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2021.06.24.01

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Fixed issues with integer conversions involving azimuth and elevation (Thanks, Alexander, RV6FX)
This commit is contained in:
Anthony Good 2021-06-24 08:52:01 -04:00
parent 72a14eb51c
commit 53cfb6c939
1 changed files with 27 additions and 24 deletions
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k3ng_rotator_controller/k3ng_rotator_controller.ino
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@ -977,6 +977,9 @@
Fixed issue with el_incremental_encoder_position rolling over to 0 after 32,767 or so
Happy Birthday, Mom
2021.06.24.01
Fixed issues with integer conversions involving azimuth and elevation (Thanks, Alexander, RV6FX)
All library files should be placed in directories likes \sketchbook\libraries\library1\ , \sketchbook\libraries\library2\ , etc.
Anything rotator_*.* should be in the ino directory!
@ -991,7 +994,7 @@
*/
#define CODE_VERSION "2021.04.07.01"
#define CODE_VERSION "2021.06.24.01"
#include <avr/pgmspace.h>
@ -6929,7 +6932,7 @@ void read_settings_from_eeprom(){
#if defined(FEATURE_AZ_POSITION_ROTARY_ENCODER) || defined(FEATURE_AZ_POSITION_ROTARY_ENCODER_USE_PJRC_LIBRARY)
raw_azimuth = int(configuration.last_azimuth);
raw_azimuth = configuration.last_azimuth;
if (raw_azimuth >= 360) {
azimuth = raw_azimuth - 360;
} else {
@ -6938,13 +6941,13 @@ void read_settings_from_eeprom(){
#endif
#if defined(FEATURE_ELEVATION_CONTROL) && (defined(FEATURE_EL_POSITION_ROTARY_ENCODER) || defined(FEATURE_EL_POSITION_ROTARY_ENCODER_USE_PJRC_LIBRARY))
elevation = int(configuration.last_elevation);
elevation = configuration.last_elevation;
#endif
#ifdef FEATURE_AZ_POSITION_PULSE_INPUT
raw_azimuth = int(configuration.last_azimuth);
raw_azimuth = configuration.last_azimuth;
if (raw_azimuth >= 360) {
azimuth = raw_azimuth - 360.0;
} else {
@ -7735,7 +7738,7 @@ void read_azimuth(byte force_read){
if (AZIMUTH_SMOOTHING_FACTOR > 0) {
if (raw_azimuth < 0){raw_azimuth = 0;}
raw_azimuth = int(raw_azimuth * ((float)1 - ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100))) + ((float)previous_raw_azimuth * ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100));
raw_azimuth = (raw_azimuth * ((float)1 - ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100))) + ((float)previous_raw_azimuth * ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100));
}
convert_raw_azimuth_to_real_azimuth();
@ -7773,7 +7776,7 @@ void read_azimuth(byte force_read){
if (AZIMUTH_SMOOTHING_FACTOR > 0) {
if (raw_azimuth < 0){raw_azimuth = 0;}
raw_azimuth = int(raw_azimuth * ((float)1 - ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100))) + ((float)previous_raw_azimuth * ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100));
raw_azimuth = (raw_azimuth * ((float)1 - ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100))) + ((float)previous_raw_azimuth * ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100));
}
convert_raw_azimuth_to_real_azimuth();
@ -7827,7 +7830,7 @@ void read_azimuth(byte force_read){
#endif // OPTION_AZ_POSITION_ROTARY_ENCODER_HARD_LIMIT
raw_azimuth = int(configuration.last_azimuth);
raw_azimuth = configuration.last_azimuth;
#ifdef FEATURE_AZIMUTH_CORRECTION
@ -7880,7 +7883,7 @@ void read_azimuth(byte force_read){
#endif // OPTION_AZ_POSITION_ROTARY_ENCODER_HARD_LIMIT
//debug.print(" Calculating raw_azimuth : ");
raw_azimuth = int(configuration.last_azimuth);
raw_azimuth = configuration.last_azimuth;
#ifdef FEATURE_AZIMUTH_CORRECTION
raw_azimuth = correct_azimuth(raw_azimuth);
@ -7914,7 +7917,7 @@ void read_azimuth(byte force_read){
raw_azimuth = (heading * RAD_TO_DEG); // radians to degree
if (AZIMUTH_SMOOTHING_FACTOR > 0) {
if (raw_azimuth < 0){raw_azimuth = 0;}
raw_azimuth = int(raw_azimuth * ((float)1 - ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100))) + ((float)previous_raw_azimuth * ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100));
raw_azimuth = (raw_azimuth * ((float)1 - ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100))) + ((float)previous_raw_azimuth * ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100));
}
#ifdef FEATURE_AZIMUTH_CORRECTION
raw_azimuth = correct_azimuth(raw_azimuth);
@ -7959,7 +7962,7 @@ void read_azimuth(byte force_read){
if (AZIMUTH_SMOOTHING_FACTOR > 0) {
if (raw_azimuth < 0){raw_azimuth = 0;}
raw_azimuth = int(raw_azimuth * ((float)1 - ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100))) + ((float)previous_raw_azimuth * ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100));
raw_azimuth = (raw_azimuth * ((float)1 - ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100))) + ((float)previous_raw_azimuth * ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100));
}
#ifdef FEATURE_AZIMUTH_CORRECTION
raw_azimuth = correct_azimuth(raw_azimuth);
@ -8005,7 +8008,7 @@ void read_azimuth(byte force_read){
if (AZIMUTH_SMOOTHING_FACTOR > 0) {
if (raw_azimuth < 0){raw_azimuth = 0;}
raw_azimuth = int(raw_azimuth * ((float)1 - ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100))) + ((float)previous_raw_azimuth * ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100));
raw_azimuth = (raw_azimuth * ((float)1 - ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100))) + ((float)previous_raw_azimuth * ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100));
}
#ifdef FEATURE_AZIMUTH_CORRECTION
raw_azimuth = correct_azimuth(raw_azimuth);
@ -8051,7 +8054,7 @@ void read_azimuth(byte force_read){
if (AZIMUTH_SMOOTHING_FACTOR > 0) {
if (raw_azimuth < 0){raw_azimuth = 0;}
raw_azimuth = int(raw_azimuth * ((float)1 - ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100))) + ((float)previous_raw_azimuth * ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100));
raw_azimuth = (raw_azimuth * ((float)1 - ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100))) + ((float)previous_raw_azimuth * ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100));
}
#ifdef FEATURE_AZIMUTH_CORRECTION
raw_azimuth = correct_azimuth(raw_azimuth);
@ -8076,7 +8079,7 @@ void read_azimuth(byte force_read){
apply_azimuth_offset();
if (AZIMUTH_SMOOTHING_FACTOR > 0) {
if (raw_azimuth < 0){raw_azimuth = 0;}
raw_azimuth = int(raw_azimuth * ((float)1 - ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100))) + ((float)previous_raw_azimuth * ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100));
raw_azimuth = (raw_azimuth * ((float)1 - ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100))) + ((float)previous_raw_azimuth * ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100));
}
azimuth = raw_azimuth;
#endif // FEATURE_AZ_POSITION_ADAFRUIT_LSM303
@ -8133,7 +8136,7 @@ void read_azimuth(byte force_read){
apply_azimuth_offset();
if (AZIMUTH_SMOOTHING_FACTOR > 0) {
if (raw_azimuth < 0){raw_azimuth = 0;}
raw_azimuth = int(raw_azimuth * ((float)1 - ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100))) + ((float)previous_raw_azimuth * ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100));
raw_azimuth = (raw_azimuth * ((float)1 - ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100))) + ((float)previous_raw_azimuth * ((float)AZIMUTH_SMOOTHING_FACTOR / (float)100));
}
azimuth = raw_azimuth;
#endif // FEATURE_AZ_POSITION_POLOLU_LSM303
@ -8981,7 +8984,7 @@ void read_elevation(byte force_read){
elevation = elevation + (configuration.elevation_offset);
if (ELEVATION_SMOOTHING_FACTOR > 0) {
if (elevation < 0){elevation = 0;}
elevation = int(elevation * ((float)1 - ((float)ELEVATION_SMOOTHING_FACTOR / (float)100))) + ((float)previous_elevation * ((float)ELEVATION_SMOOTHING_FACTOR / (float)100));
elevation = (elevation * ((float)1 - ((float)ELEVATION_SMOOTHING_FACTOR / (float)100))) + ((float)previous_elevation * ((float)ELEVATION_SMOOTHING_FACTOR / (float)100));
}
if (elevation < 0) {
elevation = 0;
@ -9018,7 +9021,7 @@ void read_elevation(byte force_read){
configuration.last_elevation = ELEVATION_MAXIMUM_DEGREES;
}
#endif
elevation = int(configuration.last_elevation);
elevation = configuration.last_elevation;
#ifdef FEATURE_ELEVATION_CORRECTION
elevation = correct_elevation(elevation);
#endif // FEATURE_ELEVATION_CORRECTION
@ -9055,7 +9058,7 @@ void read_elevation(byte force_read){
}
#endif
elevation = int(configuration.last_elevation);
elevation = configuration.last_elevation;
#ifdef FEATURE_ELEVATION_CORRECTION
elevation = correct_elevation(elevation);
#endif // FEATURE_ELEVATION_CORRECTION
@ -9070,7 +9073,7 @@ void read_elevation(byte force_read){
}
#endif
elevation = int(configuration.last_elevation);
elevation = configuration.last_elevation;
#ifdef FEATURE_ELEVATION_CORRECTION
elevation = correct_elevation(elevation);
@ -9099,7 +9102,7 @@ void read_elevation(byte force_read){
elevation = elevation + (configuration.elevation_offset);
if (ELEVATION_SMOOTHING_FACTOR > 0) {
if (elevation < 0){elevation = 0;}
elevation = int(elevation * ((float)1 - ((float)ELEVATION_SMOOTHING_FACTOR / (float)100))) + ((float)previous_elevation * ((float)ELEVATION_SMOOTHING_FACTOR / (float)100));
elevation = (elevation * ((float)1 - ((float)ELEVATION_SMOOTHING_FACTOR / (float)100))) + ((float)previous_elevation * ((float)ELEVATION_SMOOTHING_FACTOR / (float)100));
}
#endif // FEATURE_EL_POSITION_ADXL345_USING_LOVE_ELECTRON_LIB
@ -9212,7 +9215,7 @@ void read_elevation(byte force_read){
elevation = elevation + (configuration.elevation_offset);
if (ELEVATION_SMOOTHING_FACTOR > 0) {
if (elevation < 0){elevation = 0;}
elevation = int(elevation * ((float)1 - ((float)ELEVATION_SMOOTHING_FACTOR / (float)100))) + ((float)previous_elevation * ((float)ELEVATION_SMOOTHING_FACTOR / (float)100));
elevation = (elevation * ((float)1 - ((float)ELEVATION_SMOOTHING_FACTOR / (float)100))) + ((float)previous_elevation * ((float)ELEVATION_SMOOTHING_FACTOR / (float)100));
}
remote_unit_command_results_available = 0;
} else {
@ -13165,10 +13168,10 @@ void el_position_incremental_encoder_interrupt_handler(){
} else {
if (el_incremental_encoder_position < 0) {
el_incremental_encoder_position = int((EL_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) - 1);
el_incremental_encoder_position = ((EL_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) - 1);
}
if (el_incremental_encoder_position >= int(EL_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.)) {
if (el_incremental_encoder_position >= (EL_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.)) {
el_incremental_encoder_position = 0;
}
@ -13178,9 +13181,9 @@ void el_position_incremental_encoder_interrupt_handler(){
el_incremental_encoder_position = EL_INCREMENTAL_ENCODER_ZERO_PULSE_POSITION;
} else {
if (el_incremental_encoder_position < 0) {
el_incremental_encoder_position = int((EL_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) - 1);
el_incremental_encoder_position = ((EL_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) - 1);
}
if (el_incremental_encoder_position >= int(EL_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.)) {
if (el_incremental_encoder_position >= (EL_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.)) {
el_incremental_encoder_position = 0;
}
}