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This commit is contained in:
Timur A. Fatkhullin
2026-02-17 16:24:33 +03:00
parent 775dedd835
commit 578339fd8b
3 changed files with 47 additions and 13 deletions
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30
include/mcc/mcc_movement_controls.h
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@@ -602,9 +602,7 @@ public:
auto start_point = std::chrono::steady_clock::now();
auto last_hw_time = tdata.hwState.XY.epoch().UTC();
std::conditional_t<mccIsEquatorialMount(HARDWARE_T::mountType), MccSkyHADEC_OBS,
std::conditional_t<mccIsAltAzMount(HARDWARE_T::mountType), MccSkyAZZD, std::nullptr_t>>
tag_cp, mnt_cp;
mcc_deduced_coord_pair_t<HARDWARE_T::mountType> tag_cp, mnt_cp;
while (!*_stopMoving) {
t_err = telemetry->telemetryData(&tdata);
@@ -651,8 +649,16 @@ public:
last_hw_time = tdata.hwState.XY.epoch().UTC();
auto dist = utils::distanceOnSphere(tdata.targetPos.co_lon(), tdata.targetPos.co_lat(),
tdata.mountPos.co_lon(), tdata.mountPos.co_lat());
auto ccte_err = tdata.targetPos.to(tag_cp);
if (ccte_err) {
*_lastError = mcc_deduced_err(ccte_err, MccSimpleMovementControlsErrorCode::ERROR_CCTE_COMP);
}
ccte_err = tdata.mountPos.to(mnt_cp);
if (ccte_err) {
*_lastError = mcc_deduced_err(ccte_err, MccSimpleMovementControlsErrorCode::ERROR_CCTE_COMP);
}
auto dist = utils::distanceOnSphere(tag_cp.x(), tag_cp.y(), mnt_cp.x(), mnt_cp.y());
logger->logTrace(std::format(" target-to-mount distance: {} (dx = {}, dy = {})",
MccAngleFancyString(std::get<2>(dist)), std::get<0>(dist),
@@ -711,8 +717,18 @@ public:
return;
}
auto dist = utils::distanceOnSphere(tdata.targetPos.co_lon(), tdata.targetPos.co_lat(),
tdata.mountPos.co_lon(), tdata.mountPos.co_lat());
auto ccte_err = tdata.targetPos.to(tag_cp);
if (ccte_err) {
*_lastError = mcc_deduced_err(ccte_err, MccSimpleMovementControlsErrorCode::ERROR_CCTE_COMP);
return;
}
ccte_err = tdata.mountPos.to(mnt_cp);
if (ccte_err) {
*_lastError = mcc_deduced_err(ccte_err, MccSimpleMovementControlsErrorCode::ERROR_CCTE_COMP);
return;
}
auto dist = utils::distanceOnSphere(tag_cp.x(), tag_cp.y(), mnt_cp.x(), mnt_cp.y());
log_pos(tdata);