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  1. Data Management
  2. DM-25845

Please add a velocity test for "need to slew" to the MT rotator

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    Details

    • Story Points:
      2
    • Sprint:
      TSSW Sprint - Apr 26 - May 10, TSSW Sprint - May 10 - May 24
    • Team:
      Telescope and Site
    • Urgent?:
      No

      Description

      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.

        Attachments

        1. trackCmd.jpg
          trackCmd.jpg
          57 kB
        2. trackSingleTarget.png
          trackSingleTarget.png
          99 kB
        3. trackTwoTargets.png
          trackTwoTargets.png
          122 kB
        4. trackTwoTargetsClosePos_magnify.png
          trackTwoTargetsClosePos_magnify.png
          106 kB
        5. trackTwoTargetsClosePos.png
          trackTwoTargetsClosePos.png
          104 kB

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              People

              Assignee:
              ttsai Te-Wei Tsai
              Reporter:
              rowen Russell Owen
              Reviewers:
              Russell Owen
              Watchers:
              Russell Owen, Te-Wei Tsai
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                Dates

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                Updated:
                Resolved:
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