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This commit is contained in:
Timur A. Fatkhullin
2025-09-02 16:49:58 +03:00
parent de80acf315
commit fe6492e4fc
11 changed files with 484 additions and 161 deletions
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9
mcc/mcc_slewing_model.h
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@@ -164,7 +164,7 @@ public:
return mcc_deduce_error<error_t>(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
}
std::chrono::system_clock::time_point start_slewing_tp, last_adjust_tp;
std::chrono::steady_clock::time_point start_slewing_tp, last_adjust_tp;
mcc_tp2tp(hw_state.time_point, start_slewing_tp);
double dist, dx, dy, sinY, rate2, xrate;
@@ -230,7 +230,7 @@ public:
{
std::lock_guard lock{*_currentParamsMutex};
if ((std::chrono::system_clock::now() - start_slewing_tp) > _currentParams.slewTimeout) {
if ((std::chrono::steady_clock::now() - start_slewing_tp) > _currentParams.slewTimeout) {
return MccSimpleSlewingModelErrorCode::ERROR_TIMEOUT;
}
}
@@ -284,7 +284,8 @@ public:
}
if (dist <= _currentParams.adjustCoordDiff) { // adjust mount pointing
if ((std::chrono::system_clock::now() - last_adjust_tp) < _currentParams.adjustCycleInterval) {
auto now = std::chrono::steady_clock::now();
if ((now - last_adjust_tp) < _currentParams.adjustCycleInterval) {
continue;
}
@@ -301,7 +302,7 @@ public:
return mcc_deduce_error<error_t>(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
}
last_adjust_tp = std::chrono::system_clock::now();
last_adjust_tp = now;
adjust_mode = true;