prevent large moves

console/console/console_moontracker.c

@@ -359,6 +359,11 @@ int main(int argc, char **argv)
 				    az * 2 * M_PI / 360.0, t);
 				setpoint_command_setpoint_time(sp_command_el,
 				    el * 2 * M_PI / 360.0, t);
+			} else {
+				/* not enabled, send idle just in case we were
+				   still moving */
+				setpoint_command_speed(sp_command_az, 0.0);
+				setpoint_command_speed(sp_command_el, 0.0);
 			}
 		}
 

console/console/console_sattracker.c

@@ -67,7 +67,7 @@ char tle_str[139] =
 struct location *location;
 struct predict *predict = NULL;
 
-void set_tle(void)
+bool set_tle(char newtle[139])
 {
 	double lat, lon, alt;
 
@@ -76,14 +76,18 @@ void set_tle(void)
 	alt = location_get_altitude(location);
 	printf("Using lat: %f, lon: %f, alt: %f\n", lat, lon, alt);
 	
-	if (predict_tle_check(tle_str)) {
+	if (predict_tle_check(newtle)) {
 		printf("Invallid TLE\n");
-		return;
+		return false;
 	}
 	
+	strcpy(tle_str, newtle);
+	
 	if (predict)
 		predict_free(predict);
 	predict = predict_create(tle_str, lat, lon, alt);
+	
+	return true;
 }
 
 
@@ -91,6 +95,7 @@ void set_tle(void)
 bool refraction_enable = false;
 bool dt_model_enable = false;
 bool switch_enabled = false;
+bool switch_cmd = false;
 
 struct compensation_switch {
 	char *name;
@@ -203,14 +208,20 @@ void handle_cmd(struct cmd_client *cmd)
 				printf("found switch %s\n", name);
 				if (val[0] == '1') {
 					*compensation_switches[i].value = true;
+					if (!strcmp(name, "enabled")) {
+						switch_cmd = true;
+					}
 				} else {
 					*compensation_switches[i].value = false;
 				}
 			}
 		}
 		if (!strcmp(name, "tle")) {
-			strcpy(tle_str, val);
-			set_tle();
+			char newtle[139];
+
+			strcpy(newtle, val);
+			if (!set_tle(newtle))
+				switch_enabled = false;
 		}
 	}
 }
@@ -328,7 +339,7 @@ int main(int argc, char **argv)
 	alt = location_get_altitude(location);
 	printf("Using lat: %f, lon: %f, alt: %f\n", lat, lon, alt);
 	
-	set_tle();
+	set_tle(tle_str);
 
 	signal(SIGPIPE, SIG_IGN);
 
@@ -415,18 +426,17 @@ int main(int argc, char **argv)
 			/* check if we might have compensate 360 degrees to
 			   prevent large az steps
 			 */
+			printf("fabs(%f - %f): %f\n", last_az,az,fabs(last_az- az));
 			if (az > 90.0 || az < -90.0) {
-				/* If the sat is very low, 
-				   don't bother swapping */
-				printf("fabs(%f - %f): %f\n", last_az,az,fabs(last_az- az));
-				if (el > -20.0) {
-					/* large step? */
-					if (fabs(last_az - az) > 200.0) {
-						printf("Swapping AZ\n");
-						az += copysign(360.0, last_az);
-					}
+				/* large step? */
+				if (fabs(last_az - az) > 200.0) {
+					printf("Swapping AZ\n");
+					az += copysign(360.0, last_az);
 				}
 			}
+			if (switch_cmd && fabs(last_az - az) > 180.0) {
+				switch_enabled = false;
+			}
 
 			last_az = az;
 			
@@ -444,6 +454,7 @@ int main(int argc, char **argv)
 				setpoint_command_speed(sp_command_az, 0.0);
 				setpoint_command_speed(sp_command_el, 0.0);
 			}
+			switch_cmd = false;
 		}
 
 		FD_ZERO(&fdset_rx);

console/console/console_suntracker.c

@@ -354,6 +354,11 @@ int main(int argc, char **argv)
 				    az * 2 * M_PI / 360.0, t);
 				setpoint_command_setpoint_time(sp_command_el,
 				    el * 2 * M_PI / 360.0, t);
+			} else {
+				/* not enabled, send idle just in case we were
+				   still moving */
+				setpoint_command_speed(sp_command_az, 0.0);
+				setpoint_command_speed(sp_command_el, 0.0);
 			}
 		}