Avalon StarGO V 1.14 | auto tracking adjustment added (#952)

* Logging averaged RA pulse values * INDI property for auto tracking adjustment added * Version info updated * First version of automatic tracking adjustment implemented --------- Co-authored-by: Wolfgang Reissenberger <[email protected]>
indilib · Jul 31, 2024 · dc8edd5 · dc8edd5
1 parent 45b5153
commit dc8edd5
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Showing 4 changed files with 118 additions and 2 deletions.
diff --git a/debian/indi-avalon/changelog b/debian/indi-avalon/changelog
@@ -1,3 +1,9 @@
+indi-avalon (1.14) UNRELEASED; urgency=medium
+
+  * Automatic tracking adjustment implemented
+
+ -- Wolfgang Reissenberger <[email protected]>  Tue, 06 Feb 2024 20:19:18 +0100
+
 indi-avalon (1.13.3) jammy; urgency=medium
 
   * Manufacturer changed to Avalon-Instruments

diff --git a/indi-avalon/CMakeLists.txt b/indi-avalon/CMakeLists.txt
@@ -16,7 +16,7 @@ include_directories(${NOVA_INCLUDE_DIR})
 include(CMakeCommon)
 
 set(AVALON_VERSION_MAJOR 1)
-set(AVALON_VERSION_MINOR 13)
+set(AVALON_VERSION_MINOR 14)
 
 set(INDI_DATA_DIR "${CMAKE_INSTALL_PREFIX}/share/indi")
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/config.h.cmake ${CMAKE_CURRENT_BINARY_DIR}/config.h )

diff --git a/indi-avalon/lx200stargo.cpp b/indi-avalon/lx200stargo.cpp
@@ -27,6 +27,7 @@
 #include <memory>
 #include <cstring>
 #include <unistd.h>
+#include <numeric>
 #ifndef _WIN32
 #include <termios.h>
 #endif
@@ -292,6 +293,18 @@ bool LX200StarGo::ISNewSwitch(const char *dev, const char *name, ISState *states
                 return false;
             }
         }
+        else if (!strcmp(name, TrackingAutoAdjustmentSP.name))
+        {
+            if (IUUpdateSwitch(&TrackingAutoAdjustmentSP, states, names, n) < 0)
+                return false;
+
+            LOGF_INFO("Automatic tracking adjustment %s", isTrackingAutoAdjustmentEnabled() ? "enabled" : "disabled");
+
+            // The tracking state is stored directly in the property
+            TrackingAutoAdjustmentSP.s = IPS_OK;
+            IDSetSwitch(&TrackingAutoAdjustmentSP, nullptr);
+            return true;
+        }
     }
 
     bool result = true;
@@ -427,6 +440,10 @@ bool LX200StarGo::initProperties()
     IUFillNumber(&TrackingAdjustment[0], "ADJUSTMENT_RA", "Adj. (max +/- 5%)", "%.2f", -5.0, 5.0, 0.01, 0.0);
     IUFillNumberVector(&TrackingAdjustmentNP, TrackingAdjustment, 1, getDeviceName(), "TRACKING_ADJUSTMENT", "Tracking",
                        RA_DEC_TAB, IP_RW, 60.0, IPS_IDLE);
+    IUFillSwitch(&TrackingAutoAdjustmentS[INDI_ENABLED], "INDI_ENABLED", "Enabled", ISS_OFF);
+    IUFillSwitch(&TrackingAutoAdjustmentS[INDI_DISABLED], "INDI_DISABLED", "Disabled", ISS_ON);
+    IUFillSwitchVector(&TrackingAutoAdjustmentSP, TrackingAutoAdjustmentS, 2, getDeviceName(), "TRACKING_AUTO_ADJUSTMENT",
+                       "Tracking Auto Adj.", RA_DEC_TAB, IP_RW, ISR_1OFMANY, 60, IPS_IDLE);
 
     // meridian flip
     IUFillSwitch(&MeridianFlipModeS[0], "MERIDIAN_FLIP_AUTO", "auto", ISS_OFF);
@@ -460,6 +477,7 @@ bool LX200StarGo::updateProperties()
         defineProperty(&KeypadStatusSP);
         defineProperty(&SystemSpeedSlewSP);
         defineProperty(&TrackingAdjustmentNP);
+        defineProperty(&TrackingAutoAdjustmentSP);
         defineProperty(&MeridianFlipModeSP);
         defineProperty(&MountRequestDelayNP);
         defineProperty(&MountFirmwareInfoTP);
@@ -474,6 +492,7 @@ bool LX200StarGo::updateProperties()
         deleteProperty(GuidingSpeedNP.name);
         deleteProperty(ST4StatusSP.name);
         deleteProperty(KeypadStatusSP.name);
+        deleteProperty(TrackingAutoAdjustmentSP.name);
         deleteProperty(TrackingAdjustmentNP.name);
         deleteProperty(SystemSpeedSlewSP.name);
         deleteProperty(MeridianFlipModeSP.name);
@@ -1134,6 +1153,7 @@ bool LX200StarGo::saveConfigItems(FILE *fp)
     IUSaveConfigText(fp, &SiteNameTP);
     IUSaveConfigSwitch(fp, &Aux1FocuserSP);
     IUSaveConfigNumber(fp, &MountRequestDelayNP);
+    IUSaveConfigSwitch(fp, &TrackingAutoAdjustmentSP);
 
     if (loader.isFocuserAux1Activated())
         loader.getFocuserAux1()->saveConfigItems(fp);
@@ -2284,6 +2304,9 @@ IPState LX200StarGo::GuideEast(uint32_t ms)
         MoveWE(DIRECTION_EAST, MOTION_START);
     }
 
+    // update statistics for tracking optimization
+    updateGuidingStatistics(LX200_EAST, ms);
+
     // Set slew to guiding
     IUResetSwitch(&SlewRateSP);
     SlewRateS[SLEW_GUIDE].s = ISS_ON;
@@ -2332,6 +2355,8 @@ IPState LX200StarGo::GuideWest(uint32_t ms)
         MovementWES[DIRECTION_WEST].s = ISS_ON;
         MoveWE(DIRECTION_WEST, MOTION_START);
     }
+    // update statistics for tracking optimization
+    updateGuidingStatistics(LX200_WEST, ms);
 
     // Set slew to guiding
     IUResetSwitch(&SlewRateSP);
@@ -2342,6 +2367,25 @@ IPState LX200StarGo::GuideWest(uint32_t ms)
     return IPS_BUSY;
 }
 
+void LX200StarGo::updateGuidingStatistics(TDirection direction, uint32_t ms)
+{
+    // skip if automatic tracking adjustment is disabled
+    if (!isTrackingAutoAdjustmentEnabled())
+        return;
+
+    switch (direction)
+    {
+        case LX200_WEST:
+            raPulsesList.push_back(ms);
+            break;
+        case LX200_EAST:
+            raPulsesList.push_back(-ms);
+            break;
+        default:
+            break;
+    }
+}
+
 int LX200StarGo::SendPulseCmd(int8_t direction, uint32_t duration_msec)
 {
     LOGF_DEBUG("%s dir=%d dur=%d ms", __FUNCTION__, direction, duration_msec );
@@ -2788,7 +2832,49 @@ bool LX200StarGo::getUTFOffset(double *offset)
     return true;
 }
 
-bool LX200StarGo::getTrackFrequency(double *value)
+void LX200StarGo::TimerHit()
+{
+    const int n = raPulsesList.size();
+
+    // update regularly the evaluation of the guiding statistics
+    // and optimize the tracking
+    if (isTrackingAutoAdjustmentEnabled() && isConnected() && n >= 15)
+    {
+        // sort the list first
+        raPulsesList.sort();
+
+        const int delta = n / 10;
+        auto start = raPulsesList.begin();
+        auto end = raPulsesList.end();
+        // skip first and last 10%
+        start.operator++(delta);
+        end.operator--(delta);
+
+        // take the average value of the pulses, cutting off 10% min and max values
+        int average = accumulate(start, end, 0) / (n - 2 * delta);
+        LOGF_INFO("Average RA pulse duration: %dms", average);
+
+        if (TrackingAdjustmentNP.s == IPS_OK)
+        {
+            // adjustment of the tracking speed
+            // 100ms --> 1% adjustment
+            // We take only 50%
+            double diff = 0.5 * static_cast<double>(average) / 100.0;
+            double adj = TrackingAdjustment[0].value + diff;
+            // ensure that -5 <= adj <= 5
+            adj = std::min(adj, 5.0);
+            adj = std::max(adj, -5.0);
+            setTrackingAdjustment(adj);
+        }
+        // reset values
+        raPulsesList.clear();
+    }
+
+    // hand over to base class
+    Telescope::TimerHit();
+}
+
+bool LX200StarGo::getTrackFrequency(double * value)
 {
     LOG_DEBUG(__FUNCTION__);
     float Freq;

diff --git a/indi-avalon/lx200stargo.h b/indi-avalon/lx200stargo.h
@@ -32,6 +32,8 @@
 #include <cstring>
 #include <string>
 #include <unistd.h>
+#include <queue>
+#include <list>
 
 #define LX200_TIMEOUT 5 /* FD timeout in seconds */
 #define RB_MAX_LEN    64
@@ -141,6 +143,8 @@ class LX200StarGo : public LX200Telescope
         // tracking adjustment setting
         INumberVectorProperty TrackingAdjustmentNP;
         INumber TrackingAdjustment[1];
+        ISwitchVectorProperty TrackingAutoAdjustmentSP;
+        ISwitch TrackingAutoAdjustmentS[2];
 
         // meridian flip
         ISwitchVectorProperty MeridianFlipModeSP;
@@ -241,6 +245,7 @@ class LX200StarGo : public LX200Telescope
         virtual bool getLocalTime(char *timeString) override;
         virtual bool getLocalDate(char *dateString) override;
         virtual bool getUTFOffset(double *offset) override;
+        virtual void TimerHit() override;
 
         // Abort ALL motion
         virtual bool Abort() override;
@@ -255,6 +260,25 @@ class LX200StarGo : public LX200Telescope
         // AUX1 focuser
         bool activateFocuserAux1(bool activate);
 
+        /**
+         * @brief updateGuidingStatistics Update guiding statistics for optimizing the
+         * tracking adustments.
+         * @param direction direction of the guiding pulse
+         * @param ms pulse duration in milliseconds
+         */
+        void updateGuidingStatistics(TDirection direction, uint32_t ms);
+        // list holding all recent pulses
+        std::list<int32_t> raPulsesList;
+
+        /**
+         * @brief isTrackingAutoAdjustmentEnabled helper function checking if the automatic
+         * tracking adjustment is enabled
+         */
+        bool isTrackingAutoAdjustmentEnabled()
+        {
+            return (IUFindOnSwitchIndex(&TrackingAutoAdjustmentSP) == DefaultDevice::INDI_ENABLED);
+        }
+
 };
 inline bool LX200StarGo::sendQuery(const char* cmd, char* response, int wait)
 {