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Rotator Controller Updates

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Add support for X/Y coordinates.
Add coordinate precision setting.
Automatically scan for serial port changes.
Refactor so each protocol is implemented in a separate class.
Add start of DFM protocol.
This commit is contained in:
Jon Beniston
2023-04-03 16:47:13 +01:00
parent c50c866732
commit 4ac5e729ff
31 changed files with 2859 additions and 483 deletions
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sdrbase/util/astronomy.cpp
+178
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@@ -286,6 +286,183 @@ RADec Astronomy::azAltToRaDec(AzAlt aa, double latitude, double longitude, QDate
return rd;
}
// https://ntrs.nasa.gov/api/citations/19670030005/downloads/19670030005.pdf
// X85 is positive Southward
// Y85 is positive Eastward
// X30 is positive Eastward
// Y30 is positive Northward
// atan2 range is (-pi,pi], we want az (0,360], so need to add pi
void Astronomy::azAltToXY85(AzAlt aa, double& x, double& y)
{
if (aa.alt == 90.0)
{
x = 0.0;
y = 0.0;
//qDebug() << "azAltToXY85" << aa.az << aa.alt << x << y;
return;
}
double az = aa.az;
double el = aa.alt;
if (az >= 360.0) {
az -= 360.0;
}
if (el > 90.0)
{
el = 180.0 - el;
if (az >= 180.0) {
az = az - 180.0;
} else {
az = az + 180.0;
}
}
double azr = Units::degreesToRadians(az);
double elr = Units::degreesToRadians(el);
y = Units::radiansToDegrees(asin(cos(elr) * sin(azr)));
if (az == 0.0)
{
// cot(0) == Inf
if ((az == 90.0) || (az == 270.0)) {
x = 0.0;
} else if ((az > 90.0f) && (az < 270.0)) {
x = 90.0;
} else {
x = -90.0;
}
}
else
{
// cot(x)=1/tan(x)=cos(x)/sin(x)
x = Units::radiansToDegrees(atan(-(cos(elr)/sin(elr)) * cos(azr)));
}
//qDebug() << "azAltToXY85" << aa.az << aa.alt << x << y;
}
void Astronomy::azAltToXY30(AzAlt aa, double& x, double& y)
{
if (aa.alt == 90.0)
{
x = 0.0;
y = 0.0;
//qDebug() << "azAltToXY30" << aa.az << aa.alt << x << y;
return;
}
double az = aa.az;
double el = aa.alt;
if (az >= 360.0) {
az -= 360.0;
}
if (el > 90.0)
{
el = 180.0 - el;
if (az >= 180.0) {
az = az - 180.0;
} else {
az = az + 180.0;
}
}
double azr = Units::degreesToRadians(az);
double elr = Units::degreesToRadians(el);
y = Units::radiansToDegrees(asin(cos(elr) * cos(azr)));
if (el == 0.0)
{
if ((az == 0.0) || (az == 180.0)) {
x = 0.0;
} else if ((az >= 0.0f) && (az <= 180.0)) {
x = 90.0;
} else {
x = -90.0;
}
}
else
{
x = Units::radiansToDegrees(atan((cos(elr)/sin(elr)) * sin(azr)));
}
//qDebug() << "azAltToXY30" << aa.az << aa.alt << x << y;
}
AzAlt Astronomy::xy85ToAzAlt(double x, double y)
{
AzAlt aa;
if ((x == 0.0) && (y == 0.0))
{
aa.az = 0.0;
aa.alt = 90.0;
//qDebug() << "xy85ToAzAlt" << x << y << aa.az << aa.alt;
return aa;
}
double xr = Units::degreesToRadians(x);
double yr = Units::degreesToRadians(y);
double elr = asin(cos(yr) * cos(xr));
double azr;
if (x == 0.0)
{
// 1/sin(x) == Inf
azr = y >= 0.0 ? M_PI/2.0 : 2.0*M_PI*3.0/4.0;
}
else if (y == 90.0)
{
// tan(90) == Inf
azr = M_PI/2.0;
}
else if (y == -90.0)
{
// tan(-90) == Inf
azr = 2.0*M_PI*3.0/4.0;
}
else
{
// atan2(y,x) = atan(y/x)
azr = atan2(-tan(yr), sin(xr)) + M_PI;
}
aa.az = Units::radiansToDegrees(azr);
aa.alt = Units::radiansToDegrees(elr);
//qDebug() << "xy85ToAzAlt" << x << y << aa.az << aa.alt;
return aa;
}
AzAlt Astronomy::xy30ToAzAlt(double x, double y)
{
AzAlt aa;
if ((x == 0.0) && (y == 0.0))
{
aa.az = 0.0;
aa.alt = 90.0;
//qDebug() << "xy30ToAzAlt" << x << y << aa.az << aa.alt;
return aa;
}
double xr = Units::degreesToRadians(x);
double yr = Units::degreesToRadians(y);
double elr = asin(cos(yr) * cos(xr));
double azr;
if (y == 0.0)
{
// cot(0) == Inf
azr = x >= 0.0 ? M_PI/2.0 : 2.0*M_PI*3.0/4.0;
}
else if (y == 90.0)
{
// tan(90) == Inf
azr = 0.0;
}
else if (y == -90.0)
{
// tan(-90) == Inf
azr = M_PI;
}
else
{
azr = atan2(sin(xr), tan(yr));
if (azr < 0.0) {
azr += 2.0*M_PI;
}
}
aa.az = Units::radiansToDegrees(azr);
aa.alt = Units::radiansToDegrees(elr);
//qDebug() << "xy30ToAzAlt" << x << y << aa.az << aa.alt;
return aa;
}
// Needs to work for negative a
double Astronomy::modulo(double a, double b)
{
@@ -3707,3 +3884,4 @@ static int eraEpv00(double date1, double date2,
/* Finished. */
}