...

asibfm700_mount.cpp

@@ -33,6 +33,10 @@ Asibfm700Mount::Asibfm700Mount(Asibfm700MountConfig const& config, std::shared_p
 
 Asibfm700Mount::~Asibfm700Mount()
 {
+    stoppingImpl();
+
+    Mount.quit();
+
     logDebug("Delete Asibfm700Mount class instance ({})", this->getThreadId());
 }
 
@@ -476,6 +480,16 @@ Asibfm700Mount::error_t Asibfm700Mount::checkPZone(typename telemetry_t::telemet
 
 Asibfm700Mount::error_t Asibfm700Mount::slewingImpl(bool slew_and_stop)
 {
+    // if mount is already slewing then stop and re-slew
+    if (_mountStatus->load() == mount_status_t::MOUNT_STATUS_SLEWING ||
+        _mountStatus->load() == mount_status_t::MOUNT_STATUS_ADJUSTING) {
+        *_lastMountError = stoppingImpl();
+
+        if (_lastMountError->load()) {
+            return _lastMountError->load();
+        }
+    }
+
     _pathFile.clearPath();
 
     _enteredBackupCoordinates = telemetry_t::getPointingTarget();
@@ -729,6 +743,10 @@ Asibfm700Mount::error_t Asibfm700Mount::slewingImpl(bool slew_and_stop)
 
 Asibfm700Mount::error_t Asibfm700Mount::trackingImpl()
 {
+    if (_mountStatus->load() == mount_status_t::MOUNT_STATUS_TRACKING) {  // just ignore
+        return mcc::impl::MccGenericMovementControlsErrorCode::ERROR_OK;
+    }
+
     *_mountStatus = mount_status_t::MOUNT_STATUS_TRACKING;
     _pathFile.clearPath();
 
@@ -859,9 +877,11 @@ Asibfm700Mount::error_t Asibfm700Mount::trackingImpl()
 
 Asibfm700Mount::error_t Asibfm700Mount::stoppingImpl()
 {
+    *_stopMovementRequest = true;
+
     typename AsibFM700ServoController::hardware_state_t hw_state;
 
-    hw_state.movementState == AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_STOPPING;
+    hw_state.movementState = AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_STOPPING;
 
     *_lastMountError = sendToHardware(hw_state);