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add PID-related items in mount config

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rewrite AsibFM700ServoController methods according to new time point
representation in LibSidServo
This commit is contained in:
Timur A. Fatkhullin
2025-12-04 18:11:41 +03:00
parent da9cd51e5c
commit acd26edc9c
3 changed files with 87 additions and 4 deletions
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45
asibfm700/asibfm700_mount.cpp
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@@ -126,6 +126,9 @@ Asibfm700Mount::error_t Asibfm700Mount::initMount()
logInfo(" MountReqInterval: {}", to_msecs(hw_cfg.devConfig.MountReqInterval));
logInfo(" EncoderReqInterval: {}", to_msecs(hw_cfg.devConfig.EncoderReqInterval));
logInfo(" EncoderSpeedInterval: {}", to_msecs(hw_cfg.devConfig.EncoderSpeedInterval));
logInfo(" PIDMaxDt: {}", to_msecs(hw_cfg.devConfig.PIDMaxDt));
logInfo(" PIDRefreshDt: {}", to_msecs(hw_cfg.devConfig.PIDRefreshDt));
logInfo(" PIDCycleDt: {}", to_msecs(hw_cfg.devConfig.PIDCycleDt));
logInfo(" XPIDC: [P: {}, I: {}, D: {}]", hw_cfg.devConfig.XPIDC.P, hw_cfg.devConfig.XPIDC.I,
hw_cfg.devConfig.XPIDC.D);
@@ -186,6 +189,44 @@ Asibfm700Mount::error_t Asibfm700Mount::initMount()
mpars.brakingAccelX = 0.165806; // Sidereal defines HA-axis as Y-axis
mpars.brakingAccelY = 0.219911; // Sidereal defines DEC-axis as X-axis
}
auto max_dt_intvl = _mountConfig.getValue<std::chrono::milliseconds>("PIDMaxDt").value_or({});
auto min_dt_intvl = _mountConfig.getValue<std::chrono::milliseconds>("PIDRefreshDt").value_or({});
// check for polling interval consistency
auto intvl = mpars.slewingTelemetryInterval;
if (intvl > max_dt_intvl) {
mpars.slewingTelemetryInterval = max_dt_intvl;
logWarn(
" slewingTelemetryInterval user value ({} ms) is greater than allowed! Set it to maximal "
"allowed one: {} ms",
intvl.count(), max_dt_intvl.count());
}
if (intvl < min_dt_intvl) {
mpars.slewingTelemetryInterval = min_dt_intvl;
logWarn(
" slewingTelemetryInterval user value ({} ms) is lesser than allowed! Set it to minimal allowed "
"one: {} ms",
intvl.count(), min_dt_intvl.count());
}
intvl = mpars.trackingTelemetryInterval;
if (intvl > max_dt_intvl) {
mpars.trackingTelemetryInterval = max_dt_intvl;
logWarn(
" trackingTelemetryInterval user value ({} ms) is greater than allowed! Set it to maximal "
"allowed one: {} ms",
intvl.count(), max_dt_intvl.count());
}
if (intvl < min_dt_intvl) {
mpars.trackingTelemetryInterval = min_dt_intvl;
logWarn(
" trackingTelemetryInterval user value ({} ms) is lesser than allowed! Set it to minimal "
"allowed one: {} ms",
intvl.count(), min_dt_intvl.count());
}
auto st_err = setSlewingParams(mpars);
if (st_err) {
errorLogging(" An error occured while setting slewing parameters: ", st_err);
@@ -194,10 +235,14 @@ Asibfm700Mount::error_t Asibfm700Mount::initMount()
logInfo(" Max DEC-axis speed: {} degs/s", mcc::MccAngle(mpars.slewRateY).degrees());
logInfo(" HA-axis stop acceleration braking: {} degs/s^2", mcc::MccAngle(mpars.brakingAccelX).degrees());
logInfo(" DEC-axis stop acceleration braking: {} degs/s^2", mcc::MccAngle(mpars.brakingAccelY).degrees());
logInfo(" Slewing telemetry polling interval: {} millisecs", mpars.slewingTelemetryInterval.count());
}
st_err = setTrackingParams(_mountConfig.movingModelParams());
if (st_err) {
errorLogging(" An error occured while setting tracking parameters: ", st_err);
} else {
logInfo(" Tracking telemetry polling interval: {} millisecs", mpars.trackingTelemetryInterval.count());
}
logInfo("Slewing and tracking parameters have been set successfully");