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This commit is contained in:
Timur A. Fatkhullin
2025-07-24 15:56:59 +03:00
parent 8f36f89d7a
commit 7e1709727a
5 changed files with 106 additions and 41 deletions
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21
cxx/mcc_guiding_model.h
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@@ -7,6 +7,7 @@
#include "mcc_mount_concepts.h"
#include "mcc_slew_guiding_model_common.h"
namespace mcc
@@ -192,7 +193,7 @@ public:
}
protected:
std::function<error_t()> _guidingFunc{};
std::function<error_t(guiding_point_t)> _guidingFunc{};
std::atomic_bool _doCorrection{true};
@@ -447,11 +448,11 @@ protected:
// compare t_data with computed coordinates ...
if (_doCorrection) {
if constexpr (mccIsEquatorialMount(pec_t::mountType)) {
xr = t_data.mntHA - ha;
yr = t_data.mntDEC - dec_app;
xr = ha - t_data.mntHA;
yr = dec_app - t_data.mntDEC;
} else if constexpr (mccIsAltAzMount(pec_t::mountType)) {
xr = t_data.mntAZ - az;
yr = t_data.mntALT - alt;
xr = az - t_data.mntAZ;
yr = alt - t_data.mntALT;
} else {
static_assert(false, "UNSUPPORTED MOUNT TYPE!");
}
@@ -470,9 +471,13 @@ protected:
}
// do correction
ax_pos.state = hardware_t::hw_state_t::HW_STATE_TRACK;
ax_pos.x = t_data.mntPosX;
ax_pos.y = t_data.mntPosY;
ax_pos.state = hardware_t::hw_state_t::HW_STATE_TRACK; // indicates to hardware level
ax_pos.x = xr;
ax_pos.y = yr;
// ax_pos.x = t_data.mntPosX;
// ax_pos.y = t_data.mntPosY;
ax_pos.time_point = t_data.time_point;
// asynchronous operation!
auto err = hardware.setPos(std::move(ax_pos));