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2020.06.13.01

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More work on \A azimuth calibration command and proper modification of azimuth_starting_point and azimuth_offset.  I think I got it right now.
This commit is contained in:
Anthony Good 2020-06-13 09:44:08 -04:00
parent 1c4ef06e1c
commit c73c559312
1 changed files with 29 additions and 17 deletions
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46
k3ng_rotator_controller/k3ng_rotator_controller.ino
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@ -505,6 +505,9 @@
Eliminated FEATURE_ONE_DECIMAL_PLACE_HEADINGS and FEATURE_TWO_DECIMAL_PLACE_HEADINGS
LCD_DECIMAL_PLACES now is only setting need to change number of decimal places displayed
2020.06.13.01
More work on \A azimuth calibration command and proper modification of azimuth_starting_point and azimuth_offset. I think I got it right now.
All library files should be placed in directories likes \sketchbook\libraries\library1\ , \sketchbook\libraries\library2\ , etc.
Anything rotator_*.* should be in the ino directory!
@ -516,7 +519,7 @@
*/
#define CODE_VERSION "2020.06.12.03"
#define CODE_VERSION "2020.06.13.01"
#include <avr/pgmspace.h>
#include <EEPROM.h>
@ -6249,7 +6252,14 @@ void check_timed_interval(){
#endif
} /* check_timed_interval */
#endif // FEATURE_TIMED_BUFFER
// --------------------------------------------------------------
void apply_azimuth_offset(){
if (configuration.azimuth_offset < 0){
raw_azimuth = raw_azimuth + (2 * configuration.azimuth_offset);
}
}
// --------------------------------------------------------------
@ -6292,12 +6302,12 @@ void read_azimuth(byte force_read){
#ifdef FEATURE_AZ_POSITION_POTENTIOMETER
analog_az = analogReadEnhanced(rotator_analog_az);
raw_azimuth = map(analog_az, configuration.analog_az_full_ccw, configuration.analog_az_full_cw, (configuration.azimuth_starting_point), ((configuration.azimuth_starting_point + configuration.azimuth_rotation_capability)));
raw_azimuth = map(analog_az, configuration.analog_az_full_ccw, configuration.analog_az_full_cw, configuration.azimuth_starting_point, (configuration.azimuth_starting_point + configuration.azimuth_rotation_capability));
#ifdef FEATURE_AZIMUTH_CORRECTION
raw_azimuth = (correct_azimuth(raw_azimuth));
#endif // FEATURE_AZIMUTH_CORRECTION
raw_azimuth = raw_azimuth + (configuration.azimuth_offset);
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));
@ -6342,7 +6352,7 @@ void read_azimuth(byte force_read){
raw_azimuth = (correct_azimuth(raw_azimuth));
#endif // FEATURE_AZIMUTH_CORRECTION
raw_azimuth = raw_azimuth + (configuration.azimuth_offset);
apply_azimuth_offset();
if (AZIMUTH_SMOOTHING_FACTOR > 0) {
if (raw_azimuth < 0){raw_azimuth = 0;}
@ -6511,7 +6521,7 @@ void read_azimuth(byte force_read){
#ifdef FEATURE_AZIMUTH_CORRECTION
raw_azimuth = (correct_azimuth(raw_azimuth));
#endif // FEATURE_AZIMUTH_CORRECTION
raw_azimuth = raw_azimuth + (configuration.azimuth_offset);
apply_azimuth_offset();
azimuth = raw_azimuth;
#endif // FEATURE_AZ_POSITION_HMC5883L
@ -6556,7 +6566,7 @@ void read_azimuth(byte force_read){
#ifdef FEATURE_AZIMUTH_CORRECTION
raw_azimuth = (correct_azimuth(raw_azimuth));
#endif // FEATURE_AZIMUTH_CORRECTION
raw_azimuth = raw_azimuth + (configuration.azimuth_offset);
apply_azimuth_offset();
azimuth = raw_azimuth;
#endif // FEATURE_AZ_POSITION_HMC5883L_USING_JARZEBSKI_LIBRARY
@ -6602,7 +6612,7 @@ void read_azimuth(byte force_read){
#ifdef FEATURE_AZIMUTH_CORRECTION
raw_azimuth = (correct_azimuth(raw_azimuth));
#endif // FEATURE_AZIMUTH_CORRECTION
raw_azimuth = raw_azimuth + (configuration.azimuth_offset);
apply_azimuth_offset();
azimuth = raw_azimuth;
#endif //FEATURE_AZ_POSITION_DFROBOT_QMC5883
@ -6648,7 +6658,7 @@ void read_azimuth(byte force_read){
#ifdef FEATURE_AZIMUTH_CORRECTION
raw_azimuth = (correct_azimuth(raw_azimuth));
#endif // FEATURE_AZIMUTH_CORRECTION
raw_azimuth = raw_azimuth + (configuration.azimuth_offset);
apply_azimuth_offset();
azimuth = raw_azimuth;
#endif //FEATURE_AZ_POSITION_MECHASOLUTION_QMC5883
@ -6665,7 +6675,7 @@ void read_azimuth(byte force_read){
#ifdef FEATURE_AZIMUTH_CORRECTION
raw_azimuth = (correct_azimuth(raw_azimuth));
#endif // FEATURE_AZIMUTH_CORRECTION
raw_azimuth = raw_azimuth + (configuration.azimuth_offset);
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));
@ -6720,9 +6730,9 @@ void read_azimuth(byte force_read){
*/
raw_azimuth = heading ; // pololu library returns float value of actual heading.
#ifdef FEATURE_AZIMUTH_CORRECTION
raw_azimuth = (correct_azimuth(raw_azimuth));
raw_azimuth = correct_azimuth(raw_azimuth);
#endif // FEATURE_AZIMUTH_CORRECTION
raw_azimuth = raw_azimuth + (configuration.azimuth_offset);
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));
@ -6757,9 +6767,9 @@ void read_azimuth(byte force_read){
last_az_position_pulse_input_azimuth = az_position_pulse_input_azimuth;
raw_azimuth = int(configuration.last_azimuth);
#ifdef FEATURE_AZIMUTH_CORRECTION
raw_azimuth = (correct_azimuth(raw_azimuth));
raw_azimuth = correct_azimuth(raw_azimuth);
#endif // FEATURE_AZIMUTH_CORRECTION
raw_azimuth = raw_azimuth + (configuration.azimuth_offset);
apply_azimuth_offset();
if (raw_azimuth >= 360) {
azimuth = raw_azimuth - 360;
} else {
@ -6782,9 +6792,9 @@ void read_azimuth(byte force_read){
}
#endif // DEBUG_HH12
#ifdef FEATURE_AZIMUTH_CORRECTION
raw_azimuth = (correct_azimuth(raw_azimuth));
raw_azimuth = correct_azimuth(raw_azimuth);
#endif // FEATURE_AZIMUTH_CORRECTION
raw_azimuth = raw_azimuth + (configuration.azimuth_offset);
apply_azimuth_offset();
if (raw_azimuth < 0){raw_azimuth = raw_azimuth + 360;}
if (raw_azimuth >= 360) {
azimuth = raw_azimuth - 360;
@ -6807,7 +6817,7 @@ void read_azimuth(byte force_read){
#ifdef FEATURE_AZIMUTH_CORRECTION
raw_azimuth = (correct_azimuth(raw_azimuth));
#endif // FEATURE_AZIMUTH_CORRECTION
raw_azimuth = raw_azimuth + (configuration.azimuth_offset);
apply_azimuth_offset();
if (raw_azimuth >= 360) {
azimuth = raw_azimuth - 360;
} else {
@ -6829,7 +6839,7 @@ void read_azimuth(byte force_read){
#ifdef FEATURE_AZIMUTH_CORRECTION
raw_azimuth = (correct_azimuth(raw_azimuth));
#endif // FEATURE_AZIMUTH_CORRECTION
raw_azimuth = raw_azimuth + (configuration.azimuth_offset);
apply_azimuth_offset();
azimuth = raw_azimuth;
#endif //FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
@ -7321,6 +7331,7 @@ void output_debug(){
#endif //FEATURE_ELEVATION_CONTROL
#endif //DEBUG_AUTOCORRECT
/*
if ((raw_azimuth ) < configuration.azimuth_starting_point){
debug.print(F("\tWARNING: raw azimuth is CCW of configured starting point of "));
debug.print(configuration.azimuth_starting_point);
@ -7332,6 +7343,7 @@ void output_debug(){
debug.print((configuration.azimuth_starting_point+configuration.azimuth_rotation_capability),0);
debug.println("!");
}
*/
#if !defined(TEENSYDUINO)
void * HP = malloc(4);