factotum/rotint
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main: treat elevation offset as offset from horizon

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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.
This commit is contained in:
torque
2024-08-22 11:55:12 -07:00
parent b6caab906a
commit db55a5081d
1 changed files with 3 additions and 3 deletions
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6
src/main.zig
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@@ -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 {