diff --git a/k3ng_rotator_controller/k3ng_rotator_controller.ino b/k3ng_rotator_controller/k3ng_rotator_controller.ino
index 4e63f08..6e8cb4a 100644
--- a/k3ng_rotator_controller/k3ng_rotator_controller.ino
+++ b/k3ng_rotator_controller/k3ng_rotator_controller.ino
@@ -1083,6 +1083,9 @@
         FEATURE_SATELLITE_TRACKING: Updated P13 library to have observer.update_location function.  Controller code now uses update_location rather than instantiating new Observer objects
         Updated hardcoded AO17TEST TLE 
 
+      2023.09.29.0800
+        Added FEATURE_AZ_POSITION_HH12_AS5045_SSI_RELATIVE; not tested  
+
     All library files should be placed in directories likes \sketchbook\libraries\library1\ , \sketchbook\libraries\library2\ , etc.
     Anything rotator_*.* should be in the ino directory!
 
@@ -1706,12 +1709,12 @@ struct config_t {
   char report[80];
 #endif //FEATURE_AZ_POSITION_POLOLU_LSM303
 
-#ifdef FEATURE_AZ_POSITION_HH12_AS5045_SSI
+#if defined(FEATURE_AZ_POSITION_HH12_AS5045_SSI) || defined(FEATURE_AZ_POSITION_HH12_AS5045_SSI_RELATIVE)
   #include "hh12.h"
   hh12 azimuth_hh12;
 #endif //FEATURE_AZ_POSITION_HH12_AS5045_SSI
 
-#ifdef FEATURE_EL_POSITION_HH12_AS5045_SSI
+#if defined(FEATURE_EL_POSITION_HH12_AS5045_SSI)  || defined(FEATURE_EL_POSITION_HH12_AS5045_SSI_RELATIVE)
   #include "hh12.h"
   hh12 elevation_hh12;
 #endif //FEATURE_EL_POSITION_HH12_AS5045_SSI
@@ -8623,6 +8626,53 @@ void read_azimuth(byte force_read){
       convert_raw_azimuth_to_real_azimuth();
     #endif // FEATURE_AZ_POSITION_HH12_AS5045_SSI
 
+// zzzzzz
+
+    #ifdef FEATURE_AZ_POSITION_HH12_AS5045_SSI_RELATIVE
+
+      static float hh12_last_reading = 0;
+      static byte last_reading_initialized = 0;
+      float reading_difference = 0;
+
+      float hh12_current_reading = azimuth_hh12.heading();
+
+      if (!last_reading_initialized){
+        hh12_last_reading = hh12_current_reading;
+        last_reading_initialized = 1;
+      }
+
+      reading_difference = hh12_last_reading - hh12_current_reading;
+
+      if (abs(reading_difference) > 350.0){  // if we moved more than 350 degrees since the last reading, assume we did a 359->0/0->359 transition
+        if (reading_difference > 0){  // we went CCW 0->359
+          reading_difference = (reading_difference + 360.0) * -1.0;
+        } else {  // we went CW 359->0
+          reading_difference = (reading_difference - 360.0) * -1.0;
+        }
+      }
+
+      #if defined(OPTION_REVERSE_AZ_HH12_AS5045)
+        reading_difference = reading_difference * -1.0;
+      #endif
+
+      raw_azimuth += reading_difference;
+    
+      #ifdef DEBUG_HH12
+        if ((millis() - last_hh12_debug) > 5000) {
+          debug.print(F("read_azimuth: HH-12 raw: "));
+          control_port->println(raw_azimuth);
+          last_hh12_debug = millis();
+        }
+      #endif // DEBUG_HH12
+      #ifdef FEATURE_AZIMUTH_CORRECTION
+        raw_azimuth = correct_azimuth(raw_azimuth);
+      #endif // FEATURE_AZIMUTH_CORRECTION
+      #if !defined(FEATURE_CALIBRATION)  
+      apply_azimuth_offset();
+      #endif
+      convert_raw_azimuth_to_real_azimuth();
+      hh12_last_reading = hh12_current_reading;
+    #endif // FEATURE_AZ_POSITION_HH12_AS5045_SSI_RELATIVE
 
     #ifdef FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
       if (configuration.azimuth_starting_point == 0) {
@@ -11848,7 +11898,7 @@ void service_request_queue(){
     control_port->flush();
   #endif // DEBUG_LOOP
 
-  float work_target_raw_azimuth = 0;
+  int work_target_raw_azimuth = 0;
   byte direction_to_go = 0;
   byte within_tolerance_flag = 0;
 
diff --git a/k3ng_rotator_controller/rotator_dependencies.h b/k3ng_rotator_controller/rotator_dependencies.h
index af00d34..8efdb6b 100755
--- a/k3ng_rotator_controller/rotator_dependencies.h
+++ b/k3ng_rotator_controller/rotator_dependencies.h
@@ -58,7 +58,7 @@
   #undef FEATURE_EL_PRESET_ENCODER 
 #endif
 
-#if !defined(FEATURE_AZ_POSITION_POTENTIOMETER) && !defined(FEATURE_AZ_POSITION_ROTARY_ENCODER) && !defined(FEATURE_AZ_POSITION_PULSE_INPUT) && !defined(FEATURE_AZ_POSITION_GET_FROM_REMOTE_UNIT) && !defined(FEATURE_AZ_POSITION_HMC5883L)  && !defined(FEATURE_AZ_POSITION_ADAFRUIT_LSM303) && !defined(FEATURE_AZ_POSITION_HH12_AS5045_SSI) &&!defined(FEATURE_AZ_POSITION_INCREMENTAL_ENCODER) &&!defined(FEATURE_AZ_POSITION_POLOLU_LSM303) &&!defined(FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER) &&!defined(FEATURE_AZ_POSITION_ROTARY_ENCODER_USE_PJRC_LIBRARY) && !defined(FEATURE_AZ_POSITION_HMC5883L_USING_JARZEBSKI_LIBRARY) && !defined(FEATURE_AZ_POSITION_DFROBOT_QMC5883) && !defined(FEATURE_AZ_POSITION_MECHASOLUTION_QMC5883)
+#if !defined(FEATURE_AZ_POSITION_POTENTIOMETER) && !defined(FEATURE_AZ_POSITION_ROTARY_ENCODER) && !defined(FEATURE_AZ_POSITION_PULSE_INPUT) && !defined(FEATURE_AZ_POSITION_GET_FROM_REMOTE_UNIT) && !defined(FEATURE_AZ_POSITION_HMC5883L)  && !defined(FEATURE_AZ_POSITION_ADAFRUIT_LSM303) && !defined(FEATURE_AZ_POSITION_HH12_AS5045_SSI) &&!defined(FEATURE_AZ_POSITION_INCREMENTAL_ENCODER) &&!defined(FEATURE_AZ_POSITION_POLOLU_LSM303) &&!defined(FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER) &&!defined(FEATURE_AZ_POSITION_ROTARY_ENCODER_USE_PJRC_LIBRARY) && !defined(FEATURE_AZ_POSITION_HMC5883L_USING_JARZEBSKI_LIBRARY) && !defined(FEATURE_AZ_POSITION_DFROBOT_QMC5883) && !defined(FEATURE_AZ_POSITION_MECHASOLUTION_QMC5883) && !defined(FEATURE_AZ_POSITION_HH12_AS5045_SSI_RELATIVE)
   #error "You must specify one AZ position sensor feature"
 #endif
 
diff --git a/k3ng_rotator_controller/rotator_features.h b/k3ng_rotator_controller/rotator_features.h
index 72d2106..471e702 100755
--- a/k3ng_rotator_controller/rotator_features.h
+++ b/k3ng_rotator_controller/rotator_features.h
@@ -57,6 +57,7 @@
 // #define FEATURE_AZ_POSITION_ADAFRUIT_LSM303              // Uncomment for azimuth using LSM303 compass and Adafruit library (https://github.com/adafruit/Adafruit_LSM303) (also uncomment object declaration below)
 // #define FEATURE_AZ_POSITION_POLOLU_LSM303              // Uncomment for azimuth using LSM303 compass and Polulu library
 // #define FEATURE_AZ_POSITION_HH12_AS5045_SSI
+// #define FEATURE_AZ_POSITION_HH12_AS5045_SSI_RELATIVE  // use when more than 360 degrees of rotation
 // #define FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
 // #define FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
 // #define FEATURE_AZ_POSITION_MECHASOLUTION_QMC5883   // QMC5883 digital compass support using Mechasolution library at https://github.com/keepworking/Mecha_QMC5883L
diff --git a/k3ng_rotator_controller/rotator_features_test.h b/k3ng_rotator_controller/rotator_features_test.h
index ea8e511..64cd656 100755
--- a/k3ng_rotator_controller/rotator_features_test.h
+++ b/k3ng_rotator_controller/rotator_features_test.h
@@ -19,7 +19,7 @@
 
 // #define FEATURE_MOON_TRACKING
 // #define FEATURE_SUN_TRACKING
-#define FEATURE_CLOCK
+// #define FEATURE_CLOCK
 // #define FEATURE_GPS
 // #define FEATURE_RTC_DS1307
 // #define FEATURE_RTC_PCF8583
@@ -45,10 +45,10 @@
 /* master and remote slave unit functionality */
 // #define FEATURE_REMOTE_UNIT_SLAVE // uncomment this to make this unit a remote unit controlled by a host unit                      
 
-#define FEATURE_MASTER_WITH_SERIAL_SLAVE       // [master]{remote_port}<-------serial-------->{control_port}[slave]
+// #define FEATURE_MASTER_WITH_SERIAL_SLAVE       // [master]{remote_port}<-------serial-------->{control_port}[slave]
 // #define FEATURE_MASTER_WITH_ETHERNET_SLAVE     // [master]<-------------------ethernet--------------------->[slave]
-#define FEATURE_MASTER_SEND_AZ_ROTATION_COMMANDS_TO_REMOTE
-#define FEATURE_MASTER_SEND_EL_ROTATION_COMMANDS_TO_REMOTE
+// #define FEATURE_MASTER_SEND_AZ_ROTATION_COMMANDS_TO_REMOTE
+// #define FEATURE_MASTER_SEND_EL_ROTATION_COMMANDS_TO_REMOTE
 
 // #define FEATURE_ADC_RESOLUTION12   // 12 bit ADC resolution for Teensy 3.x, Arduino Due Zero MKR families 
 
@@ -60,22 +60,23 @@
 // #define FEATURE_AZ_POSITION_HMC5883L            // HMC5883L digital compass support
 // #define FEATURE_AZ_POSITION_DFROBOT_QMC5883            // QMC5883 digital compass support using DFRobot library at https://github.com/DFRobot/DFRobot_QMC5883
 // #define FEATURE_AZ_POSITION_HMC5883L_USING_JARZEBSKI_LIBRARY            // HMC5883L digital compass support using Jarzebski library at https://github.com/jarzebski/Arduino-HMC5883L
-#define FEATURE_AZ_POSITION_GET_FROM_REMOTE_UNIT  // requires FEATURE_MASTER_WITH_SERIAL_SLAVE or FEATURE_MASTER_WITH_ETHERNET_SLAVE
+// #define FEATURE_AZ_POSITION_GET_FROM_REMOTE_UNIT  // requires FEATURE_MASTER_WITH_SERIAL_SLAVE or FEATURE_MASTER_WITH_ETHERNET_SLAVE
 // #define FEATURE_AZ_POSITION_ADAFRUIT_LSM303              // Uncomment for azimuth using LSM303 compass and Adafruit library (https://github.com/adafruit/Adafruit_LSM303) (also uncomment object declaration below)
 // #define FEATURE_AZ_POSITION_POLOLU_LSM303              // Uncomment for azimuth using LSM303 compass and Polulu library
 // #define FEATURE_AZ_POSITION_HH12_AS5045_SSI
+#define FEATURE_AZ_POSITION_HH12_AS5045_SSI_RELATIVE  // use when more than 360 degrees of rotation
 // #define FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
 // #define FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
 // #define FEATURE_AZ_POSITION_MECHASOLUTION_QMC5883   // QMC5883 digital compass support using Mechasolution library at https://github.com/keepworking/Mecha_QMC5883L
 
 
-// #define FEATURE_EL_POSITION_POTENTIOMETER
+#define FEATURE_EL_POSITION_POTENTIOMETER
 // #define FEATURE_EL_POSITION_ROTARY_ENCODER
 // #define FEATURE_EL_POSITION_ROTARY_ENCODER_USE_PJRC_LIBRARY  // library @ http://www.pjrc.com/teensy/td_libs_Encoder.html
 // #define FEATURE_EL_POSITION_PULSE_INPUT
 // #define FEATURE_EL_POSITION_ADXL345_USING_LOVE_ELECTRON_LIB // Uncomment for elevation ADXL345 accelerometer support using ADXL345 library
 // #define FEATURE_EL_POSITION_ADXL345_USING_ADAFRUIT_LIB      // Uncomment for elevation ADXL345 accelerometer support using Adafruit library
-#define FEATURE_EL_POSITION_GET_FROM_REMOTE_UNIT            // requires FEATURE_MASTER_WITH_SERIAL_SLAVE or FEATURE_MASTER_WITH_ETHERNET_SLAVE
+// #define FEATURE_EL_POSITION_GET_FROM_REMOTE_UNIT            // requires FEATURE_MASTER_WITH_SERIAL_SLAVE or FEATURE_MASTER_WITH_ETHERNET_SLAVE
 // #define FEATURE_EL_POSITION_ADAFRUIT_LSM303                            // Uncomment for elevation using LSM303 accelerometer and Adafruit library (https://github.com/adafruit/Adafruit_LSM303) (also uncomment object declaration below)
 // #define FEATURE_EL_POSITION_POLOLU_LSM303              // Uncomment for elevation using LSM303 compass and Polulu library
 // #define FEATURE_EL_POSITION_HH12_AS5045_SSI