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This commit is contained in:
Timur A. Fatkhullin
2026-04-01 17:21:22 +03:00
parent 4bd4d156b5
commit 9fbd628493
3 changed files with 48 additions and 19 deletions
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18
include/mcc/mcc_coordinate.h
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@@ -196,14 +196,18 @@ protected:
{
if constexpr (pairKind != MccCoordPairKind::COORDS_KIND_GENERIC &&
pairKind != MccCoordPairKind::COORDS_KIND_XY) {
// if constexpr (pairKind == MccCoordPairKind::COORDS_KIND_HADEC_APP ||
// pairKind == MccCoordPairKind::COORDS_KIND_HADEC_OBS) {
// _x = (double)MccAngle(_x).normalize<MccAngle::NORM_KIND_180_180>();
// } else { // RA, AZ
// _x = (double)MccAngle(_x).normalize<MccAngle::NORM_KIND_0_360>();
// }
if constexpr (pairKind == MccCoordPairKind::COORDS_KIND_HADEC_APP ||
pairKind == MccCoordPairKind::COORDS_KIND_HADEC_OBS) {
_x = (double)MccAngle(_x).normalize<MccAngle::NORM_KIND_180_180>();
} else { // RA, AZ
_x = (double)MccAngle(_x).normalize<MccAngle::NORM_KIND_0_360>();
}
_x = (double)MccAngle(_x).normalize<MccAngle::NORM_KIND_0_360>();
// _x = (double)MccAngle(_x).normalize<MccAngle::NORM_KIND_0_360>();
// if (utils::isEqual((double)_x, MCC_TWO_PI)) {
// _x = 0.0;
// }
// DEC and ALT is [-90,90] degrees
if constexpr (pairKind != MccCoordPairKind::COORDS_KIND_AZZD) {

17
include/mcc/mcc_generic_movecontrols.h
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@@ -388,12 +388,6 @@ public:
self._wakeupRequest->clear();
log_str = std::format("\n{:*^80}\n", " UNLOCKED ");
if constexpr (mcc_generic_mount_c<self_t>) {
self.logTrace(log_str);
} else {
std::println("{}", log_str);
}
// if (stoken.stop_requested()) {
// break;
@@ -401,6 +395,17 @@ public:
do_state = self._fsmState->load();
log_str = std::format(" UNLOCKED WITH STATE (STOP = {} SLEW = {} TRACK = {}) ",
do_state & STATE_STOP, do_state & STATE_SLEW, do_state & STATE_TRACK);
log_str = std::format("\n{:*^80}\n", log_str);
if constexpr (mcc_generic_mount_c<self_t>) {
self.logTrace(log_str);
} else {
std::println("{}", log_str);
}
if (do_state & STATE_STOP) {
// if (_fsmState->load() & STATE_STOP) {
*self._stopMovementRequest = true;

32
include/mcc/mcc_pcm.h
View File

@@ -334,10 +334,19 @@ public:
} dfx, dfy, df; // partial derivatives
ret = _computeFuncDeriv(x, y, res, true, &dfx, &dfy);
if (!ret) {
if (ret) {
return ret;
}
// are all geometry coeffs equal to 0?
if (utils::isEqual(dfx.pcmX, 0.0) && utils::isEqual(dfy.pcmX, 0.0) && utils::isEqual(dfx.pcmY, 0.0) &&
utils::isEqual(dfy.pcmY, 0.0)) {
if constexpr (mcc_coord_pair_c<T>) {
*hw_pt = MccCoordPair<typename T::x_t, typename T::y_t>{x, y, obs_skycoord.epoch()};
}
return MccDefaultPCMErrorCode::ERROR_OK;
}
dfx.pcmX += 1.0; // a
dfx.pcmY += 1.0; // b
@@ -356,15 +365,26 @@ public:
// -1 | d -b |
// A = 1/detA * | -c a |
//
// and
//
// -1 | pcmX | | d*pcmX - b*pcmY |
// A * | pcmY | = | -c*pcmX + a*pcmY |
//
df.pcmX = dfy.pcmY * res->pcmX - dfx.pcmY * res->pcmY;
df.pcmY = -dfy.pcmX * res->pcmX + dfx.pcmX * res->pcmY;
df.pcmX = (dfy.pcmY * res->pcmX - dfx.pcmY * res->pcmY) / detJ;
df.pcmY = (-dfy.pcmX * res->pcmX + dfx.pcmX * res->pcmY) / detJ;
res->pcmX -= df.pcmX;
res->pcmY -= df.pcmY;
res->pcmX = -df.pcmX;
res->pcmY = -df.pcmY;
// res->pcmX -= df.pcmX;
// res->pcmY -= df.pcmY;
// if constexpr (mcc_coord_pair_c<T>) {
// *hw_pt = MccCoordPair<typename T::x_t, typename T::y_t>{res->pcmX, res->pcmY, obs_skycoord.epoch()};
// }
if constexpr (mcc_coord_pair_c<T>) {
*hw_pt = MccCoordPair<typename T::x_t, typename T::y_t>{res->pcmX, res->pcmY, obs_skycoord.epoch()};
*hw_pt =
MccCoordPair<typename T::x_t, typename T::y_t>{x + res->pcmX, y + res->pcmY, obs_skycoord.epoch()};
}
} else { // for B-splines the result is computed directly from inverse B-spline coefficients
ret = _computeFuncDeriv(x, y, res);