From 296f8e3b03600e213fd3746fd0a48b1046b9dd5f Mon Sep 17 00:00:00 2001
From: "Timur A. Fatkhullin" <timur@sao.ru>
Date: Mon, 2 Mar 2026 19:12:02 +0300
Subject: [PATCH] ...

---
 asibfm700_mount.cpp         | 14 ++++++++++++--
 asibfm700_servocontroller.h | 14 ++++++++------
 2 files changed, 20 insertions(+), 8 deletions(-)

diff --git a/asibfm700_mount.cpp b/asibfm700_mount.cpp
index 2f1ae56..0718da7 100644
--- a/asibfm700_mount.cpp
+++ b/asibfm700_mount.cpp
@@ -2,6 +2,7 @@
 
 #include <mcc/mcc_coordinate.h>
 #include <mcc/mcc_pzone.h>
+#include "mcc/mcc_serializer.h"
 
 namespace asibfm700
 {
@@ -363,8 +364,10 @@ Asibfm700Mount::error_t Asibfm700Mount::sendToHardware(AsibFM700ServoController:
 {
     auto tp = std::chrono::duration_cast<std::chrono::milliseconds>(hw_state.XY.epoch().UTC().time_since_epoch());
 
-    logDebug("Send to hardware: X = {} degs, Y = {} degs (timepoint: {})", hw_state.XY.x().degrees(),
-             hw_state.XY.y().degrees(), tp);
+    logDebug("Send to hardware: X = {} degs, Y = {} degs, sX = {}/s, sY = {}/s, STATE = {} (timepoint: {})",
+             hw_state.XY.x().degrees(), hw_state.XY.y().degrees(),
+             mcc::impl::MccAngleFancyString(hw_state.speedXY.x().degrees()),
+             mcc::impl::MccAngleFancyString(hw_state.speedXY.y().degrees()), hw_state.movementState, tp);
 
     *_lastMountError = _servolController.hardwareSetState(hw_state);
 
@@ -799,6 +802,11 @@ Asibfm700Mount::error_t Asibfm700Mount::trackingImpl()
 
         setPointingTarget(tdata.mountPos);
 
+        std::string s;
+        mcc::impl::MccSerializer<mcc::impl::MccSkyPoint> ser;
+        ser(s, tdata.mountPos);
+        logTrace("The target point is set to {}", s);
+
         *_lastMountError = telemetryData(&tdata);
 
         if (_lastMountError->load()) {
@@ -824,6 +832,8 @@ Asibfm700Mount::error_t Asibfm700Mount::trackingImpl()
 
     hw_state.movementState = hardware_t::hardware_movement_state_t::HW_MOVE_TRACKING;
 
+    logTrace("Start main tracking cycle ...");
+
     while (!_stopMovementRequest->load()) {
         *_lastMountError = telemetryData(&tdata);
 
diff --git a/asibfm700_servocontroller.h b/asibfm700_servocontroller.h
index 67ff75f..6a07f7d 100644
--- a/asibfm700_servocontroller.h
+++ b/asibfm700_servocontroller.h
@@ -148,12 +148,14 @@ struct std::formatter<asibfm700::AsibFM700ServoController::hardware_movement_sta
     auto format(asibfm700::AsibFM700ServoController::hardware_movement_state_t e, auto& ctx) const
     {
         return formatter<std::string_view>::format(
-            e == asibfm700::AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_ERROR      ? "ERROR"
-            : e == asibfm700::AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_STOPPED  ? "STOPPED"
-            : e == asibfm700::AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_STOPPING ? "STOPPING"
-            : e == asibfm700::AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_SLEWING  ? "SLEWING"
-            : e == asibfm700::AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_TRACKING ? "TRACKING"
-                                                                                                    : "UNKNOWN",
+            e == asibfm700::AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_ERROR       ? "ERROR"
+            : e == asibfm700::AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_STOPPED   ? "STOPPED"
+            : e == asibfm700::AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_STOPPING  ? "STOPPING"
+            : e == asibfm700::AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_SLEWING   ? "SLEWING"
+            : e == asibfm700::AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_ADJUSTING ? "ADJUSTING"
+            : e == asibfm700::AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_TRACKING  ? "TRACKING"
+            : e == asibfm700::AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_GUIDING   ? "GUIDING"
+                                                                                                     : "UNKNOWN",
             ctx);
     }
 };