...

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);