# Fix the Bugs of Trajectory If No Track Command Received In the Tracking

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#### Details

• Type: Story
• Status: Done
• Resolution: Done
• Fix Version/s: None
• Component/s:
• Labels:
• Story Points:
3
• Sprint:
TSSW Sprint - Jun 8 - Jun 22
• Team:
Telescope and Site
• Urgent?:
No

#### Description

The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received.

The following figure (x-axis: time in seconds, y-axis: value such as position in degree) shows this problem. There are two targets (positions = 1.2 degree and 3 degree. velocity = 0.01 deg/sec and -0.01 deg/sec). The track command does not continue after the time equals 6 seconds. We could see the rotator position is at 3 degree when time is at 8 seconds but the demand position is decreasing after time=8 seconds (rotator's position keeps the same) because of the second target has the velocity of -0.01 deg/sec.

#### Activity

Te-Wei Tsai created issue -
Field Original Value New Value
Attachment track_v0_1_long_enterFault.png [ 44216 ]
 Description The path generator will continuously update the demand position even if there is no new track command in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received. The following figure shows this problem. There are two targets (positions = 1.2 degree and 3 degree). The track command does not continue after the time=6 second. We could see the rotator position is at 3 degree but the demand position is decreasing because of the second target has the velocity of -0.01 deg/sec. The path generator will continuously update the demand position even if there is no new track command in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received. The following figure shows this problem. There are two targets (positions = 1.2 degree and 3 degree). The track command does not continue after the time=6 second. We could see the rotator position is at 3 degree but the demand position is decreasing because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail!
 Description The path generator will continuously update the demand position even if there is no new track command in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received. The following figure shows this problem. There are two targets (positions = 1.2 degree and 3 degree). The track command does not continue after the time=6 second. We could see the rotator position is at 3 degree but the demand position is decreasing because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail! The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received. The following figure shows this problem. There are two targets (positions = 1.2 degree and 3 degree). The track command does not continue after the time=6 second. We could see the rotator position is at 3 degree but the demand position is decreasing because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail!
 Description The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received. The following figure shows this problem. There are two targets (positions = 1.2 degree and 3 degree). The track command does not continue after the time=6 second. We could see the rotator position is at 3 degree but the demand position is decreasing because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail! The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspection is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received. The following figure shows this problem. There are two targets (positions = 1.2 degree and 3 degree). The track command does not continue after the time=6 second. We could see the rotator position is at 3 degree but the demand position is decreasing because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail!
 Description The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspection is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received. The following figure shows this problem. There are two targets (positions = 1.2 degree and 3 degree). The track command does not continue after the time=6 second. We could see the rotator position is at 3 degree but the demand position is decreasing because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail! The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received. The following figure shows this problem. There are two targets (positions = 1.2 degree and 3 degree). The track command does not continue after the time=6 second. We could see the rotator position is at 3 degree but the demand position is decreasing because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail!
 Description The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received. The following figure shows this problem. There are two targets (positions = 1.2 degree and 3 degree). The track command does not continue after the time=6 second. We could see the rotator position is at 3 degree but the demand position is decreasing because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail! The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received. The following figure shows this problem. There are two targets (positions = 1.2 degree and 3 degree). The track command does not continue after the time=6 second. We could see the rotator position is at 3 degree when time is at 8 seconds but the demand position is decreasing because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail!
 Description The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received. The following figure shows this problem. There are two targets (positions = 1.2 degree and 3 degree). The track command does not continue after the time=6 second. We could see the rotator position is at 3 degree when time is at 8 seconds but the demand position is decreasing because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail! The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received. The following figure shows this problem. There are two targets (positions = 1.2 degree and 3 degree). The track command does not continue after the time equals 6 seconds. We could see the rotator position is at 3 degree when time is at 8 seconds but the demand position is decreasing because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail!
 Description The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received. The following figure shows this problem. There are two targets (positions = 1.2 degree and 3 degree). The track command does not continue after the time equals 6 seconds. We could see the rotator position is at 3 degree when time is at 8 seconds but the demand position is decreasing because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail! The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received. The following figure (x-axis: time in seconds, y-axis: value such as position in degree) shows this problem. There are two targets (positions = 1.2 degree and 3 degree). The track command does not continue after the time equals 6 seconds. We could see the rotator position is at 3 degree when time is at 8 seconds but the demand position is decreasing after time=8 seconds because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail!
 Epic Link DM-23800 [ 431613 ]
 Link This issue relates to DM-25045 [ DM-25045 ]
 End date 11/Jun/20 Sprint TSSW Sprint - Jun 8 - Jun 22 [ 1024 ] Start date 08/Jun/20 Story Points 3 Team Telescope and Site [ 13500 ] Labels HexRot MainTelescope
 Description The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received. The following figure (x-axis: time in seconds, y-axis: value such as position in degree) shows this problem. There are two targets (positions = 1.2 degree and 3 degree). The track command does not continue after the time equals 6 seconds. We could see the rotator position is at 3 degree when time is at 8 seconds but the demand position is decreasing after time=8 seconds because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail! The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received. The following figure (x-axis: time in seconds, y-axis: value such as position in degree) shows this problem. There are two targets (positions = 1.2 degree and 3 degree. velocity = 0.01 deg/sec and -0.01 deg/sec). The track command does not continue after the time equals 6 seconds. We could see the rotator position is at 3 degree when time is at 8 seconds but the demand position is decreasing after time=8 seconds because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail!
 Description The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received. The following figure (x-axis: time in seconds, y-axis: value such as position in degree) shows this problem. There are two targets (positions = 1.2 degree and 3 degree. velocity = 0.01 deg/sec and -0.01 deg/sec). The track command does not continue after the time equals 6 seconds. We could see the rotator position is at 3 degree when time is at 8 seconds but the demand position is decreasing after time=8 seconds because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail! The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received. The following figure (x-axis: time in seconds, y-axis: value such as position in degree) shows this problem. There are two targets (positions = 1.2 degree and 3 degree. velocity = 0.01 deg/sec and -0.01 deg/sec). The track command does not continue after the time equals 6 seconds. We could see the rotator position is at 3 degree when time is at 8 seconds but the demand position is decreasing after time=8 seconds (rotator's position keeps the same) because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail!
 Link This issue relates to DM-25245 [ DM-25245 ]
 Link This issue relates to DM-25249 [ DM-25249 ]
 Status To Do [ 10001 ] In Progress [ 3 ]
 Labels HexRot MainTelescope HexRot MainTelescope ccw-rotator-integration-test
 Watchers Russell Owen, Te-Wei Tsai [ Russell Owen, Te-Wei Tsai ] Russell Owen, Te-Wei Tsai, Tiago Ribeiro [ Russell Owen, Te-Wei Tsai, Tiago Ribeiro ]
 Attachment trackWithoutNewTrackCmd.png [ 44349 ] Attachment trackWithSomeNewTrackCmdAndNoCmd.png [ 44350 ] Attachment trackWithSomeNewTrackCmdAndNoCmdMagnify.png [ 44351 ]
 Attachment trackStopBeforeSlewDone.png [ 44359 ] Attachment trackStopAfterSlewDone.png [ 44360 ]
 Attachment trackWithStopAndSecondTargetSmaller.png [ 44401 ]
 Attachment trackWithStopAndSecondTargetSmaller.png [ 44402 ]
 Attachment moveWithStop.png [ 44403 ]
 Attachment moveWithStop.png [ 44403 ]
 Attachment moveWithStop.png [ 44404 ]
 Attachment trackWithStopAnd3rdTarget.png [ 44408 ]
 Attachment trackWithStopAnd3rdTargetOfPosNow.png [ 44409 ]
 Attachment trackWithStopAnd3rdTargetOfPosNowAndRewiteCmdPosAndVel.png [ 44415 ]
 Reviewers Russell Owen [ rowen ] Status In Progress [ 3 ] In Review [ 10004 ]
 Link This issue relates to DM-25441 [ DM-25441 ]
 Status In Review [ 10004 ] Reviewed [ 10101 ]
 Resolution Done [ 10000 ] Status Reviewed [ 10101 ] Done [ 10002 ]
 Link This issue relates to DM-25795 [ DM-25795 ]

#### People

Assignee:
Te-Wei Tsai
Reporter:
Te-Wei Tsai
Reviewers:
Russell Owen
Watchers:
Russell Owen, Te-Wei Tsai, Tiago Ribeiro
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Watchers:
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#### Dates

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