Update Tracking code (#2105)

* Update tracking code to use Pawel predictive rate method * better logging * Fix offset steps * Fine tuned default values for AZ-GTi. Needs to be tested for other mounts * Stop when changing directions * Fix an issue where the client may be get disconnected from server * Add limit switch indicators * Fix warning
indilib · Aug 27, 2024 · 6311d15 · 6311d15
1 parent d8b04ce
commit 6311d15
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Showing 7 changed files with 537 additions and 231 deletions.
diff --git a/drivers/dome/universal_ror.cpp b/drivers/dome/universal_ror.cpp
@@ -45,6 +45,11 @@ bool UniversalROR::initProperties()
     InputTP.fill(getDeviceName(), "INPUT_INDEX", "Input Indexes", OPTIONS_TAB, IP_RW, 60, IPS_IDLE);
     InputTP.load();
 
+    // Limit Switch Indicators
+    LimitSwitchLP[FullyOpened].fill("FULLY_OPENED", "Fully Opened", IPS_IDLE);
+    LimitSwitchLP[FullyClosed].fill("FULLY_CLOSED", "Fully Closed", IPS_IDLE);
+    LimitSwitchLP.fill(getDeviceName(), "LIMIT_SWITCHES", "Limit Switches", MAIN_CONTROL_TAB, IPS_IDLE);
+
     // Output Indexes
     OutputTP[OpenRoof].fill("OPEN_ROOF", "Open Roof", "Comma separated indexes");
     OutputTP[CloseRoof].fill("CLOSE_ROOF", "Close Roof", "Comma separated indexes");
@@ -117,6 +122,8 @@ bool UniversalROR::Connect()
 ////////////////////////////////////////////////////////////////////////////////
 bool UniversalROR::Disconnect()
 {
+    m_InputFullyOpened.clear();
+    m_InputFullyClosed.clear();
     return true;
 }
 
@@ -182,11 +189,13 @@ bool UniversalROR::updateProperties()
 
         defineProperty(InputTP);
         defineProperty(OutputTP);
+        defineProperty(LimitSwitchLP);
     }
     else
     {
         deleteProperty(InputTP);
         deleteProperty(OutputTP);
+        deleteProperty(LimitSwitchLP);
     }
 
     return true;
@@ -366,10 +375,14 @@ void UniversalROR::ActiveDevicesUpdated()
     m_Client->setFullyClosedCallback([&](bool on)
     {
         m_FullClosedLimitSwitch = on;
+        LimitSwitchLP[FullyClosed].setState(on ? IPS_OK : IPS_IDLE);
+        LimitSwitchLP.apply();
     });
     m_Client->setFullyOpenedCallback([&](bool on)
     {
         m_FullOpenLimitSwitch = on;
+        LimitSwitchLP[FullyOpened].setState(on ? IPS_OK : IPS_IDLE);
+        LimitSwitchLP.apply();
     });
     m_Client->watchDevice(input.c_str());
     m_Client->watchDevice(output.c_str());

diff --git a/drivers/dome/universal_ror.h b/drivers/dome/universal_ror.h
@@ -56,6 +56,7 @@ class UniversalROR : public INDI::Dome
         bool m_FullOpenLimitSwitch {false}, m_FullClosedLimitSwitch {false};
 
         INDI::PropertyText InputTP {2};
+        INDI::PropertyLight LimitSwitchLP {2};
         enum
         {
             FullyOpened,

diff --git a/drivers/dome/universal_ror_client.cpp b/drivers/dome/universal_ror_client.cpp
@@ -73,6 +73,7 @@ void UniversalRORClient::newProperty(INDI::Property property)
 ///////////////////////////////////////////////////////////////////////////////////////////
 void UniversalRORClient::serverDisconnected(int exitCode)
 {
+    INDI_UNUSED(exitCode);
     m_InputReady = m_OutputReady = false;
 }
 

diff --git a/drivers/telescope/skywatcherAPIMount.cpp b/drivers/telescope/skywatcherAPIMount.cpp
diff --git a/drivers/telescope/skywatcherAPIMount.h b/drivers/telescope/skywatcherAPIMount.h
@@ -115,6 +115,12 @@ class SkywatcherAPIMount :
             long &Axis2Microsteps);
         const INDI::AlignmentSubsystem::TelescopeDirectionVector
         TelescopeDirectionVectorFromSkywatcherMicrosteps(long Axis1Microsteps, long Axis2Microsteps);
+        double AzimuthToDegrees(double degree);
+        double DegreesToAzimuth(double degree);
+        bool isNorthHemisphere() const
+        {
+            return m_Location.latitude >= 0;
+        }
 
         /////////////////////////////////////////////////////////////////////////////////////
         /// Misc
@@ -124,6 +130,23 @@ class SkywatcherAPIMount :
         bool getCurrentRADE(INDI::IHorizontalCoordinates altaz, INDI::IEquatorialCoordinates &rade);
         // Reset tracking timer to account for drift compensation
         void resetTracking();
+        // Classical tracking via PID control loop
+        bool trackUsingPID();
+        // Simpler tracking loop develped by Paweł T. Jochym
+        bool trackUsingPredictiveRates();
+        // Get guide ticks
+        void getGuidePulses(double &az, double &alt);
+
+        /**
+         * @brief TrackByRate Set axis tracking rate in arcsecs/sec.
+         * @param axis AXIS1 AZ or AXIS2 ALT
+         * @param rate arcsecs/s. Zero would stop tracking.
+         * For AZ, negative means left while positive means right.
+         * For Alt, negative is down while positive is up.
+         * @return True if successful, false otherwise.
+         */
+        bool trackByRate(AXISID axis, double rate);
+
         inline double average(const std::vector<double> &values)
         {
             return values.empty() ? 0 : std::accumulate(values.begin(), values.end(), 0.0) / values.size();
@@ -233,16 +256,16 @@ class SkywatcherAPIMount :
             AZSteps,
             ALSteps,
             JulianOffset,
-         };
+        };
 
-         // Axis 1 Direct Track Control
-         INDI::PropertyNumber Axis1TrackRateNP {2};
-         INDI::PropertyNumber Axis2TrackRateNP {2};
-         enum
-         {
+        // Axis 1 Direct Track Control
+        INDI::PropertyNumber Axis1TrackRateNP {2};
+        INDI::PropertyNumber Axis2TrackRateNP {2};
+        enum
+        {
             TrackDirection,
             TrackClockRate,
-         };
+        };
 
         // AUX Encoders
         INDI::PropertySwitch AUXEncoderSP {2};
@@ -261,13 +284,16 @@ class SkywatcherAPIMount :
         std::unique_ptr<PID> m_Controllers[2];
 
         // Maximum delta to track. If drift is above 5 degrees, we abort tracking.
-        static constexpr double MAX_TRACKING_DELTA {5};    
+        static constexpr double MAX_TRACKING_DELTA {5};
         static constexpr const char *TRACKING_TAB = "Tracking";
 
         INDI::ElapsedTimer m_TrackingRateTimer;
+        int32_t m_LastTrackRate[2] = {-1, -1};
         uint8_t m_LastCustomDirection[2];
         double GuideDeltaAlt { 0 };
         double GuideDeltaAz { 0 };
+        double m_LastOffset[2] = {0, 0};
+        uint8_t m_OffsetSwitchSettle[2] = {0, 0};
 
         GuidingPulse NorthPulse;
         GuidingPulse WestPulse;

diff --git a/libs/indicore/indicom.c b/libs/indicore/indicom.c
@@ -1252,6 +1252,16 @@ double range360(double r)
     return res;
 }
 
+double range180(double r)
+{
+    double res = r;
+    while (res < -180.0)
+        res += 360.0;
+    while (res > 180.0)
+        res -= 360.0;
+    return res;
+}
+
 double rangeDec(double decdegrees)
 {
     if ((decdegrees >= 270.0) && (decdegrees <= 360.0))

diff --git a/libs/indicore/indicom.h b/libs/indicore/indicom.h
@@ -366,6 +366,13 @@ double range24(double r);
  */
 double range360(double r);
 
+/**
+ * \brief range180 Limits an angle to be between -180 to +180 degrees
+ * \param r angle in degrees
+ * \return Limited angle
+ */
+double range180(double r);
+
 /** \brief rangeDec Limits declination value to be in -90 to 90 range.
  *  \param r declination angle
  *  \return limited declination