From b3a257fab6c8d2962423de304fab9e2338e7ee09 Mon Sep 17 00:00:00 2001
From: "Timur A. Fatkhullin" <timur@sao.ru>
Date: Wed, 12 Nov 2025 18:50:23 +0300
Subject: [PATCH] ...

---
 asibfm700/asibfm700_configfile.h | 3 +++
 asibfm700/asibfm700_mount.cpp    | 3 +++
 mcc/mcc_generic_mount.h          | 6 +++---
 mcc/mcc_generics.h               | 2 ++
 mcc/mcc_moving_model_common.h    | 4 ++--
 5 files changed, 13 insertions(+), 5 deletions(-)

diff --git a/asibfm700/asibfm700_configfile.h b/asibfm700/asibfm700_configfile.h
index 34c5484..6c7f162 100644
--- a/asibfm700/asibfm700_configfile.h
+++ b/asibfm700/asibfm700_configfile.h
@@ -513,6 +513,9 @@ public:
             getValue<decltype(pars.slewToleranceRadius)>("slewToleranceRadius").value_or(pars.slewToleranceRadius) *
             arcsecs2rad;
 
+        pars.slewRateX = getValue<decltype(pars.slewRateX)>("hwMaxRateHA").value_or(pars.slewRateX);
+        pars.slewRateY = getValue<decltype(pars.slewRateY)>("hwMaxRateDEC").value_or(pars.slewRateY);
+
         pars.adjustCoordDiff =
             getValue<decltype(pars.adjustCoordDiff)>("adjustCoordDiff").value_or(pars.adjustCoordDiff) * arcsecs2rad;
 
diff --git a/asibfm700/asibfm700_mount.cpp b/asibfm700/asibfm700_mount.cpp
index b42e50e..f08848b 100644
--- a/asibfm700/asibfm700_mount.cpp
+++ b/asibfm700/asibfm700_mount.cpp
@@ -106,6 +106,9 @@ Asibfm700Mount::error_t Asibfm700Mount::initMount()
     auto st_err = setSlewingParams(mpars);
     if (st_err) {
         errorLogging("    An error occured while setting slewing parameters: ", st_err);
+    } else {
+        logInfo("    Max HA-axis speed: {} degs/s", mcc::MccAngle(mpars.slewRateX).degrees());
+        logInfo("    Max DEC-axis speed: {} degs/s", mcc::MccAngle(mpars.slewRateY).degrees());
     }
     st_err = setTrackingParams(_mountConfig.movingModelParams());
     if (st_err) {
diff --git a/mcc/mcc_generic_mount.h b/mcc/mcc_generic_mount.h
index bf700d4..0614f71 100644
--- a/mcc/mcc_generic_mount.h
+++ b/mcc/mcc_generic_mount.h
@@ -277,7 +277,7 @@ public:
 
         *_mountStatus = mount_status_t::SLEWING;
 
-        auto s_err =
+        error_t s_err =
             mcc_deduce_error_code(SlewModelT::slewToTarget(slew_and_stop), MccGenericMountErrorCode::ERROR_MOUNT_SLEW);
 
         if (s_err) {
@@ -640,7 +640,7 @@ protected:
                 return;
             }
 
-            // call base-class stopMount method!
+            // call base-class slewToTarget method!
             auto err = static_cast<MOUNT_T*>(mount_ptr)->slewToTarget();
             if (err) {
                 mount_ptr->dispatchEvent(MccGenericFsmMountErrorEvent{mount_ptr, err});
@@ -713,7 +713,7 @@ protected:
                 return;
             }
 
-            // after stop trackin switch to IDLE state
+            // after stop tracking switch to IDLE state
 
             mount_ptr->dispatchEvent(MccGenericFsmMountIdleEvent{mount_ptr});
         }
diff --git a/mcc/mcc_generics.h b/mcc/mcc_generics.h
index 356b961..9524302 100644
--- a/mcc/mcc_generics.h
+++ b/mcc/mcc_generics.h
@@ -915,6 +915,8 @@ concept mcc_slewing_model_c = requires(T t) {
     { t.setSlewingParams(std::declval<typename T::slewing_params_t>()) } -> mcc_error_c;
     // { t.setSlewingParams(std::declval<typename T::slewing_params_t>()) } -> std::same_as<typename T::error_t>;
     { t.getSlewingParams() } -> std::same_as<typename T::slewing_params_t>;
+
+    { t.slewingCurrentError() } -> mcc_error_c;
 };
 
 
diff --git a/mcc/mcc_moving_model_common.h b/mcc/mcc_moving_model_common.h
index 5bf5f5c..379d570 100644
--- a/mcc/mcc_moving_model_common.h
+++ b/mcc/mcc_moving_model_common.h
@@ -43,8 +43,8 @@ struct MccSimpleMovingModelParams {
     // slew process timeout
     std::chrono::seconds slewTimeout{3600};
 
-    double slewRateX{0.0};  // maximal slewing rate (0 means move with maximal allowed rate)
-    double slewRateY{0.0};  // maximal slewing rate (0 means move with maximal allowed rate)
+    double slewRateX{0.0};  // maximal slewing rate (0 means move with maximal allowed rate????!!!!!)
+    double slewRateY{0.0};  // maximal slewing rate (0 means move with maximal allowed rate????!!!!!)
 
     std::chrono::milliseconds adjustCycleInterval{500};  // minimum time between two successive adjustments