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mcc/mcc_moving_model_common.h

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+#pragma once
+
+/*                          MOUNT CONTROL COMPONENTS LIBRARY                            */
+
+
+/*                          COMMON DEFINITIONS FOR SIMPLE SLEWING, TRACKING AND GUIDING MODEL IMPLEMENTATIONS */
+
+
+#include <chrono>
+
+#include "mcc_angle.h"
+
+namespace mcc
+{
+
+struct MccSimpleMovingModelParams {
+    // *******    common for all modes    *******
+
+    // mean celestial rate
+    static constexpr double sideralRate = 15.0410686_arcsecs;  // in radians per second
+
+    // timeout to telemetry updating
+    std::chrono::seconds telemetryTimeout{3};
+
+    // minimal time to prohibited zone (at current speed in slewing mode). if it is lesser then exit with error
+    std::chrono::seconds minTimeToPZone{10};
+
+
+    // *******    slewing mode    *******
+
+    bool slewAndStop{false};  // slew to target and stop mount
+
+    // coordinates difference to stop slewing (in radians)
+    double slewToleranceRadius{5.0_arcsecs};
+
+    // target-mount coordinate difference to start adjusting of slewing (in radians)
+    double adjustCoordDiff{slewToleranceRadius * 10.0};
+
+    // slew process timeout
+    std::chrono::seconds slewTimeout{3600};
+
+    double slewXRate{0.0};  // maximal slewing rate (0 means move with maximal allowed rate)
+    double slewYRate{0.0};  // maximal slewing rate (0 means move with maximal allowed rate)
+
+    std::chrono::milliseconds adjustCycleInterval{500};  // minimum time between two successive adjustments
+
+    double adjustXRate{5.0_arcmins};  // maximal adjusting rate (a rate at the final slewing stage)
+    double adjustYRate{5.0_arcmins};  // maximal adjusting rate (a rate at the final slewing stage)
+
+
+    // *******    tracking mode    *******
+
+    double trackSpeedX{};
+    double trackSpeedY{};
+
+
+    // *******    guiding mode    *******
+
+    double correctionRange[2]{0.3_arcsecs, 3.0_arcsecs};
+    bool dualAxisGuiding{true};  // mount must be of an equatorial type: false means guiding along only HA-axis
+};
+
+}  // namespace mcc