At present the MT rotator decides whether it needs to slew or track based on one criterion: position error is less than some threshold. This is unsafe and easily fooled, for two reasons:
- Near the end of a slew it is easy for the position error to be small but the velocity error to be large. Thus the rotator can be fooled and report that a slew has ended too early.
- When we slew to a new target it is possible for the rotator angle to be nearly the same but the velocity to be very different. The rotator may not realize that it has to slew until enough time has elapsed that the rotator error grows large enough.