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seems like PID works on real telescope

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This commit is contained in:
Edward Emelianov
2026-03-23 17:22:58 +03:00
parent 6ea6bad008
commit 9f2e893f1a
15 changed files with 598 additions and 280 deletions
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60
Auxiliary_utils/LibSidServo/main.c
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@@ -161,6 +161,8 @@ double LS_calc_slope(less_square_t *l, double x, double t){
if(!l) return 0.;
size_t idx = l->idx;
double oldx = l->x[idx], oldt = l->t[idx], oldt2 = l->t2[idx], oldxt = l->xt[idx];
/*DBG("old: x=%g, t=%g, t2=%g, xt=%g; sum: %g, t=%g, t2=%g, xt=%g", oldx, oldt, oldt2, oldxt,
l->xsum, l->tsum, l->t2sum, l->xtsum);*/
double t2 = t * t, xt = x * t;
l->x[idx] = x; l->t2[idx] = t2;
l->t[idx] = t; l->xt[idx] = xt;
@@ -172,9 +174,9 @@ double LS_calc_slope(less_square_t *l, double x, double t){
l->xtsum += xt - oldxt;
double n = (double)l->arraysz;
double denominator = n * l->t2sum - l->tsum * l->tsum;
//DBG("idx=%zd, arrsz=%zd, den=%g", l->idx, l->arraysz, denominator);
if(fabs(denominator) < 1e-7) return 0.;
double numerator = n * l->xtsum - l->xsum * l->tsum;
//DBG("x=%g, t=%g; idx=%zd, arrsz=%zd, den=%g; xsum=%g, num=%g", x, t, l->idx, l->arraysz, denominator, l->xsum, numerator);
// point: (sum_x - slope * sum_t) / n;
return (numerator / denominator);
}
@@ -200,6 +202,7 @@ static mcc_errcodes_t init(conf_t *c){
if(!Xmodel || !Ymodel || !openMount()) return MCC_E_FAILED;
return MCC_E_OK;
}
DBG("Try to open mount device");
if(!Conf.MountDevPath || Conf.MountDevSpeed < MOUNT_BAUDRATE_MIN){
DBG("Define mount device path and speed");
ret = MCC_E_BADFORMAT;
@@ -207,33 +210,53 @@ static mcc_errcodes_t init(conf_t *c){
DBG("Can't open %s with speed %d", Conf.MountDevPath, Conf.MountDevSpeed);
ret = MCC_E_MOUNTDEV;
}
if(Conf.SepEncoder){
if(!Conf.EncoderDevPath && !Conf.EncoderXDevPath){
DBG("Define encoder device path");
ret = MCC_E_BADFORMAT;
}else if(!openEncoder()){
DBG("Can't open encoder device");
ret = MCC_E_ENCODERDEV;
}
}
// TODO: read hardware configuration on init
if(Conf.EncoderSpeedInterval < Conf.EncoderReqInterval * MCC_CONF_MIN_SPEEDC || Conf.EncoderSpeedInterval > MCC_CONF_MAX_SPEEDINT){
DBG("Wrong speed interval");
ret = MCC_E_BADFORMAT;
}
if(!SSrawcmd(CMD_EXITACM, NULL)) ret = MCC_E_FAILED;
if(ret != MCC_E_OK) return ret;
DBG("Exit ACM, exit manual mode");
SSrawcmd(CMD_EXITACM, NULL);
SStextcmd(CMD_AUTOX, NULL);
SStextcmd(CMD_AUTOY, NULL);
// read HW config to update constants
hardware_configuration_t HW;
if(MCC_E_OK != get_hwconf(&HW)) return MCC_E_FAILED;
DBG("Read hardware configuration");
ret = MCC_E_FAILED;
for(int i = 0; i < MAX_ERR_CTR; ++i){
DBG("TRY %d..", i);
ret = get_hwconf(&HW);
if(ret == MCC_E_OK) break;
}
if(MCC_E_OK != ret) return ret;
// make a pause for actual encoder's values
DBG("Check encoders");
if(Conf.SepEncoder){
if(!Conf.EncoderDevPath && !Conf.EncoderXDevPath){
DBG("Define encoder device path");
ret = MCC_E_BADFORMAT;
}else{
ret = MCC_E_ENCODERDEV;
for(int i = 0; i < MAX_ERR_CTR; ++i){
if(openEncoder()){
ret = MCC_E_OK;
break;
}
}
}
}
if(MCC_E_OK != ret) return ret;
double t0 = timefromstart();
while(timefromstart() - t0 < Conf.EncoderReqInterval) usleep(1000);
DBG("Wait for first encoders' measurement");
while(timefromstart() - t0 < Conf.EncoderReqInterval * 15.) usleep(1000);
DBG("Update motor position");
mcc_errcodes_t e = updateMotorPos();
// and refresh data after updating
DBG("Wait for next mount reading");
t0 = timefromstart();
while(timefromstart() - t0 < Conf.MountReqInterval * 3.) usleep(1000);
while(timefromstart() - t0 < Conf.MountReqInterval * 5.) usleep(1000);
DBG("ALL READY!");
return e;
}
@@ -288,10 +311,6 @@ static mcc_errcodes_t move2(const coordpair_t *target){
cmd.Ymot = target->Y;
cmd.Xspeed = Xlimits.max.speed;
cmd.Yspeed = Ylimits.max.speed;
/*mcc_errcodes_t r = shortcmd(&cmd);
if(r != MCC_E_OK) return r;
setslewingstate();
return MCC_E_OK;*/
return shortcmd(&cmd);
}
@@ -328,10 +347,7 @@ static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed
cmd.Ymot = target->Y;
cmd.Xspeed = speed->X;
cmd.Yspeed = speed->Y;
mcc_errcodes_t r = shortcmd(&cmd);
if(r != MCC_E_OK) return r;
setslewingstate();
return MCC_E_OK;
return shortcmd(&cmd);
}
/**