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This commit is contained in:
Timur A. Fatkhullin
2026-02-20 12:08:21 +03:00
parent 099c6056d7
commit e6004a6c8a
7 changed files with 101 additions and 71 deletions
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28
include/mcc/mcc_movement_controls.h
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@@ -672,21 +672,21 @@ public:
if (slew_and_stop) { // just wait until the mount stops
if (tdata.hwState.movementState == HARDWARE_T::hardware_movement_state_t::HW_MOVE_STOPPED) {
if (std::get<2>(dist) > _currentParams.slewToleranceRadius) {
// resend new position since target coordinates are changed in time
hw_state.movementState = HARDWARE_T::hardware_movement_state_t::HW_MOVE_SLEWING;
hw_state.XY.setX(tdata.targetXY.x());
hw_state.XY.setY(tdata.targetXY.y());
hw_state.XY.setEpoch(ep_t::now());
// if (std::get<2>(dist) > _currentParams.slewToleranceRadius) {
// // resend new position since target coordinates are changed in time
// hw_state.movementState = HARDWARE_T::hardware_movement_state_t::HW_MOVE_SLEWING;
// hw_state.XY.setX(tdata.targetXY.x());
// hw_state.XY.setY(tdata.targetXY.y());
// hw_state.XY.setEpoch(ep_t::now());
*_lastError = send_to_hardware(hw_state);
if (_lastError->load()) {
break;
}
} else {
logger->logInfo("mount movement state is STOPPED! Exit from slewing process!");
break;
}
// *_lastError = send_to_hardware(hw_state);
// if (_lastError->load()) {
// break;
// }
// } else {
logger->logInfo("mount movement state is STOPPED! Exit from slewing process!");
break;
// }
}
} else {
if (last_hw_time == tdata.hwState.XY.epoch().UTC()) {