From db55a5081d644552099f14f640879d72fb26c722 Mon Sep 17 00:00:00 2001
From: torque <torque@epicyclic.dev>
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 | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main.zig b/src/main.zig
index 434f09e..29cf5fd 100644
--- a/src/main.zig
+++ b/src/main.zig
@@ -182,12 +182,12 @@ 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,
             };
             mangled.el = if (mangled.el > 90)
-                @min(mangled.el, 180 - self.conf.elevation_mask)
+                @min(mangled.el, 180 - self.conf.elevation_mask) - self.offsets.el
             else
-                @max(mangled.el, self.conf.elevation_mask);
+                @max(mangled.el, self.conf.elevation_mask) + self.offsets.el;
 
             self.sendRotatorCommand(.{ .set_position = mangled });
         } else {