedY * min_time_to_pzone_in_secs;
}
mcc_tp2tp(tdata.time_point, cpt.time_point);