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This commit is contained in:
Timur A. Fatkhullin 2025-11-02 14:38:44 +03:00
parent c0f274cec0
commit 6fc0b8bb4e
2 changed files with 18 additions and 6 deletions
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9
asibfm700/asibfm700_mount.cpp
View File

@ -95,9 +95,13 @@ Asibfm700Mount::error_t Asibfm700Mount::initMount()
logInfo("{} prohibited zones were added successfully", pz_num); logInfo("{} prohibited zones were added successfully", pz_num);
auto mpars = _mountConfig.movingModelParams();
logInfo(""); logInfo("");
logInfo("Setup slewing and tracking parameters ..."); logInfo("Setup slewing and tracking parameters ...");
auto st_err = setSlewingParams(_mountConfig.movingModelParams()); mpars.slewRateX = _mountConfig.getValue<mcc::MccAngle>("hwMaxRateHA").value_or(0.0);
mpars.slewRateY = _mountConfig.getValue<mcc::MccAngle>("hwMaxRateDec").value_or(0.0);
auto st_err = setSlewingParams(mpars);
if (st_err) { if (st_err) {
errorLogging(" An error occured while setting slewing parameters: ", st_err); errorLogging(" An error occured while setting slewing parameters: ", st_err);
} }
@ -201,7 +205,8 @@ Asibfm700Mount::error_t Asibfm700Mount::initMount()
logInfo("Start updating telemetry data"); logInfo("Start updating telemetry data");
} else { } else {
auto err = lastUpdateError(); auto err = lastUpdateError();
logError("Cannot update telemetry data (err = {} [{}])!", err.message(), err.category().name()); logError("Cannot update telemetry data (err = {} [{}, {}])!", err.message(), err.value(),
err.category().name());
} }
return mcc::MccGenericMountErrorCode::ERROR_OK; return mcc::MccGenericMountErrorCode::ERROR_OK;

15
mcc/mcc_generic_mount.h
View File

@ -256,8 +256,6 @@ public:
// re-implements SlewModelT::slewToTarget to fetch input target coordinates from intermediate buffer // re-implements SlewModelT::slewToTarget to fetch input target coordinates from intermediate buffer
error_t slewToTarget(bool slew_and_stop = false) error_t slewToTarget(bool slew_and_stop = false)
{ {
*_mountStatus = mount_status_t::SLEWING;
auto err = TelemetryT::setPointingTarget(_enteredTargetCoordiniates); auto err = TelemetryT::setPointingTarget(_enteredTargetCoordiniates);
if (err) { if (err) {
*_mountStatus = mount_status_t::ERROR; *_mountStatus = mount_status_t::ERROR;
@ -265,12 +263,21 @@ public:
return mcc_deduce_error_code(err, MccGenericMountErrorCode::ERROR_SET_TARGET); return mcc_deduce_error_code(err, MccGenericMountErrorCode::ERROR_SET_TARGET);
} }
*_mountStatus = mount_status_t::SLEWING;
auto s_err =
mcc_deduce_error_code(SlewModelT::slewToTarget(slew_and_stop), MccGenericMountErrorCode::ERROR_MOUNT_SLEW);
if (s_err) {
*_mountStatus = mount_status_t::ERROR;
return s_err;
}
if (slew_and_stop) { if (slew_and_stop) {
*_mountStatus = mount_status_t::IDLE; *_mountStatus = mount_status_t::IDLE;
} }
return mcc_deduce_error_code(SlewModelT::slewToTarget(slew_and_stop), return s_err;
MccGenericMountErrorCode::ERROR_MOUNT_SLEW);
} }
error_t trackTarget() error_t trackTarget()