diff --git a/include/mcc/mcc_coordinate.h b/include/mcc/mcc_coordinate.h
index 5908b75..6e5389e 100644
--- a/include/mcc/mcc_coordinate.h
+++ b/include/mcc/mcc_coordinate.h
@@ -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) {
diff --git a/include/mcc/mcc_generic_movecontrols.h b/include/mcc/mcc_generic_movecontrols.h
index 537a42a..32eefc1 100644
--- a/include/mcc/mcc_generic_movecontrols.h
+++ b/include/mcc/mcc_generic_movecontrols.h
@@ -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;
diff --git a/include/mcc/mcc_pcm.h b/include/mcc/mcc_pcm.h
index 27400a3..671251a 100644
--- a/include/mcc/mcc_pcm.h
+++ b/include/mcc/mcc_pcm.h
@@ -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);