Disable moon and sun tracker when crossing north.

console/console/console_moontracker.c

@@ -48,9 +48,11 @@
 #include "dt_model.h"
 
 #include "dt_port_numbers.h"
-
+#include "dt_host.h"
 #include "command_server.h"
 #include "status_server.h"
+#include "log.h"
+
 
 char *command_host = "localhost";
 int command_port = CONSOLE_COMMAND_PORT;
@@ -144,11 +146,15 @@ int main(int argc, char **argv)
 	struct command_server *cmd_srv;
 	struct status_server *stat_srv;
 	struct weather *weather;
+	double az, el, prev_az;
 
 	time_t lastt = 0;
 
 	signal(SIGPIPE, SIG_IGN);
 
+	log_client_start(dt_host_console(), CONSOLE_LOG_PORT_IN, 
+	    LOG_T_DEBUG, LOG_T_INFO, "console/moontracker");
+
 	do {
 		sp_command_az = setpoint_command_init(command_host, command_port,
 		    az_command_spg, "console/moontracker");
@@ -194,7 +200,6 @@ int main(int argc, char **argv)
 		int high = 0;
 		fd_set fdset_rx;
 		struct timeval tv;
-		double az, el;
 		
 		t = time(NULL);
 		if (t != lastt) {
@@ -225,16 +230,24 @@ int main(int argc, char **argv)
 			}
 
 			if (switch_enabled) {
-				setpoint_command_setpoint_time(sp_command_az,
-				    az * 2 * M_PI / 360.0, t);
-				setpoint_command_setpoint_time(sp_command_el,
-				    el * 2 * M_PI / 360.0, t);
+				/* Detect 'jump' at north crossing */
+				if (fabs(prev_az - az) > 180.0) {
+					log_send(LOG_T_WARNING,
+					    "Disabling tracker to prevent large azimuth jump");
+					switch_enabled = false;
+				} else {
+					setpoint_command_setpoint_time(sp_command_az,
+					    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);
 			}
+			prev_az = az;
 		}
 
 		FD_ZERO(&fdset_rx);

console/console/console_suntracker.c

@@ -48,9 +48,10 @@
 #include "dt_model.h"
 
 #include "dt_port_numbers.h"
-
+#include "dt_host.h"
 #include "command_server.h"
 #include "status_server.h"
+#include "log.h"
 
 
 char *command_host = "localhost";
@@ -143,11 +144,15 @@ int main(int argc, char **argv)
 	struct weather *weather;
 	struct command_server *cmd_srv;
 	struct status_server *stat_srv;
+	double az, el, prev_az;
 
 	time_t lastt = 0;
 
 	signal(SIGPIPE, SIG_IGN);
 
+	log_client_start(dt_host_console(), CONSOLE_LOG_PORT_IN, 
+	    LOG_T_DEBUG, LOG_T_INFO, "console/suntracker");
+
 	do {
 		sp_command_az = setpoint_command_init(command_host, command_port,
 		    az_command_spg, "console/suntracker");
@@ -189,7 +194,6 @@ int main(int argc, char **argv)
 	while (1)
 	{
 		time_t t;
-		double az, el;
 		int high = 0;
 		fd_set fdset_rx;
 		struct timeval tv;
@@ -221,16 +225,24 @@ int main(int argc, char **argv)
 			}
 
 			if (switch_enabled) {
-				setpoint_command_setpoint_time(sp_command_az,
-				    az * 2 * M_PI / 360.0, t);
-				setpoint_command_setpoint_time(sp_command_el,
-				    el * 2 * M_PI / 360.0, t);
+				/* Detect 'jump' at north crossing */
+				if (fabs(prev_az - az) > 180.0) {
+					log_send(LOG_T_WARNING,
+					    "Disabling tracker to prevent large azimuth jump");
+					switch_enabled = false;
+				} else {
+					setpoint_command_setpoint_time(sp_command_az,
+					    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);
 			}
+			prev_az = az;
 		}
 
 		FD_ZERO(&fdset_rx);