I just added the code from Mark Lord, who did the design of the standalone handcontroller via the aux port of the focuser. I took it from the source disclosed earlier in this thread. Guess this could help for getting our project up to speed. The code is intended for an arduino pro mini or micro. The serial comm part we don´t need because we would use what´s already defined in the existing indi driver for handling serial communication. The nunchuck part we don´t need because we use the inid_joystick driver. The rest could probably be helpful.

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Don´t know whether this makes sense or not, but I will share my thoughts anyhow:
thought of a possible software solution to eventually control the focuser with the thumbstick on the joystick controller. Apparently the MC_MOVE_POS [x] and MC_MOVE_NEG [x] will make the focuser move in positive or negative direction with speed [x] until a) either a "0" is received via a new "MC_MOVE_XXX [x]" command or a soft limit (set via calibration) is hit. The backlash function also seems to be implemented in the firmware of the driver, so we don´t have to care about this.
So can´t we just declare two new variables in our driver, let´s say "move_focuser_neg" and "move_focuser_pos". Based on the value of these variables either a "MC_MOVE_POS" or "MC_MOVE_NEG" is being sent through the serial comm. That way we don´t need to touch the basic design of the driver with the either time based or abs/rel moves, but just add our code to the existing one. To control the focser by control panel you have to add two new buttons for Focus_in and Focus_out. These would be in addition to the existing ones, which toggle direction for the abs/rel moves. When you hit one of the buttons the "MC_MOVE_XXX ]x]" command would be sent with the speed value [x] based on the slider setting from the "has_variable_speed" capability. The speed range in this case would need to be defined from value 5 (slow) to 9 (fast). If you release the button the "MC_MOVE_XXX [x]" command would be sent with [0] as speed value to stop movement. Same could be done with the joystick. Depending on the axis reading you load the "move_focuser_neg"/"move_focuser_pos" variable and execute the move. As soon as you release the joystick a "MC_MOVE_XXX [0]" command would be sent to stop movement. To not accidentely move the focuser by unintended touches when you grab the joystick, one could potentially assign a button to block focuser movement by the joystick. The button could toggle joystick command on and off. On my joystick, this would leave three of the four buttons next to the thumbstick for storing/retrieving presets. A long button press could store the current position, a short press sends stored position to the existing absolute movement routine. The current positon is being read via the "MC_GET_POS" command.
Does this makes sense ?

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That sounds great ! Please let me know if I can help / assist in any way.
The easiest/fastest adaptation (although staying short of having analog control via joystick thumbstick) would probably being the following:
re-enable "has_variable_speed" capability. This make the speed slider reappear in the control panel. Option is for two speeds "slow" and "fast" (1 and 2). In the code of the celestron.cpp where the absolute_move is being executed ("start_move" line 361 ff) the return statement could be made dependent of the speed setting via an "if" statement: if focuser speed is fast, than MC_GOTO_FAST is executed, if focuser speed is slow, than MC_GOTO_SLOW is executed. Potentially this would also result in less of a mirror shift, as the movement is carried out more gentle.
I still have not found out, where / in which file the Joystick options for the focuser are being defined. Adding more control options (e.g. assign presets to buttons) should be a straight forward exercise. Any idea, where to find this ?

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I am using SM for some time now and enjoy it greatly ! so many thanks to all, who contributed so much !
From time to time I use my Scope just for visual observation, which is great fun, too; especially when you are with friends and/or family and show them how the nightsky looks through a telesope.
It is in these situations that I would appreciate to have more options for manual focus control. The current driver for the Celestron SCT focuser is geared toward astrophotography and using autofocus. When you want to use it for visual observation it becomes quite inconvenient and cumbersome, as you can only switch between focus in / focus out in fast mode. When you are close to focus you have to hit abort quite fast to get the focus right or revert to tiny focus steps.
Here is a link to a manual focus controller, which seems to be quite convenient:
www.cloudynights.com/topic/645522-celest...t-and-edgehd/page-37
With this controller you can use the thumbstick to move the focuser in either direction. The amount of deflection controls how fast the focuser moves. Quite intuitive and convenient. Judging from the amount of posts in this thread and other information contained therein, there seems to be quite some interest for this controller.
Now, I guess it can´t be too hard to implement this in the current Celestron SCT Focuser driver. I tried myself, but unfortunately my coding skills are too basic and limited to get it right.
Here is what I found out, though:
Based on information from here:
www.paquettefamily.ca/nexstar/NexStar_AUX_Commands_10.pdf
It appears that enhancing the code of the driver seems to be quite straight forward. As of now, only the MC_GOTO_FAST command is employed to control the focuser move (line 372 in celestron.cpp).
According to the command listing from above there is also a MC_GOTO_SLOW command available, so a "switch" would need to be implemented in the code to toggle between MC_GOTO_FAST and MC_GOTO_SLOW.
Alternatively, there are the commands "MC_MOVE_POS" and "MC_MOVE_NEG", which are to be complemented by an integer number of 0 (stop) or between 5 (slowest) and 9 (fastest) for setting the speed*. One would need to implement two buttons and a speed slider (or even better a joystick axis) to have the focuser move in a slow or fast way and stop, when no button is pressed or the joystick is in neutral position. The latter way (especially with the joystick) seems to be the most elegant to me.
Once this is implemented and working, one could probably give options in the Joystick tab for assigning buttons to the presets. This would be absolutely perfect, then. So one could switch between focus of different setups or looking through the scope with or without glasses.
Can anyone please help out here ? I am willing to test code anytime.
Many thanks and kind regards
Dirk
*information derived from the first link; 1-4 seem to be unused

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In the reply from above I am referring to the Celestron SCT focuser, which I use also. I guess it should be the same approach in principle as for the DSD AF3. The Celestron focuser is even more important to me, as I have to use this to get into "broad" focus. At times, I only use this focuser, without attaching a Crayford with AF3.

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Ed,
many thanks for your reply. I was going through the celestron.h and celestron.cpp files but could not find any declarations regarding joystick use. The only reference I found was in the indifocuser.h and indifocuser.cpp files, where probably the "ISSnoopDevice" function has something to do with the joystick integration ? Can you pls. advise where to look for the declared properties ? As said, I would very much like to add thumbstick support to the focuser in order to use variable focusing speeds, which would be very helpful when using the scope for visual observation. Which file(s) would I have to modify in order to achieve the desired result ?
Many thanks !

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Hi Jose,
I think this is an excellent idea. I have the same focuser and would also like to be better able to control it via the joystick when I do visual observation with my scope.
I am not really familiar with coding, but my understanding is that you have to work your way through the indi structure, i.e. many functions are defined in the parent classes i.e. you have to look e.g. into the "indifocuser.h" file. I also have not yet understood, where the joystick support within the focuser driver is being defined. The general joystick functions themselves are defined in the "joystick.h" and "joystick.cpp" files, which you find under indi/drivers/auxilliary. Hope that helps a bit.
I feel it would be great, if you could use the thumbstick to adjust focus. That way you could use the analog values to make the focuser go slow or fast depending of how much you press.
Here is a link to a project to build a stand-alone controller to achieve just that:
www.cloudynights.com/topic/806066-homebr...-for-aux-port/page-4

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my understanding of the principle of operation is, that the algorithm is not depending on a perfect alignment of the scope or camera in relation to the mount axis. The algorithm will always find the point in the sky around which the axis of the mount revolves, i.e. the MOUNT will be polar aligned. Whether your scope is parallel to the mount axis or not is a different question. So even with a pefectly polar aligned mount axis you could still have a cone error. But the PA algorithm should not be affected by this.
Probably Hy can comment on this as I just derive this from my theoritical understanding.

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@KD6AWA: easiest way to find the code of your mount may be to connect via EQmod. Go to the "Firmware" tab within the EQmod - indi control panel and look-up the value under "Mount Code".

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I just wonder, whether the following implementation would make sense: while guiding with an OAG the HFR of the guide star(s) is constantly beeing measured. To get reliable results, the average of every x exposures is being recorded. Based on these values a moving average is being calculated. When the system moves out of focus, the HFR gets worse and hence at some point the most recent HFR value will surpass the moving average (last n (e.g. 20) measurements). One could set a threshold value (e.g. HFR +10%) and once this is surpassed the imaging run is paused at the end of the current exposure, the autofocus routine is being initiated and thereafter the imaging session continues.
This idea is derived from the ONAG real time autofocus. While the ONAG seems to correct the focus while imaging, the idea here is simply to gain an indication, if and when the imaging train moved out of focus (mirror flop, temperature change, other) by a pre-defined threshold.
All the critical algorithms and data are already there: the autoguide makes an exposure every n-second(s) anyway, the HFR value could be measured by the same algorithms used for autofocus. It is simply a question of calculating the HFR value, the average and comparing the actual values to a moving average; additional system load should be minimal. Only flip side I can think of is that this approach can not differentiate between change of HFR values due to "out of focus causes" and variable seeing-conditions. But even this could be build into an additional feature: if the focus can not be enhanced (i.e. because of deteriorated seeing conditions), the imaging run could be paused and restarted once HFR values get better again. 
Anybody thought about that ? Does this make sense ?

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Again, haven´t experienced any of those crashes with my setup. Have you tried a differently rated SD card or an USB SSD ?

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some further information regarding the issue: even though it appears the same as backlash compensation, it apparantly has a different root cause. Here is part of the log file. First part is with tracking enabled, the second part is with tracking disabled (which can only be turned on/off via indi control panel, not with the ekos panel). With tracking disabled the backtracking move does not occur, only with tracking enabled. Does the encoder readout initiate the backtracking ? Can I disable this ? Can anybody please give a hint, here ?

/w tracking enabled:

[2021-03-13T12:16:13.450 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] SkywatcherAPIMount::Goto "
[2021-03-13T12:16:13.450 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] RA 8.566670 DEC 60.416700 "
[2021-03-13T12:16:13.452 CET INFO ][           org.kde.kstars.indi] - Skywatcher Alt-Az :  "[INFO] New Tracking target RA  8:34:00 DEC 60:25:00 "
[2021-03-13T12:16:13.452 CET DEBG ][           org.kde.kstars.indi] - AlignmentSubSystem: "[ALIGNMENT] Celestial to telescope - Actual Alt 28.736193 Az 22.181683"
[2021-03-13T12:16:13.452 CET DEBG ][           org.kde.kstars.indi] - AlignmentSubSystem: "[ALIGNMENT] Celestial to telescope - Apparent Alt 28.736193 Az 22.181683"
[2021-03-13T12:16:13.452 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] TDV x 0.811949 y -0.331047 z 0.480777 "
[2021-03-13T12:16:13.452 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] Conversion OK "
[2021-03-13T12:16:13.453 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] New Altitude 28.736193 degrees 735646 microsteps Azimuth 22.181683 degrees 567851 microsteps "
[2021-03-13T12:16:13.473 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] Initial Axis2 8388608 microsteps Axis1 8388608 microsteps "
[2021-03-13T12:16:13.473 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] Current Axis2 9124392 microsteps Axis1 8955906 microsteps "
[2021-03-13T12:16:13.474 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] Altitude offset -138 microsteps Azimuth offset 553 microsteps "
[2021-03-13T12:16:13.476 CET INFO ][           org.kde.kstars.indi] - Skywatcher Alt-Az :  "[INFO] SlewTo axis: 0 offset: 553 "
[2021-03-13T12:16:13.478 CET INFO ][           org.kde.kstars.indi] - Skywatcher Alt-Az :  "[INFO] SlewTo axis 0 Offset 553 CurrentEncoder 8955906 SlewToTarget 8956459 "
[2021-03-13T12:16:13.493 CET INFO ][           org.kde.kstars.indi] - Skywatcher Alt-Az :  "[INFO] SlewTo axis: 1 offset: -138 "
[2021-03-13T12:16:13.497 CET INFO ][           org.kde.kstars.indi] - Skywatcher Alt-Az :  "[INFO] SlewTo axis 1 Offset -138 CurrentEncoder 9124392 SlewToTarget 9124254 "
[2021-03-13T12:16:13.964 CET DEBG ][     org.kde.kstars.ekos.mount] - Mount status changed from  "Idle"  to  "Slewing"
[2021-03-13T12:16:13.971 CET INFO ][     org.kde.kstars.ekos.guide] - "Mount is moving. Resetting calibration..."
[2021-03-13T12:16:13.972 CET INFO ][     org.kde.kstars.ekos.guide] - "Calibration is cleared."
[2021-03-13T12:16:14.445 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] SkywatcherAPIMount::ReadScopeStatus "
[2021-03-13T12:16:14.483 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] Axis2 encoder 9124254 initial 8388608 alt(degrees) 28.736172 "
[2021-03-13T12:16:14.483 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] Axis1 encoder 8956459 initial 8388608 az(degrees) 22.181680 "
[2021-03-13T12:16:14.483 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] TDV x 0.811949 y -0.331047 z 0.480777 "
[2021-03-13T12:16:14.484 CET DEBG ][           org.kde.kstars.indi] - AlignmentSubSystem: "[ALIGNMENT] Telescope to celestial - Apparent Alt 28.736172 Az 22.181680"
[2021-03-13T12:16:14.484 CET DEBG ][           org.kde.kstars.indi] - AlignmentSubSystem: "[ALIGNMENT] ApparentVector x 0.811949 y -0.331047 z 0.480777"
[2021-03-13T12:16:14.484 CET DEBG ][           org.kde.kstars.indi] - AlignmentSubSystem: "[ALIGNMENT] ActualVector x 0.811949 y -0.331047 z 0.480777"
[2021-03-13T12:16:14.484 CET DEBG ][           org.kde.kstars.indi] - AlignmentSubSystem: "[ALIGNMENT] Telescope to Celestial - Actual Alt 28.736172 Az 22.181680"
[2021-03-13T12:16:14.484 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] Conversion OK "
[2021-03-13T12:16:14.484 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] New RA 8.566666 (hours) DEC 60.416682 (degrees) "
[2021-03-13T12:16:14.487 CET INFO ][           org.kde.kstars.indi] - Skywatcher Alt-Az :  "[INFO] Slewing started "
[2021-03-13T12:16:15.483 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] SkywatcherAPIMount::ReadScopeStatus "
[2021-03-13T12:16:15.511 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] Axis2 encoder 9124254 initial 8388608 alt(degrees) 28.736172 "
[2021-03-13T12:16:15.511 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] Axis1 encoder 8956459 initial 8388608 az(degrees) 22.181680 "
[2021-03-13T12:16:15.512 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] TDV x 0.811949 y -0.331047 z 0.480777 "
[2021-03-13T12:16:15.512 CET DEBG ][           org.kde.kstars.indi] - AlignmentSubSystem: "[ALIGNMENT] Telescope to celestial - Apparent Alt 28.736172 Az 22.181680"
[2021-03-13T12:16:15.512 CET DEBG ][           org.kde.kstars.indi] - AlignmentSubSystem: "[ALIGNMENT] ApparentVector x 0.811949 y -0.331047 z 0.480777"
[2021-03-13T12:16:15.513 CET DEBG ][           org.kde.kstars.indi] - AlignmentSubSystem: "[ALIGNMENT] ActualVector x 0.811949 y -0.331047 z 0.480777"
[2021-03-13T12:16:15.514 CET DEBG ][           org.kde.kstars.indi] - AlignmentSubSystem: "[ALIGNMENT] Telescope to Celestial - Actual Alt 28.736172 Az 22.181680"
[2021-03-13T12:16:15.514 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] Conversion OK "
[2021-03-13T12:16:15.515 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] New RA 8.566952 (hours) DEC 60.416682 (degrees) "
[2021-03-13T12:16:15.522 CET INFO ][           org.kde.kstars.indi] - Skywatcher Alt-Az :  "[INFO] Tracking started "
[2021-03-13T12:16:15.523 CET DEBG ][           org.kde.kstars.indi] - AlignmentSubSystem: "[ALIGNMENT] Celestial to telescope - Actual Alt 28.739072 Az 22.188105"
[2021-03-13T12:16:15.523 CET DEBG ][           org.kde.kstars.indi] - AlignmentSubSystem: "[ALIGNMENT] Celestial to telescope - Apparent Alt 28.739072 Az 22.188105"
[2021-03-13T12:16:15.524 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] TDV x 0.811889 y -0.331129 z 0.480822 "
[2021-03-13T12:16:15.524 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[SCOPE] Tracking AXIS1 CurrentEncoder 8956459 OldTrackingTarget 8957762 AXIS2 CurrentEncoder 9124254 OldTrackingTarget 9131076 "
[2021-03-13T12:16:15.525 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[SCOPE] New Tracking Target Altitude 28.739072 degrees 735720 microsteps Azimuth 22.188105 degrees 568015 microsteps "
[2021-03-13T12:16:15.526 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[SCOPE] New Tracking Target AltitudeOffset 74 microsteps AzimuthOffset 164 microsteps "
[2021-03-13T12:16:15.526 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[SCOPE] SetClockTicksPerMicrostep "
[2021-03-13T12:16:15.527 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[SCOPE] Tracking - AXIS1 restart "
[2021-03-13T12:16:15.527 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[SCOPE] Tracking - AXIS1 offset 164 microsteps rate 97560 direction 0 "
[2021-03-13T12:16:15.528 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[SCOPE] SetClockTicksPerMicrostep "
[2021-03-13T12:16:15.553 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[SCOPE] Tracking - AXIS2 restart "
[2021-03-13T12:16:15.554 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[SCOPE] Tracking - AXIS2 offset 74 microsteps rate 216216 direction 0 "
[2021-03-13T12:16:15.554 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[SCOPE] Tracking - AXIS1 error 1303 AXIS2 error 6822 "
[2021-03-13T12:16:15.964 CET DEBG ][     org.kde.kstars.ekos.mount] - Mount status changed from  "Slewing"  to  "Tracking"
[2021-03-13T12:16:15.964 CET DEBG ][     org.kde.kstars.ekos.mount] - Slew finished, MFStatus  "FLIP_NONE"

/w tracking disabled:
[2021-03-13T12:15:32.966 CET DEBG ][     org.kde.kstars.ekos.mount] - Mount status changed from  "Tracking"  to  "Idle"
[2021-03-13T12:15:33.338 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] SkywatcherAPIMount::ReadScopeStatus "
[2021-03-13T12:15:33.427 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] Axis2 encoder 9131072 initial 8388608 alt(degrees) 29.002500 "
[2021-03-13T12:15:33.429 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] Axis1 encoder 8957753 initial 8388608 az(degrees) 22.232227 "
[2021-03-13T12:15:33.429 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] TDV x 0.809579 y -0.330914 z 0.484848 "
[2021-03-13T12:15:33.429 CET DEBG ][           org.kde.kstars.indi] - AlignmentSubSystem: "[ALIGNMENT] Telescope to celestial - Apparent Alt 29.002500 Az 22.232227"
[2021-03-13T12:15:33.430 CET DEBG ][           org.kde.kstars.indi] - AlignmentSubSystem: "[ALIGNMENT] ApparentVector x 0.809579 y -0.330914 z 0.484848"
[2021-03-13T12:15:33.430 CET DEBG ][           org.kde.kstars.indi] - AlignmentSubSystem: "[ALIGNMENT] ActualVector x 0.809579 y -0.330914 z 0.484848"
[2021-03-13T12:15:33.430 CET DEBG ][           org.kde.kstars.indi] - AlignmentSubSystem: "[ALIGNMENT] Telescope to Celestial - Actual Alt 29.002500 Az 22.232227"
[2021-03-13T12:15:33.431 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] Conversion OK "
[2021-03-13T12:15:33.431 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] New RA 8.533380 (hours) DEC 60.633300 (degrees) "
[2021-03-13T12:15:33.448 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[SCOPE] SkywatcherAPIMount::MoveNS "
[2021-03-13T12:15:33.450 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[SCOPE] Starting Slew South "
[2021-03-13T12:15:33.451 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[SCOPE] Slew axis: 1 speed: -0.004667 "
[2021-03-13T12:15:33.457 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[SCOPE] SetClockTicksPerMicrostep "
[2021-03-13T12:15:33.965 CET DEBG ][     org.kde.kstars.ekos.mount] - Mount status changed from  "Idle"  to  "Moving S"
[2021-03-13T12:15:34.156 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[SCOPE] SkywatcherAPIMount::MoveNS "
[2021-03-13T12:15:34.157 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[SCOPE] Stopping Slew South "
[2021-03-13T12:15:34.429 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] SkywatcherAPIMount::ReadScopeStatus "
[2021-03-13T12:15:34.432 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] Axis2 encoder 9126345 initial 8388608 alt(degrees) 28.817852 "
[2021-03-13T12:15:34.432 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] Axis1 encoder 8957753 initial 8388608 az(degrees) 22.232227 "
[2021-03-13T12:15:34.433 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] TDV x 0.811021 y -0.331504 z 0.482027 "
[2021-03-13T12:15:34.433 CET DEBG ][           org.kde.kstars.indi] - AlignmentSubSystem: "[ALIGNMENT] Telescope to celestial - Apparent Alt 28.817852 Az 22.232227"
[2021-03-13T12:15:34.433 CET DEBG ][           org.kde.kstars.indi] - AlignmentSubSystem: "[ALIGNMENT] ApparentVector x 0.811021 y -0.331504 z 0.482027"
[2021-03-13T12:15:34.434 CET DEBG ][           org.kde.kstars.indi] - AlignmentSubSystem: "[ALIGNMENT] ActualVector x 0.811021 y -0.331504 z 0.482027"
[2021-03-13T12:15:34.434 CET DEBG ][           org.kde.kstars.indi] - AlignmentSubSystem: "[ALIGNMENT] Telescope to Celestial - Actual Alt 28.817852 Az 22.232227"
[2021-03-13T12:15:34.435 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] Conversion OK "
[2021-03-13T12:15:34.435 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] New RA 8.545136 (hours) DEC 60.469166 (degrees) "
[2021-03-13T12:15:34.965 CET DEBG ][     org.kde.kstars.ekos.mount] - Mount status changed from  "Moving "  to  "Idle"
[2021-03-13T12:15:35.398 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] SkywatcherAPIMount::ReadScopeStatus "
[2021-03-13T12:15:35.420 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] Axis2 encoder 9126345 initial 8388608 alt(degrees) 28.817852 "
[2021-03-13T12:15:35.421 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] Axis1 encoder 8957753 initial 8388608 az(degrees) 22.232227 "
[2021-03-13T12:15:35.422 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] TDV x 0.811021 y -0.331504 z 0.482027 "
[2021-03-13T12:15:35.423 CET DEBG ][           org.kde.kstars.indi] - AlignmentSubSystem: "[ALIGNMENT] Telescope to celestial - Apparent Alt 28.817852 Az 22.232227"
[2021-03-13T12:15:35.424 CET DEBG ][           org.kde.kstars.indi] - AlignmentSubSystem: "[ALIGNMENT] ApparentVector x 0.811021 y -0.331504 z 0.482027"
[2021-03-13T12:15:35.424 CET DEBG ][           org.kde.kstars.indi] - AlignmentSubSystem: "[ALIGNMENT] ActualVector x 0.811021 y -0.331504 z 0.482027"
[2021-03-13T12:15:35.425 CET DEBG ][           org.kde.kstars.indi] - AlignmentSubSystem: "[ALIGNMENT] Telescope to Celestial - Actual Alt 28.817852 Az 22.232227"
[2021-03-13T12:15:35.425 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] Conversion OK "
[2021-03-13T12:15:35.426 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] New RA 8.545422 (hours) DEC 60.469166 (degrees) "
[2021-03-13T12:15:35.650 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[SCOPE] SkywatcherAPIMount::MoveNS "
[2021-03-13T12:15:35.651 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[SCOPE] Starting Slew South "
[2021-03-13T12:15:35.651 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[SCOPE] Slew axis: 1 speed: -0.004667 "
[2021-03-13T12:15:35.660 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[SCOPE] SetClockTicksPerMicrostep "
[2021-03-13T12:15:35.672 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[SCOPE] SkywatcherAPIMount::MoveWE "
[2021-03-13T12:15:35.673 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[SCOPE] Starting Slew West "
[2021-03-13T12:15:35.673 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[SCOPE] Slew axis: 0 speed: -0.004667 "
[2021-03-13T12:15:35.681 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[SCOPE] SetClockTicksPerMicrostep "
[2021-03-13T12:15:35.951 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[SCOPE] SkywatcherAPIMount::MoveNS "
[2021-03-13T12:15:35.952 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[SCOPE] Stopping Slew South "
[2021-03-13T12:15:35.956 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[SCOPE] SkywatcherAPIMount::MoveWE "
[2021-03-13T12:15:35.956 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[SCOPE] Stopping Slew West "
[2021-03-13T12:15:36.420 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] SkywatcherAPIMount::ReadScopeStatus "
[2021-03-13T12:15:36.448 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] Axis2 encoder 9124392 initial 8388608 alt(degrees) 28.741563 "
[2021-03-13T12:15:36.449 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] Axis1 encoder 8955906 initial 8388608 az(degrees) 22.160078 "
[2021-03-13T12:15:36.449 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] TDV x 0.812032 y -0.330724 z 0.480860 "
[2021-03-13T12:15:36.449 CET DEBG ][           org.kde.kstars.indi] - AlignmentSubSystem: "[ALIGNMENT] Telescope to celestial - Apparent Alt 28.741563 Az 22.160078"
[2021-03-13T12:15:36.449 CET DEBG ][           org.kde.kstars.indi] - AlignmentSubSystem: "[ALIGNMENT] ApparentVector x 0.812032 y -0.330724 z 0.480860"
[2021-03-13T12:15:36.450 CET DEBG ][           org.kde.kstars.indi] - AlignmentSubSystem: "[ALIGNMENT] ActualVector x 0.812032 y -0.330724 z 0.480860"
[2021-03-13T12:15:36.450 CET DEBG ][           org.kde.kstars.indi] - AlignmentSubSystem: "[ALIGNMENT] Telescope to Celestial - Actual Alt 28.741563 Az 22.160078"
[2021-03-13T12:15:36.450 CET DEBG ][           org.kde.kstars.indi] - Skywatcher Alt-Az : "[ALIGNMENT] Conversion OK "

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When using the Skywatcher Alt-Az driver for my Az-Eq 6 for visual observation, my mount will perform a backlash compensation after every manual slew with the joystick. I could not see any backlash option in the indi control panel tabs, nor in the code itself. Does anybody else observe this behaviour ? Any ideas how to disable this ?

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