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-rw-r--r--indi-celestronaux/celestronaux.cpp61
-rw-r--r--indi-celestronaux/celestronaux.h3
2 files changed, 44 insertions, 20 deletions
diff --git a/indi-celestronaux/celestronaux.cpp b/indi-celestronaux/celestronaux.cpp
index 4add9d2..d0a1932 100644
--- a/indi-celestronaux/celestronaux.cpp
+++ b/indi-celestronaux/celestronaux.cpp
@@ -1680,7 +1680,7 @@ void CelestronAUX::TimerHit()
#endif
// Use PID to determine appropiate tracking rate
- trackByRate(AXIS_AZ, trackRates[AXIS_AZ]);
+ trackByRate(AXIS_AZ, trackRates[AXIS_AZ], false);
}
// Only apply trackinf IF we're still on the same side of the curve
@@ -1700,7 +1700,7 @@ void CelestronAUX::TimerHit()
m_Controllers[AXIS_ALT]->integralTerm(),
m_Controllers[AXIS_ALT]->derivativeTerm());
#endif
- trackByRate(AXIS_ALT, trackRates[AXIS_ALT]);
+ trackByRate(AXIS_ALT, trackRates[AXIS_ALT], false);
}
} else if (TrackMethodSP[TRACK_METHOD_DRIVER].getState() == ISS_ON) {
double r_ra, r_dec;
@@ -1722,7 +1722,7 @@ void CelestronAUX::TimerHit()
}
#endif
- CelestronAUX::SetTrackRate(r_ra, r_dec);
+ CelestronAUX::SetTrackRate(r_ra, r_dec, false);
}
}
break;
@@ -1754,15 +1754,15 @@ bool CelestronAUX::track_method_changed(void)
if (TrackMethodSP[TRACK_METHOD_MOUNT].getState() == ISS_ON) {
if (IUFindOnSwitchIndex(&TrackModeSP) == TRACK_CUSTOM)
- return SetTrackRate(TrackRateN[AXIS_AZ].value, TrackRateN[AXIS_ALT].value);
+ return SetTrackRate(TrackRateN[AXIS_AZ].value, TrackRateN[AXIS_ALT].value, true);
else
return SetTrackMode(IUFindOnSwitchIndex(&TrackModeSP));
}
if (TrackMethodSP[TRACK_METHOD_NONE].getState() == ISS_ON) {
syslog_proxy("CelestronAUX::trackByRate 0 0");
- trackByRate(AXIS_AZ, 0);
- trackByRate(AXIS_ALT, 0);
+ trackByRate(AXIS_AZ, 0, true);
+ trackByRate(AXIS_ALT, 0, true);
return true;
}
@@ -2056,7 +2056,7 @@ bool CelestronAUX::isSlewing()
bool CelestronAUX::slewTo(INDI_HO_AXIS axis, uint32_t steps, bool fast)
{
// Stop first.
- trackByRate(axis, 0);
+ trackByRate(axis, 0, true);
AUXCommand command(fast ? MC_GOTO_FAST : MC_GOTO_SLOW, APP, axis == AXIS_AZ ? AZM : ALT);
m_AxisStatus[axis] = SLEWING;
command.setData(steps, 3);
@@ -2071,7 +2071,7 @@ bool CelestronAUX::slewTo(INDI_HO_AXIS axis, uint32_t steps, bool fast)
bool CelestronAUX::slewByRate(INDI_HO_AXIS axis, int8_t rate)
{
// Stop first.
- trackByRate(axis, 0);
+ trackByRate(axis, 0, true);
AUXCommand command(rate >= 0 ? MC_MOVE_POS : MC_MOVE_NEG, APP, axis == AXIS_AZ ? AZM : ALT);
command.setData(std::abs(rate), 1);
sendAUXCommand(command);
@@ -2202,7 +2202,7 @@ uint32_t CelestronAUX::getCordWrapPosition()
bool CelestronAUX::stopAxis(INDI_HO_AXIS axis)
{
m_AxisStatus[axis] = STOPPED;
- trackByRate(axis, 0);
+ trackByRate(axis, 0, true);
AUXCommand command(MC_MOVE_POS, APP, (axis == AXIS_ALT) ? ALT : AZM);
command.setData(0, 1);
sendAUXCommand(command);
@@ -2240,9 +2240,10 @@ bool CelestronAUX::Abort()
/// rate = 80 would cause the motor to spin at a rate of 1 step/s
/// Have to check if 80 is specific to my Evolution 6" or not.
/////////////////////////////////////////////////////////////////////////////////////
-bool CelestronAUX::trackByRate(INDI_HO_AXIS axis, int32_t rate)
+bool CelestronAUX::trackByRate(INDI_HO_AXIS axis, int32_t rate, bool force)
{
- if (std::abs(rate) > 0 && rate == m_LastTrackRate[axis])
+ //if (std::abs(rate) > 0 && rate == m_LastTrackRate[axis])
+ if (!force && (rate == m_LastTrackRate[axis]))
return true;
m_LastTrackRate[axis] = rate;
@@ -2260,6 +2261,7 @@ bool CelestronAUX::trackByRate(INDI_HO_AXIS axis, int32_t rate)
bool CelestronAUX::trackByMode(INDI_HO_AXIS axis, uint8_t mode)
{
AUXCommand command(isNorthHemisphere() ? MC_SET_POS_GUIDERATE : MC_SET_NEG_GUIDERATE, APP, axis == AXIS_AZ ? AZM : ALT);
+ m_LastTrackRate[axis] =~0;
switch (mode)
{
case TRACK_SOLAR:
@@ -2293,7 +2295,7 @@ bool CelestronAUX::SetTrackEnabled(bool enabled)
if (TrackMethodSP[TRACK_METHOD_MOUNT].getState() == ISS_ON) {
if (IUFindOnSwitchIndex(&TrackModeSP) == TRACK_CUSTOM)
- return SetTrackRate(TrackRateN[AXIS_AZ].value, TrackRateN[AXIS_ALT].value);
+ return SetTrackRate(TrackRateN[AXIS_AZ].value, TrackRateN[AXIS_ALT].value, true);
else
return SetTrackMode(IUFindOnSwitchIndex(&TrackModeSP));
}
@@ -2302,8 +2304,8 @@ bool CelestronAUX::SetTrackEnabled(bool enabled)
{
TrackState = SCOPE_IDLE;
syslog_proxy("CelestronAUX::trackByRate 0 0");
- trackByRate(AXIS_AZ, 0);
- trackByRate(AXIS_ALT, 0);
+ trackByRate(AXIS_AZ, 0, true);
+ trackByRate(AXIS_ALT, 0, true);
if (HorizontalCoordsNP.getState() != IPS_IDLE)
{
@@ -2320,19 +2322,39 @@ bool CelestronAUX::SetTrackEnabled(bool enabled)
/////////////////////////////////////////////////////////////////////////////////////
bool CelestronAUX::SetTrackRate(double raRate, double deRate)
{
+ return CelestronAUX::SetTrackRate(raRate, deRate, false);
+}
+
+static int32_t rate_round(double d)
+{
+if (d>0.) return (int32_t) ( d+0.5);
+ else return - (int32_t) (-d +0.5);
+}
+
+
+bool CelestronAUX::SetTrackRate(double raRate, double deRate, bool force)
+{
m_TrackRates[AXIS_AZ] = raRate;
m_TrackRates[AXIS_ALT] = deRate;
if (TrackState == SCOPE_TRACKING)
{
-
double steps[2] = {0, 0};
+ int32_t rates[2] = {0, 0};
+ unsigned i;
+
// rate = (steps) * gain
steps[AXIS_AZ] = raRate * STEPS_PER_ARCSEC * GAIN_STEPS;
steps[AXIS_ALT] = deRate * STEPS_PER_ARCSEC * GAIN_STEPS;
syslog_proxy("CelestronAUX::trackByRate %.2f %.2f", steps[AXIS_AZ], steps[AXIS_ALT]);
- trackByRate(AXIS_AZ, steps[AXIS_AZ]);
- trackByRate(AXIS_ALT, steps[AXIS_ALT]);
+
+ for (i=0; i<2; ++i) {
+ rates[i] = rate_round(steps[i]);
+ if (rates[i] != m_LastTrackRate[i])
+ force = true;
+ }
+ trackByRate(AXIS_AZ, rates[AXIS_AZ], force);
+ trackByRate(AXIS_ALT, rates[AXIS_ALT], force);
}
return true;
}
@@ -2364,12 +2386,13 @@ bool CelestronAUX::SetTrackMode(uint8_t mode)
steps[AXIS_AZ] = m_TrackRates[AXIS_AZ] * STEPS_PER_ARCSEC * GAIN_STEPS;
steps[AXIS_ALT] = m_TrackRates[AXIS_ALT] * STEPS_PER_ARCSEC * GAIN_STEPS;
syslog_proxy("CelestronAUX::trackByRate %.2f %.2f", steps[AXIS_AZ], steps[AXIS_ALT]);
- trackByRate(AXIS_AZ, steps[AXIS_AZ]);
- trackByRate(AXIS_ALT, steps[AXIS_ALT]);
+ trackByRate(AXIS_AZ, rate_round(steps[AXIS_AZ]), true);
+ trackByRate(AXIS_ALT, rate_round(steps[AXIS_ALT]), true);
}
else {
syslog_proxy("CelestronAUX::trackByMode %d", mode);
trackByMode(AXIS_AZ, mode);
+ trackByRate(AXIS_ALT, 0, true);
}
}
}
diff --git a/indi-celestronaux/celestronaux.h b/indi-celestronaux/celestronaux.h
index 7c5dc29..eb5c81d 100644
--- a/indi-celestronaux/celestronaux.h
+++ b/indi-celestronaux/celestronaux.h
@@ -170,6 +170,7 @@ class CelestronAUX :
bool SetTrackEnabled(bool enabled) override;
bool SetTrackMode(uint8_t mode) override;
bool SetTrackRate(double raRate, double deRate) override;
+ bool SetTrackRate(double raRate, double deRate, bool force);
void resetTracking();
/**
@@ -180,7 +181,7 @@ class CelestronAUX :
* For Alt, negative is down while positive is up.
* @return True if successful, false otherwise.
*/
- bool trackByRate(INDI_HO_AXIS axis, int32_t rate);
+ bool trackByRate(INDI_HO_AXIS axis, int32_t rate, bool force);
/**
* @brief trackByRate Track using specific mode (sidereal, solar, or lunar)
generated by cgit v1.2.3 (git 2.25.1) at 2024-05-14 00:05:20 +0000