Dear all,
before I continue let me please state that I am incredibly impressed and very grateful for the developement of the INDI Framework.
Over last couple of weeks I developed a driver for the dome of our observator which drives the (very old and constant speed) motors of the dome with a Raspberry Pi. I also wrote the appropriate INDI driver which turned out to be comparatively easy when looking at other drivers for reference.
Now dome motion control is working fine. I also configured slaving with the proper parameters and this is also working fine (the shutter of the dome is very large and forgiving, although the fact that the guide scope is on the outer edge of the OTA makes things a bit more difficult).
We are only experiencing a single issue when it comes to completely autonomous operation of the entire thing with the 10micron GM4000 HPS mount: When the mount has hour angles just before the meridian flip the dome starts going back and forth between the currently required position and, evidently, the position it should be in after the meridian flip.
I immediately suspected that my own driver is the problem so we tested the same procedure with the dome simulator and the behavior is indeed the same. Having a look at the log of the dome simulator driver these interesting lines show up:
DEBUG 872.603872 sec : JD: 2.45927e+06 - MSD: 10.3856
DEBUG 872.603930 sec : MC.x: 0 - MC.y: 0 MC.z: 0.45
DEBUG 872.603951 sec : HA: -10.8922 Lng: 10.8328 RA: 330
DEBUG 872.603965 sec : Active Snoop, driver: LX200 10micron, property: TELESCOPE_PIER_SIDE
DEBUG 872.603982 sec : OTA_SIDE: 1
DEBUG 872.603996 sec : OTA_OFFSET: 1 Lat: 49.8328
DEBUG 872.604009 sec : OC.x: 0.958235 - OC.y: -0.218538 OC.z: 0.265535
DEBUG 872.604026 sec : Mount Az: 2.74314 Alt: 43.0684
DEBUG 872.604040 sec : OV.x: 0.0349626 - OV.y: 0.729702 OV.z: 0.68287
DEBUG 872.604060 sec : Calculated target azimuth is 29.88. MinAz: 4.78, MaxAz: 54.98
INFO 872.604073 sec : Dome is moving to position 29.88 degrees azimuth...
DEBUG 872.604109 sec : Dome is syncing to position 29.88 degrees...INFO 902.046243 sec : Dome reached requested azimuth angle.
DEBUG 902.539657 sec : JD: 2.45927e+06 - MSD: 10.394
DEBUG 902.539715 sec : MC.x: 0 - MC.y: 0 MC.z: 0.45
DEBUG 902.539738 sec : HA: -10.8837 Lng: 10.8328 RA: 329.999
DEBUG 902.539751 sec : Active Snoop, driver: LX200 10micron, property: TELESCOPE_PIER_SIDE
DEBUG 902.539768 sec : OTA_SIDE: 1
DEBUG 902.539782 sec : OTA_OFFSET: 1 Lat: 49.8328
DEBUG 902.539795 sec : OC.x: 0.957603 - OC.y: -0.22015 OC.z: 0.264175
DEBUG 902.539812 sec : Mount Az: 2.76338 Alt: 43.0728
DEBUG 902.539826 sec : OV.x: 0.0352179 - OV.y: 0.729638 OV.z: 0.682927
DEBUG 902.539845 sec : Calculated target azimuth is 29.89. MinAz: 4.78, MaxAz: 54.99
DEBUG 903.696934 sec : JD: 2.45927e+06 - MSD: 10.3943
DEBUG 903.696951 sec : MC.x: 0 - MC.y: 0 MC.z: 0.45
DEBUG 903.696956 sec : HA: -10.8834 Lng: 10.8328 RA: 329.999
DEBUG 903.696959 sec : OTA_SIDE: -1
DEBUG 903.696962 sec : OTA_OFFSET: 1 Lat: 49.8328
DEBUG 903.696965 sec : OC.x: -0.957578 - OC.y: 0.220212 OC.z: 0.635877
DEBUG 903.696969 sec : Mount Az: 2.76413 Alt: 43.073
DEBUG 903.696972 sec : OV.x: 0.0352272 - OV.y: 0.729634 OV.z: 0.68293
DEBUG 903.696977 sec : Calculated target azimuth is 335.31. MinAz: 309.91, MaxAz: 0.72
INFO 903.696980 sec : Dome is moving to position 335.31 degrees azimuth...
DEBUG 903.696988 sec : Dome is syncing to position 335.31 degrees...These 30 odd degrees roughly is the position where the dome should be after the meridian flip (we confirmed that by performing it) and these 335 odd degrees is where it is supposed to be before the flip (when the log was taken).
Since this is happening with the dome simulator driver I think I can rule out my own driver as the problem, the only difference is that it is actually in reality starting to go crazy.
The version we used are, from ppa:mutlaqja/ppa:
INDI Library: 1.8.8
Code 1.8.8-tgz. Protocol 1.7.
kstars 3.5.1 Stable
One note here: We didn't have INDI 1.8.8 installed from source but only 1.8.6, so I used this to link my own driver against. But as I said, in the above testing procedure, this wasn't used, the dome simulator was.
All the other logs are attached.
I would be very grateful for any help.
Ciao,
Philipp
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