From 86a5fa20a435541a182c1550541af661918c3215 Mon Sep 17 00:00:00 2001 From: torque Date: Thu, 22 Aug 2024 11:55:12 -0700 Subject: [PATCH] main: treat elevation offset as offset from horizon Rather than having somewhat confusing flipped logic when the rotator is operating in the 180-90 degree elevation regime, this internally performs sign flipping. This means that a 3 degree elevation offset means "point an additional 3 degrees up from the horizon" regardless of whether the rotator is operating in the 0-90 or 180-90 elevation ranges. --- src/main.zig | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main.zig b/src/main.zig index 434f09e..7d2d4db 100644 --- a/src/main.zig +++ b/src/main.zig @@ -182,7 +182,7 @@ pub const RotInt = struct { if (self.pollcount == 0) { var mangled: AzEl = .{ .az = self.requested_posture.az + self.offsets.az, - .el = self.requested_posture.el + self.offsets.el, + .el = self.requested_posture.el + if (self.requested_posture.el > 90) -self.offsets.el else self.offsets.el, }; mangled.el = if (mangled.el > 90) @min(mangled.el, 180 - self.conf.elevation_mask)