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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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21
asibfm700/asibfm700_servocontroller.cpp
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@@ -119,7 +119,14 @@ AsibFM700ServoController::error_t AsibFM700ServoController::hardwareSetState(har
// time point from sidservo library is 'double' number represented UNIXTIME with
// microseconds/nanoseconds precision
double tp = std::chrono::duration<double>(state.time_point.time_since_epoch()).count();
// double tp = std::chrono::duration<double>(state.time_point.time_since_epoch()).count();
// 2025-12-04: coordval_pair_t.X.t is now of type struct timespec
auto ns = std::chrono::duration_cast<std::chrono::nanoseconds>(state.time_point.time_since_epoch());
auto secs = std::chrono::floor<std::chrono::seconds>(ns);
ns -= secs;
std::timespec tp{.tv_sec = secs.count(), .tv_nsec = ns.count()};
// according to"SiTech protocol notes" X is DEC-axis and Y is HA-axis
coordval_pair_t cvalpair{.X{.val = state.Y, .t = tp}, .Y{.val = state.X, .t = tp}};
@@ -151,10 +158,16 @@ AsibFM700ServoController::error_t AsibFM700ServoController::hardwareGetState(har
// time point from sidservo library is 'double' number represented UNIXTIME with
// microseconds/nanoseconds precision (must be equal for encXposition and encYposition)
using secs_t = std::chrono::duration<double>;
// 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)};
// 2025-12-04: coordval_pair_t.X.t is now of type struct timespec
auto dr = std::chrono::duration_cast<decltype(state->time_point)::duration>(
std::chrono::seconds(mdata.encXposition.t.tv_sec) + std::chrono::nanoseconds(mdata.encXposition.t.tv_nsec));
state->time_point = decltype(state->time_point){dr};
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();