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This commit is contained in:
Edward Emelianov 2025-12-02 12:33:16 +03:00
parent 6dde28e8d9
commit bbf7314592
3 changed files with 5 additions and 5 deletions
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4
LibSidServo/PID.c
View File

@ -103,7 +103,7 @@ static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t
} }
break; break;
case AXIS_POINTING: case AXIS_POINTING:
if(fe < Conf.MaxFinePoingintErr){ if(fe < Conf.MaxFinePointingErr){
axis->state = AXIS_GUIDING; axis->state = AXIS_GUIDING;
DBG("--> Guiding"); DBG("--> Guiding");
pid = pidpair->PIDV; pid = pidpair->PIDV;
@ -115,7 +115,7 @@ static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t
break; break;
case AXIS_GUIDING: case AXIS_GUIDING:
pid = pidpair->PIDV; pid = pidpair->PIDV;
if(fe > Conf.MaxFinePoingintErr){ if(fe > Conf.MaxFinePointingErr){
DBG("--> Pointing"); DBG("--> Pointing");
axis->state = AXIS_POINTING; axis->state = AXIS_POINTING;
pid = pidpair->PIDC; pid = pidpair->PIDC;

4
LibSidServo/examples/conf.c
View File

@ -48,7 +48,7 @@ static conf_t Config = {
.YPIDV.I = 0.0, .YPIDV.I = 0.0,
.YPIDV.D = 0.05, .YPIDV.D = 0.05,
.MaxPointingErr = 0.13962634, .MaxPointingErr = 0.13962634,
.MaxFinePoingintErr = 0.026179939, .MaxFinePointingErr = 0.026179939,
.MaxGuidingErr = 4.8481368e-7, .MaxGuidingErr = 4.8481368e-7,
}; };
@ -81,7 +81,7 @@ static sl_option_t opts[] = {
{"YPIDVI", NEED_ARG, NULL, 0, arg_double, APTR(&Config.YPIDV.I), "I of Y PID (velocity driven)"}, {"YPIDVI", NEED_ARG, NULL, 0, arg_double, APTR(&Config.YPIDV.I), "I of Y PID (velocity driven)"},
{"YPIDVD", NEED_ARG, NULL, 0, arg_double, APTR(&Config.YPIDV.D), "D of Y PID (velocity driven)"}, {"YPIDVD", NEED_ARG, NULL, 0, arg_double, APTR(&Config.YPIDV.D), "D of Y PID (velocity driven)"},
{"MaxPointingErr", NEED_ARG, NULL, 0, arg_double, APTR(&Config.MaxPointingErr), "if angle < this, change state from \"slewing\" to \"pointing\" (coarse pointing): 8 degrees"}, {"MaxPointingErr", NEED_ARG, NULL, 0, arg_double, APTR(&Config.MaxPointingErr), "if angle < this, change state from \"slewing\" to \"pointing\" (coarse pointing): 8 degrees"},
{"MaxFinePoingintErr",NEED_ARG, NULL, 0, arg_double, APTR(&Config.MaxFinePoingintErr), "if angle < this, chane state from \"pointing\" to \"guiding\" (fine poinging): 1.5 deg"}, {"MaxFinePointingErr",NEED_ARG, NULL, 0, arg_double, APTR(&Config.MaxFinePointingErr), "if angle < this, chane state from \"pointing\" to \"guiding\" (fine poinging): 1.5 deg"},
{"MaxGuidingErr", NEED_ARG, NULL, 0, arg_double, APTR(&Config.MaxGuidingErr), "if error less than this value we suppose that target is captured and guiding is good (true guiding): 0.1''"}, {"MaxGuidingErr", NEED_ARG, NULL, 0, arg_double, APTR(&Config.MaxGuidingErr), "if error less than this value we suppose that target is captured and guiding is good (true guiding): 0.1''"},
// {"",NEED_ARG, NULL, 0, arg_double, APTR(&Config.), ""}, // {"",NEED_ARG, NULL, 0, arg_double, APTR(&Config.), ""},
end_option end_option

2
LibSidServo/sidservo.h
View File

@ -75,7 +75,7 @@ typedef struct{
PIDpar_t YPIDC; PIDpar_t YPIDC;
PIDpar_t YPIDV; PIDpar_t YPIDV;
double MaxPointingErr; // if angle < this, change state from "slewing" to "pointing" (coarse pointing): 8 degrees double MaxPointingErr; // if angle < this, change state from "slewing" to "pointing" (coarse pointing): 8 degrees
double MaxFinePoingintErr; // if angle < this, chane state from "pointing" to "guiding" (fine poinging): 1.5 deg double MaxFinePointingErr; // if angle < this, chane state from "pointing" to "guiding" (fine poinging): 1.5 deg
double MaxGuidingErr; // if error less than this value we suppose that target is captured and guiding is good (true guiding): 0.1'' double MaxGuidingErr; // if error less than this value we suppose that target is captured and guiding is good (true guiding): 0.1''
} conf_t; } conf_t;