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This commit is contained in:
Timur A. Fatkhullin
2026-06-08 17:38:00 +03:00
parent a30469906d
commit 9d647ff2aa
1 changed files with 25 additions and 9 deletions
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24
asibfm700_mount.cpp
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@@ -649,6 +649,11 @@ Asibfm700Mount::error_t Asibfm700Mount::slewingImpl(bool slew_and_stop)
hw_state.movementState = hardware_t::hardware_movement_state_t::HW_MOVE_ADJUSTING;
mcc::impl::MccSkyPoint::dist_result_t dist;
double fine_point_ang;
if (!slew_and_stop) {
fine_point_ang = _mountConfig.getValue<mcc::impl::MccAngle>("MaxFinePointingErr").value();
}
while (!_stopMovementRequest->load()) {
// check for slewing timeout
@@ -729,16 +734,27 @@ Asibfm700Mount::error_t Asibfm700Mount::slewingImpl(bool slew_and_stop)
break;
}
if (dist.dist <= getMovementParams().adjustCoordDiff) { // start adjusting (precise pointing)
*_mountStatus = mount_status_t::MOUNT_STATUS_ADJUSTING;
// LibSidServo.correctTo
// 08.06.2026: start polling the hardware level immediately
*_lastMountError = sendToHardware(hw_state);
if (_lastMountError->load()) {
break;
}
if (dist.dist <= fine_point_ang) { // switch state
*_mountStatus = mount_status_t::MOUNT_STATUS_ADJUSTING;
}
// if (dist.dist <= getMovementParams().adjustCoordDiff) { // start adjusting (precise pointing)
// *_mountStatus = mount_status_t::MOUNT_STATUS_ADJUSTING;
// // LibSidServo.correctTo
// *_lastMountError = sendToHardware(hw_state);
// if (_lastMountError->load()) {
// break;
// }
// }
}
// if (tdata.hwState.movementState == hardware_t::hardware_movement_state_t::HW_MOVE_STOPPED &&