Bi-monthly release with minor bug fixes and improvements
diff --git a/indi-eqmod/skywatcher.cpp b/indi-eqmod/skywatcher.cpp
index a0c0a480..9e012c9a 100644
--- a/indi-eqmod/skywatcher.cpp
+++ b/indi-eqmod/skywatcher.cpp
@@ -995,8 +995,20 @@ void Skywatcher::SlewTo(SkywatcherAxis axis, int32_t deltaencoder)
{
SkywatcherAxisStatus newstatus;
bool useHighSpeed = false;
- uint32_t lowperiod = 18, lowspeedmargin = 20000, breaks = 400;
+ uint32_t period = 0, lowperiod = 18, lowspeedmargin = 20000, breaks = 400;
/* highperiod = RA 450X DE (+5) 200x, low period 32x */
+ if (axis == Axis1)
+ {
+ period =
+ static_cast<uint32_t>(((SKYWATCHER_STELLAR_DAY * DEStepsWorm)/ static_cast<double>(DESteps360)) / 32);
+ lowperiod = 7;
+ }
+ else
+ {
+ period =
+ static_cast<uint32_t>(((SKYWATCHER_STELLAR_DAY * RAStepsWorm)/ static_cast<double>(RASteps360)) / 32);
+ lowperiod = 14;
+ }
newstatus.slewmode = GOTO;
if (deltaencoder >= 0)
newstatus.direction = FORWARD;
@@ -1016,9 +1028,9 @@ void Skywatcher::SlewTo(SkywatcherAxis axis, int32_t deltaencoder)
{
SetMotion(axis, newstatus);
if (useHighSpeed)
- SetSpeed(axis, minperiods[axis], &newstatus);
+ SetSpeed(axis, period/lowperiod, &newstatus);
else
- SetSpeed(axis, lowperiod, &newstatus);
+ SetSpeed(axis, period, &newstatus);
SetTarget(axis, deltaencoder);
#ifdef _KOHERON
if (!koheron_interface->SwpCmdStartMotion(axis, false, false, true))
void Skywatcher::SlewTo(int32_t deltaraencoder, int32_t deltadeencoder)
{
LOGF_DEBUG("%s() : deltaRA = %d deltaDE = %d", __FUNCTION__, deltaraencoder, deltadeencoder);
+ deltaraencoder = deltaraencoder % RASteps360;
+ deltadeencoder = deltadeencoder % DESteps360;
+ deltaraencoder = (deltaraencoder > RASteps360 / 2) ? deltaraencoder - RASteps360 : deltaraencoder;
+ deltadeencoder = (deltadeencoder > DESteps360 / 2) ? deltadeencoder - DESteps360 : deltadeencoder;
SlewTo(Axis1, deltaraencoder);
SlewTo(Axis2, deltadeencoder);
indi_eqmod_telescope_18:02:13.log:DEBUG 659.592703 sec : SlewTo() : deltaRA = 9046448 deltaDE = 4653041
indi_eqmod_telescope_18:02:13.log:DEBUG 718.630034 sec : SlewTo() : deltaRA = 4611160 deltaDE = 4608000
indi_eqmod_telescope_18:27:37.log:DEBUG 136.235714 sec : SlewTo() : deltaRA = 7235566 deltaDE = 5410220
indi_eqmod_telescope_18:27:37.log:DEBUG 172.776143 sec : SlewTo() : deltaRA = 4609940 deltaDE = 9216000
indi_eqmod_telescope_18:34:41.log:DEBUG 25.215249 sec : SlewTo() : deltaRA = 4559796 deltaDE = 10225027
indi_eqmod_telescope_18:34:41.log:DEBUG 97.324505 sec : SlewTo() : deltaRA = 4611858 deltaDE = 9216000
indi_eqmod_telescope_18:34:41.log:DEBUG 119.688529 sec : SlewTo() : deltaRA = 4725851 deltaDE = 9155639
indi_eqmod_telescope_18:34:41.log:DEBUG 191.901964 sec : SlewTo() : deltaRA = 4611821 deltaDE = 9216000
indi_eqmod_telescope_18:49:31.log:DEBUG 21.016397 sec : SlewTo() : deltaRA = 4373949 deltaDE = 9113967
indi_eqmod_telescope_18:49:31.log:DEBUG 92.630694 sec : SlewTo() : deltaRA = 4611830 deltaDE = 9216000
indi_eqmod_telescope_18:51:41.log:DEBUG 54.708978 sec : SlewTo() : deltaRA = 4827902 deltaDE = 9246140
indi_eqmod_telescope_18:51:41.log:DEBUG 61.401553 sec : SlewTo() : deltaRA = 4608359 deltaDE = 9216000
indi_eqmod_telescope_18:51:41.log:DEBUG 74.594590 sec : SlewTo() : deltaRA = 4732772 deltaDE = 9330643
indi_eqmod_telescope_18:51:41.log:DEBUG 90.763735 sec : SlewTo() : deltaRA = 4345055 deltaDE = 9386074
indi_eqmod_telescope_18:51:41.log:DEBUG 159.359545 sec : SlewTo() : deltaRA = 4611625 deltaDE = 9216000
indi_eqmod_telescope_18:51:41.log:DEBUG 185.151453 sec : SlewTo() : deltaRA = 4716304 deltaDE = 9266592
indi_eqmod_telescope_18:51:41.log:DEBUG 234.951276 sec : SlewTo() : deltaRA = 4849678 deltaDE = 8985747
indi_eqmod_telescope_18:51:41.log:DEBUG 303.852993 sec : SlewTo() : deltaRA = 4611634 deltaDE = 9216000
INFO 54.701343 sec : Starting Goto RA=12.5294 DE=46.8621 (current RA=13.6746 DE=49.2168)
INFO 54.701463 sec : Aligned Eqmod Goto RA=12.5294 DE=46.8621 (target RA=12.5294 DE=46.8621)
INFO 54.701496 sec : Setting Eqmod Goto RA=12.5294 DE=46.8621 (target RA=12.5294 DE=46.8621)
DEBUG 54.701536 sec : StopRA() : calling RA StopWaitMotor
DEBUG 54.705307 sec : StopDE() : calling DE StopWaitMotor
INFO 54.708907 sec : Slewing mount: RA increment = 4827902, DE increment = 9246140
DEBUG 54.708978 sec : SlewTo() : deltaRA = 4827902 deltaDE = 9246140
INFO 54.721523 sec : Slewing to RA: 12:31:46 - DEC: 46:51:44
DEBUG 55.297444 sec : IsRARunning() = true
DEBUG 56.321382 sec : IsRARunning() = true
DEBUG 57.332179 sec : IsRARunning() = true
DEBUG 58.345821 sec : IsRARunning() = true
DEBUG 59.361949 sec : IsRARunning() = true
DEBUG 60.381628 sec : IsRARunning() = true
DEBUG 61.401150 sec : IsRARunning() = false
DEBUG 61.401206 sec : IsDERunning() = false
INFO 61.401228 sec : Iterative Goto (1): RA diff = 6.71 arcsecs DE diff = 0.03 arcsecs
INFO 61.401295 sec : Iterative goto (1): slew mount to RA increment = 4608359, DE increment = 9216000
DEBUG 61.401553 sec : SlewTo() : deltaRA = 4608359 deltaDE = 9216000
DEBUG 62.440639 sec : IsRARunning() = false
DEBUG 62.440674 sec : IsDERunning() = false
INFO 62.440687 sec : Iterative Goto (2): RA diff = 1.02 arcsecs DE diff = 0.03 arcsecs
DEBUG 62.443064 sec : StartRATracking() : trackspeed = 15.0411 arcsecs/s, computed rate = 1
DEBUG 62.443108 sec : SetRARate() : rate = 1
DEBUG 62.446795 sec : StartDETracking() : trackspeed = 0 arcsecs/s, computed rate = 0
INFO 62.449028 sec : Telescope slew is complete. Tracking TRACK_SIDEREAL...
INFO 74.583685 sec : Starting Goto RA=11.8801 DE=37.9056 (current RA=12.5297 DE=46.8621)
INFO 74.583836 sec : Aligned Eqmod Goto RA=11.8801 DE=37.9056 (target RA=11.8801 DE=37.9056)
INFO 74.583892 sec : Setting Eqmod Goto RA=11.8801 DE=37.9056 (target RA=11.8801 DE=37.9056)
DEBUG 74.583958 sec : StopRA() : calling RA StopWaitMotor
DEBUG 74.587933 sec : StopDE() : calling DE StopWaitMotor
INFO 74.594530 sec : Slewing mount: RA increment = 4732772, DE increment = 9330643
DEBUG 74.594590 sec : SlewTo() : deltaRA = 4732772 deltaDE = 9330643
INFO 74.604375 sec : Slewing to RA: 11:52:48 - DEC: 37:54:20
DEBUG 74.648346 sec : IsRARunning() = true
DEBUG 75.661371 sec : IsRARunning() = true
DEBUG 76.673641 sec : IsRARunning() = true
DEBUG 77.693330 sec : IsRARunning() = true
DEBUG 78.708531 sec : IsRARunning() = true
DEBUG 79.723843 sec : IsRARunning() = false
DEBUG 79.723890 sec : IsDERunning() = false
INFO 79.723906 sec : Iterative Goto (1): RA diff = 4.19 arcsecs DE diff = 0.09 arcsecs
DEBUG 79.727987 sec : StartRATracking() : trackspeed = 15.0411 arcsecs/s, computed rate = 1
DEBUG 79.728040 sec : SetRARate() : rate = 1
DEBUG 79.731062 sec : StartDETracking() : trackspeed = 0 arcsecs/s, computed rate = 0
INFO 79.733387 sec : Telescope slew is complete. Tracking TRACK_SIDEREAL...
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indi_eqmod_telescope_18:02:13.log:DEBUG 659.592703 sec : SlewTo() : deltaRA = 9046448 deltaDE = 4653041
indi_eqmod_telescope_18:02:13.log:DEBUG 718.630034 sec : SlewTo() : deltaRA = 4611160 deltaDE = 4608000
indi_eqmod_telescope_18:27:37.log:DEBUG 136.235714 sec : SlewTo() : deltaRA = 7235566 deltaDE = 5410220
indi_eqmod_telescope_18:27:37.log:DEBUG 172.776143 sec : SlewTo() : deltaRA = 4609940 deltaDE = 9216000
indi_eqmod_telescope_18:34:41.log:DEBUG 25.215249 sec : SlewTo() : deltaRA = 4559796 deltaDE = 10225027
indi_eqmod_telescope_18:34:41.log:DEBUG 97.324505 sec : SlewTo() : deltaRA = 4611858 deltaDE = 9216000
indi_eqmod_telescope_18:34:41.log:DEBUG 119.688529 sec : SlewTo() : deltaRA = 4725851 deltaDE = 9155639
indi_eqmod_telescope_18:34:41.log:DEBUG 191.901964 sec : SlewTo() : deltaRA = 4611821 deltaDE = 9216000
indi_eqmod_telescope_18:49:31.log:DEBUG 21.016397 sec : SlewTo() : deltaRA = 4373949 deltaDE = 9113967
indi_eqmod_telescope_18:49:31.log:DEBUG 92.630694 sec : SlewTo() : deltaRA = 4611830 deltaDE = 9216000
indi_eqmod_telescope_18:51:41.log:DEBUG 54.708978 sec : SlewTo() : deltaRA = 4827902 deltaDE = 9246140
indi_eqmod_telescope_18:51:41.log:DEBUG 61.401553 sec : SlewTo() : deltaRA = 4608359 deltaDE = 9216000
indi_eqmod_telescope_18:51:41.log:DEBUG 74.594590 sec : SlewTo() : deltaRA = 4732772 deltaDE = 9330643
indi_eqmod_telescope_18:51:41.log:DEBUG 90.763735 sec : SlewTo() : deltaRA = 4345055 deltaDE = 9386074
indi_eqmod_telescope_18:51:41.log:DEBUG 159.359545 sec : SlewTo() : deltaRA = 4611625 deltaDE = 9216000
indi_eqmod_telescope_18:51:41.log:DEBUG 185.151453 sec : SlewTo() : deltaRA = 4716304 deltaDE = 9266592
indi_eqmod_telescope_18:51:41.log:DEBUG 234.951276 sec : SlewTo() : deltaRA = 4849678 deltaDE = 8985747
indi_eqmod_telescope_18:51:41.log:DEBUG 303.852993 sec : SlewTo() : deltaRA = 4611634 deltaDE = 9216000
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