Changeset 18655

Timestamp:

10/15/16 19:41:26 (8 years ago)

Author:

tbretz

Message:

Do not try to re-position when parking and allow for a larger deviation (default: +-0.5deg)

File:

• trunk/FACT++/src/drivectrl.cc (modified) (4 diffs)

trunk/FACT++/src/drivectrl.cc

@@ -1882 +1882 @@
     Acceleration fAccMax;
     double fMaxPointingResidual;
+    double fMaxParkingResidual;
     double fPointingVelocity;
 
@@ -2620 +2621 @@
             // Check which axis should still be moved
             Encoder cd = dist;              // [rev]
-            cd *= 1./fMaxPointingResidual;  // Scale to units of the maximum residual
+            cd *= T::GetCurrentState()==State::kParking ? 1./fMaxParkingResidual : 1./fMaxPointingResidual;  // Scale to units of the maximum residual
             cd = cd.Abs();
 
@@ -2952 +2953 @@
         fParkingPos.zd = conf.Has("parking-pos.zd") ? conf.Get<double>("parking-pos.zd") : 90;
         fParkingPos.az = conf.Has("parking-pos.az") ? conf.Get<double>("parking-pos.az") :  0;
+        fMaxParkingResidual = conf.Get<double>("parking-pos.residual");
 
         if (!CheckRange(fParkingPos))
@@ -3088 +3090 @@
         ("parking-pos.zd",           var<double>(101),          "Parking position zenith angle in sky pointing coordinates [deg]")
         ("parking-pos.az",           var<double>(0),            "Parking position azimuth angle in sky pointing coordinates [deg]")
+        ("parking-pos.residual",     var<double>(0.5/360),      "Maximum residual for a parking position [revolutions]")
         ("acceleration.max.az",      var<double>(0.03),         "Maximum allowed acceleration value for azimuth axis")
         ("acceleration.max.zd",      var<double>(0.09),         "Maximum allowed acceleration value for zenith axis")