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telescope is moving; need to add some more commands & write FITS-header

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This commit is contained in:
Edward Emelianov
2026-09-24 17:51:41 +03:00
parent eb40fec59a
commit 8e796ce419
13 changed files with 553 additions and 183 deletions
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56
Daemons/10micron_stellarium/emulation.c
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@@ -25,8 +25,9 @@
#include "angles.h"
#include "emulation.h"
// emulation speed over any trajectory
#define SPEED (DEG2RAD(5.))
// emulation speed over axis
#define RASPEED (DEG2RAD(5.))
#define DECSPEED (DEG2RAD(8.))
// limiting Zen.d.
#define ZD_LIMIT (DEG2RAD(80.))
// pointing tolerance: ~1''
@@ -108,11 +109,12 @@ static double angular_distance(const polarCrds_t *a, const polarCrds_t *b){
return acos(cd);
}
#endif
// distance by axis moving
static double axdist(const polarCrds_t *a, const polarCrds_t *b){
// time to reach position b from position a
static double reacht(const polarCrds_t *a, const polarCrds_t *b){
// convert to [-pi, pi)
double dra = eraAnpm(b->ra - a->ra), ddec = eraAnpm(b->dec - a->dec);
return sqrt(dra*dra + ddec*ddec);
double tra = fabs(eraAnpm(b->ra - a->ra)) / RASPEED, tdec = fabs(eraAnpm(b->dec - a->dec)) / DECSPEED;
if(tra > tdec) return tra;
return tdec;
}
// calculate flip target (dec>90deg)
@@ -142,47 +144,49 @@ void get_emul_coords(double *ra, double *decl){
}
if(!flip_in_progress){ // check if we need to flip
// distance for direct moving
double dist_direct = axdist(&CurRD, &TagRD);
double time_direct = reacht(&CurRD, &TagRD);
// new point after flipping
polarCrds_t flip_candidate;
get_flip_target(&TagRD, &flip_candidate);
// distance for moving with flip
double dist_flip = axdist(&CurRD, &flip_candidate);
double time_flip = reacht(&CurRD, &flip_candidate);
if(dist_flip < dist_direct){
if(time_flip < time_direct){
// need to make flip: it's shorter
flip_target = flip_candidate;
flip_in_progress = true;
DBG("Flip chosen: direct=%.3fdeg, flip=%.3fdeg\n\n\n", RAD2DEG(dist_direct), RAD2DEG(dist_flip));
DBG("Target: ra=%gdeg, dec=%gdeg; flip target: ra=%gdeg, dec=%gdec", RAD2DEG(TagRD.ra), RAD2DEG(TagRD.dec), RAD2DEG(flip_candidate.ra), RAD2DEG(flip_candidate.dec));
DBG("Flip chosen: direct=%.3fsec, flip=%.3fsec\n\n\n", RAD2DEG(time_direct), RAD2DEG(time_flip));
}else{
flip_in_progress = false;
DBG("Move directly: direct=%.3fdeg, flip=%.3fdeg\n\n\n", RAD2DEG(dist_direct), RAD2DEG(dist_flip));
DBG("Move directly: direct=%.3fsec, flip=%.3fsec\n\n\n", RAD2DEG(time_direct), RAD2DEG(time_flip));
}
}
// flip target is the same as TagRD, but with RA+=12h and dec > 90deg
polarCrds_t *target = flip_in_progress ? &flip_target : &TagRD;
// RA difference over target and last position: [-pi, pi)
double dRA = eraAnpm(target->ra - CurRD.ra);
DBG("RA difference: %gdegr", RAD2DEG(dRA));
DBG("RA difference: %gdegr (tag: %g, cur: %g)", RAD2DEG(dRA), RAD2DEG(target->ra), RAD2DEG(CurRD.ra));
double dDec = eraAnpm(target->dec - CurRD.dec);
DBG("DEC difference: %gdegr", RAD2DEG(dDec));
DBG("DEC difference: %gdegr (tag: %g, cur: %g)", RAD2DEG(dDec), RAD2DEG(target->dec), RAD2DEG(CurRD.dec));
double dist = sqrt(dRA*dRA + dDec*dDec);
if(dist < POINTING_TOL){ // on position
double tra = fabs(dRA) / RASPEED, tdec = fabs(dDec) / DECSPEED;
double time_to_reach = (tra > tdec) ? tra : tdec;
double dt = tcur - tlast;
if(dist < POINTING_TOL || time_to_reach < dt){ // on position
DBG("ON Position, time to reach=%gs, dt=%gs\n\n\n", time_to_reach, dt);
if(pointAZ) emulation_stop(); // got A/Z position, stop
else atomic_store(&emul_status, MNT_S_TRACKING);
if(flip_in_progress){
flip_in_progress = false;
CurRD = TagRD; // fix to dec <=90
}
if(flip_in_progress) flip_in_progress = false;
CurRD = TagRD; // fix to dec <=90
}else{
double dt = tcur - tlast;
double step = SPEED * dt;
if(step > dist) step = dist;
double factor = step / dist;
CurRD.ra += dRA * factor;
CurRD.dec += dDec * factor;
//if(CurRD.dec > ERFA_DPI/2.0) CurRD.dec = ERFA_DPI/2.0;
//else if(CurRD.dec < -ERFA_DPI/2.0) CurRD.dec = -ERFA_DPI/2.0;
DBG("dRA=%gdeg, dDEC=%gdegh\n\n\n", RAD2DEG(dRA), RAD2DEG(dDec));
double sign = (dRA > 0.) ? 1. : -1.;
if(tra < dt) CurRD.ra = target->ra;
else CurRD.ra += dt * RASPEED * sign;
sign = (dDec > 0.) ? 1. : -1.;
if(tdec < dt) CurRD.dec = target->dec;
else CurRD.dec += dt * DECSPEED * sign;
if(CurRD.ra < 0.) CurRD.ra += ERFA_D2PI;
else if(CurRD.ra >= ERFA_D2PI) CurRD.ra -= ERFA_D2PI;
}