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This commit is contained in:
Timur A. Fatkhullin
2025-11-17 03:07:54 +03:00
parent 0ce4430668
commit e0c8d8f39b
6 changed files with 133 additions and 161 deletions
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21
mcc/mcc_moving_model_common.h
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@@ -92,23 +92,26 @@ std::pair<double, double> mcc_compute_distance(mcc_telemetry_data_c auto const&
{
std::pair<double, double> res;
// first, check if the mount will stop after given time_in_secs to prevent traveled path to be
// negative
// first, check if the mount stops before time_in_secs
//
// the time to stop mount: (V_ini - a*t) = 0 => t = V_ini/a
//
// the traveled path: s = V_ini*t - a*t*t/2, V_ini - initial speed, a - braking accel, t - the time
// then, for s>=0, t <= 2*V_ini/a
//
double term_x = 2.0 * std::abs(tdata.speedX) / braking_accelX;
double term_y = 2.0 * std::abs(tdata.speedY) / braking_accelY;
// time to stop mount with given current speed and braking acceleration
double tx_stop = std::abs(tdata.speedX) / braking_accelX;
double ty_stop = std::abs(tdata.speedY) / braking_accelY;
double tx = time_in_secs;
double ty = time_in_secs;
if (std::isfinite(term_x) && (time_in_secs > term_x)) {
tx = term_x;
if (std::isfinite(tx_stop) && (time_in_secs > tx_stop)) {
tx = tx_stop;
}
if (std::isfinite(term_y) && (time_in_secs > term_y)) {
ty = term_y;
if (std::isfinite(ty_stop) && (time_in_secs > ty_stop)) {
ty = ty_stop;
}
// here, one must take into account the sign of the speed!!!