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Asibfm700Mount is now MccGenericMount (not MccGenericFsmMount)

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fix mount initialization (add EEPROM reading, assign correponded
mount config items)
rewrite computing distance to pzones in slewing mode (add braking
aceleration)
add more informative errors description for serialization (network
protocol)
This commit is contained in:
Timur A. Fatkhullin
2025-11-15 16:01:42 +03:00
parent 9e8a7a62c9
commit 1c774d2d69
8 changed files with 250 additions and 39 deletions
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41
mcc/mcc_slewing_model.h
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@@ -212,10 +212,28 @@ public:
bool adjust_mode = false;
static constexpr auto sideral_rate2 = slewing_params_t::sideralRate * slewing_params_t::sideralRate;
double braking_accelX, braking_accelY;
{
std::lock_guard lock{*_currentParamsMutex};
if (mcc::utils::isEqual(_currentParams.brakingAccelX, 0.0)) {
braking_accelX = std::numeric_limits<double>::min();
} else {
braking_accelX = std::abs(_currentParams.brakingAccelX);
}
if (mcc::utils::isEqual(_currentParams.brakingAccelY, 0.0)) {
braking_accelY = std::numeric_limits<double>::min();
} else {
braking_accelY = std::abs(_currentParams.brakingAccelY);
}
}
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;
std::pair<double, double> distXY;
// main loop (simply monitors the current position taking into account the prohibited zones, as well as the
// timeout of the entire process)
while (!*_stopSlewing) {
@@ -235,11 +253,16 @@ public:
return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
}
distXY = mcc_compute_distance(tdata, min_time_to_pzone_in_secs, braking_accelX, braking_accelY);
// calculate coordinates at current speed '_currentParams.minTimeToPZone' seconds ahead
// 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.Y = tdata.DEC_APP + tdata.speedY * min_time_to_pzone_in_secs;
cpt.X = tdata.HA + distXY.first;
cpt.Y = tdata.DEC_APP + distXY.second;
// cpt.X = tdata.HA + tdata.speedX * min_time_to_pzone_in_secs;
// cpt.Y = tdata.DEC_APP + tdata.speedY * min_time_to_pzone_in_secs;
if (cpt.Y > DEG90INRADS) {
cpt.Y = DEG90INRADS;
}
@@ -247,8 +270,16 @@ public:
cpt.Y = -DEG90INRADS;
}
} else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
cpt.X = tdata.AZ + tdata.speedX * min_time_to_pzone_in_secs;
cpt.Y = tdata.ZD + tdata.speedY * min_time_to_pzone_in_secs;
cpt.X = tdata.AZ + distXY.first;
cpt.Y = tdata.ZD + distXY.second;
// cpt.X = tdata.AZ + tdata.speedX * min_time_to_pzone_in_secs;
// cpt.Y = tdata.ZD + tdata.speedY * min_time_to_pzone_in_secs;
if (cpt.Y < 0.0) {
cpt.Y = 0.0;
}
if (cpt.Y > std::numbers::pi) {
cpt.Y = std::numbers::pi;
}
}
mcc_tp2tp(tdata.time_point, cpt.time_point);
@@ -384,6 +415,8 @@ public:
// }
}
*_stopSlewing = true;
return MccSimpleSlewingModelErrorCode::ERROR_OK;
};
}