From d7a9b7364f41be644d794bfb61cb4b84193b30d5 Mon Sep 17 00:00:00 2001
From: "Timur A. Fatkhullin" <timur@sao.ru>
Date: Fri, 27 Feb 2026 18:02:41 +0300
Subject: [PATCH] ...

---
 asibfm700_configfile.h        |  7 ++++---
 asibfm700_mount.cpp           | 16 ++++++++++++++--
 asibfm700_servocontroller.cpp |  9 +++++++++
 asibfm700_servocontroller.h   |  2 ++
 4 files changed, 29 insertions(+), 5 deletions(-)

diff --git a/asibfm700_configfile.h b/asibfm700_configfile.h
index 8eb6b0b..10ff142 100644
--- a/asibfm700_configfile.h
+++ b/asibfm700_configfile.h
@@ -145,8 +145,8 @@ static auto Asibfm700MountConfigDefaults = std::make_tuple(
 
     // target-mount coordinate difference in arcsecs to start adjusting of slewing
     simple_config_record_t{"adjustCoordDiff",
-                           50.0,
-                           {"target-mount coordinate difference in arcsecs to start adjusting of slewing"}},
+                           5.5,
+                           {"target-mount coordinate difference in degress to start adjusting of slewing"}},
 
     // minimum time in millisecs between two successive adjustments
     simple_config_record_t{"adjustCycleInterval",
@@ -612,7 +612,8 @@ public:
         pars.slewRateY = getValue<decltype(pars.slewRateY)>("hwMaxRateDEC").value_or(pars.slewRateY);
 
         pars.adjustCoordDiff =
-            getValue<decltype(pars.adjustCoordDiff)>("adjustCoordDiff").value_or(pars.adjustCoordDiff) * arcsecs2rad;
+            getValue<decltype(pars.adjustCoordDiff)>("adjustCoordDiff").value_or(pars.adjustCoordDiff) *
+            mcc::MCC_DEGRESS_TO_RADS;
 
         pars.adjustCycleInterval =
             getValue<decltype(pars.adjustCycleInterval)>("adjustCycleInterval").value_or(pars.adjustCycleInterval);
diff --git a/asibfm700_mount.cpp b/asibfm700_mount.cpp
index 2e0c347..5ff4d9e 100644
--- a/asibfm700_mount.cpp
+++ b/asibfm700_mount.cpp
@@ -33,9 +33,12 @@ Asibfm700Mount::Asibfm700Mount(Asibfm700MountConfig const& config, std::shared_p
 
 Asibfm700Mount::~Asibfm700Mount()
 {
-    stoppingImpl();
+    *_lastMountError = stoppingImpl();
+    if (_lastMountError->load()) {
+        errorLogging("an error occured while stopping mount: ", _lastMountError->load());
+    }
 
-    Mount.quit();
+    _servolController.hardwareShutdown();
 
     logDebug("Delete Asibfm700Mount class instance ({})", this->getThreadId());
 }
@@ -490,6 +493,8 @@ Asibfm700Mount::error_t Asibfm700Mount::slewingImpl(bool slew_and_stop)
         }
     }
 
+    *_stopMovementRequest = false;
+
     _pathFile.clearPath();
 
     _enteredBackupCoordinates = telemetry_t::getPointingTarget();
@@ -747,6 +752,8 @@ Asibfm700Mount::error_t Asibfm700Mount::trackingImpl()
         return mcc::impl::MccGenericMovementControlsErrorCode::ERROR_OK;
     }
 
+    *_stopMovementRequest = false;
+
     *_mountStatus = mount_status_t::MOUNT_STATUS_TRACKING;
     _pathFile.clearPath();
 
@@ -877,6 +884,8 @@ Asibfm700Mount::error_t Asibfm700Mount::trackingImpl()
 
 Asibfm700Mount::error_t Asibfm700Mount::stoppingImpl()
 {
+    logInfo("Stop mount requested");
+
     *_stopMovementRequest = true;
 
     typename AsibFM700ServoController::hardware_state_t hw_state;
@@ -892,6 +901,8 @@ Asibfm700Mount::error_t Asibfm700Mount::stoppingImpl()
 
         *_lastMountError = _servolController.hardwareGetState(&hw_state);
 
+        logDebug("    wait for mount stopping (timeout is {} seconds) ...",
+                 _mountConfig.getValue<std::chrono::seconds>("stopTimeout").value().count());
         while (hw_state.movementState != AsibFM700ServoController::hardware_movement_state_t::HW_MOVE_STOPPED &&
                !_lastMountError->load()) {
             if ((std::chrono::steady_clock::now() - start_tp) >
@@ -909,6 +920,7 @@ Asibfm700Mount::error_t Asibfm700Mount::stoppingImpl()
     if (!_lastMountError->load()) {
         *_mountStatus = mount_status_t::MOUNT_STATUS_IDLE;
         *_lastMountError = mcc::impl::MccGenericMovementControlsErrorCode::ERROR_OK;
+        logInfo("The mount is stopped!");
     } else {
         *_mountStatus = mount_status_t::MOUNT_STATUS_ERROR;
         errorLogging("An error occured while stoppping mount: ", _lastMountError->load());
diff --git a/asibfm700_servocontroller.cpp b/asibfm700_servocontroller.cpp
index 7ed192f..3b8c530 100644
--- a/asibfm700_servocontroller.cpp
+++ b/asibfm700_servocontroller.cpp
@@ -100,6 +100,15 @@ AsibFM700ServoController::error_t AsibFM700ServoController::hardwareInit()
 }
 
 
+AsibFM700ServoController::error_t AsibFM700ServoController::hardwareShutdown()
+{
+    Mount.quit();
+
+    return AsibFM700ServoControllerErrorCode::ERROR_OK;
+}
+
+
+
 AsibFM700ServoController::error_t AsibFM700ServoController::hardwareSetState(hardware_state_t const& state)
 {
     std::lock_guard lock{*_setStateMutex};
diff --git a/asibfm700_servocontroller.h b/asibfm700_servocontroller.h
index eb9aa6d..67ff75f 100644
--- a/asibfm700_servocontroller.h
+++ b/asibfm700_servocontroller.h
@@ -123,6 +123,8 @@ public:
 
     error_t hardwareInit();
 
+    error_t hardwareShutdown();
+
     void hardwareUpdateConfig(conf_t cfg);
 
     // save config to EEPROM