...

asibfm700/asibfm700_mount.cpp

@@ -67,6 +67,9 @@ Asibfm700Mount::error_t Asibfm700Mount::initMount()
 {
     std::lock_guard lock{*_mountConfigMutex};
 
+    logInfo("Stop telemetry data updating");
+    stopInternalTelemetryDataUpdating();
+
     logInfo("Init AstroSib FM-700 mount with configuration:");
     logInfo("    site latitude: {}", _mountConfig.siteLatitude().sexagesimal());
     logInfo("    site longitude: {}", _mountConfig.siteLongitude().sexagesimal());
@@ -189,6 +192,16 @@ Asibfm700Mount::error_t Asibfm700Mount::initMount()
 
     setStateERFA(std::move(ccte_state));
 
+    startInternalTelemetryDataUpdating();
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+
+    bool ok = isInternalTelemetryDataUpdating();
+    if (ok) {
+        logInfo("Start updating telemetry data");
+    } else {
+        logError("Cannot update telemetry data!");
+    }
 
     return mcc::MccGenericMountErrorCode::ERROR_OK;
 }

asibfm700/asibfm700_servocontroller.cpp

@@ -143,7 +143,11 @@ AsibFM700ServoController::error_t AsibFM700ServoController::hardwareGetState(har
         using secs_t = std::chrono::duration<double>;
 
         secs_t secs = secs_t{mdata.encXposition.t};
-        state->time_point = tp_t{std::chrono::duration_cast<tp_t::duration>(secs)};
+        if (mcc::utils::isEqual(secs.count(), 0.0)) {  // model mode?
+            state->time_point = decltype(state->time_point)::clock::now();
+        } else {
+            state->time_point = tp_t{std::chrono::duration_cast<tp_t::duration>(secs)};
+        }
 
         // according to "SiTech protocol notes" X is DEC-axis and Y is HA-axis
         state->X = mdata.encYposition.val;