# Fix the Discontinuous Velocity of Multiple Tracking from Slewing

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#### Details

• Type: Story
• Status: Invalid
• Resolution: Done
• Fix Version/s: None
• Component/s:
• Labels:
• Story Points:
0
• Team:
Telescope and Site
• Urgent?:
No

#### Description

Fix the discontinuous velocity of multiple tracking from slewing. This problems comes from the slewing algorithm that assumes the initial and final velocities to be zero. The velocity of tracking target is added as a superposition method.

In the following figures, there are two targets. The first target is at 1.2 deg with velocity = 0.01 deg/sec. The second target is at 3 deg with velocity = -0.01 deg/sec. There is a dip of velocity transition here (to 2nd target):

This velocity transitions from 0.01 deg/sec to -0.01 deg/sec happens in 0.005 seconds, which is 20 steps in 4000 Hz. We can see the acceleration > 0 for the new slew. Therefore, this transition does not make the physical sense at all.

#### Attachments

1. digVelMagnify.png
60 kB
2. velDip.png
47 kB

#### Activity

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Te-Wei Tsai created issue -
Field Original Value New Value
Description Fix the discontinuous velocity of multiple tracking from slewing. This problems comes from the slewing algorithm that assumes the initial and final velocities to be zero. The velocity of tracking target is added as a superposition method.

In the following figures, there are two targets. The first target is at 1.2 deg with velocity = 0.01 deg/sec. The second target is at 3 deg with velocity = -0.01 deg/sec. There is a dip of velocity transition here (to 2nd target):
!velDip.png!
Fix the discontinuous velocity of multiple tracking from slewing. This problems comes from the slewing algorithm that assumes the initial and final velocities to be zero. The velocity of tracking target is added as a superposition method.

In the following figures, there are two targets. The first target is at 1.2 deg with velocity = 0.01 deg/sec. The second target is at 3 deg with velocity = -0.01 deg/sec. There is a dip of velocity transition here (to 2nd target):
!velDip.png|thumbnail!
 Attachment velDip.png [ 45084 ]
 Attachment velDip.png [ 45083 ]
 Attachment digVelMagnify.png [ 45085 ]
 Description Fix the discontinuous velocity of multiple tracking from slewing. This problems comes from the slewing algorithm that assumes the initial and final velocities to be zero. The velocity of tracking target is added as a superposition method. In the following figures, there are two targets. The first target is at 1.2 deg with velocity = 0.01 deg/sec. The second target is at 3 deg with velocity = -0.01 deg/sec. There is a dip of velocity transition here (to 2nd target): !velDip.png|thumbnail! Fix the discontinuous velocity of multiple tracking from slewing. This problems comes from the slewing algorithm that assumes the initial and final velocities to be zero. The velocity of tracking target is added as a superposition method. In the following figures, there are two targets. The first target is at 1.2 deg with velocity = 0.01 deg/sec. The second target is at 3 deg with velocity = -0.01 deg/sec. There is a dip of velocity transition here (to 2nd target):  !velDip.png|thumbnail! This velocity transitions from 0.01 deg/sec to -0.01 deg/sec happens in 0.005 seconds, which is 20 steps in 4000 Hz. We can see the acceleration > 0 for the new slew. Therefore, this transition does not make the physical sense at all. !digVelMagnify.png|thumbnail!
 Epic Link DM-25674 [ 436565 ]
 Link This issue is triggered by DM-25795 [ DM-25795 ]
 Story Points 3 Team Telescope and Site [ 13500 ] Labels HexRot MainTelescope ccw-rotator-integration-test
 Epic Link DM-25674 [ 436565 ] DM-27619 [ 441883 ]
 Epic Link DM-27619 [ 441883 ] DM-27620 [ 441884 ]
 Story Points 3 0
 Resolution Done [ 10000 ] Status To Do [ 10001 ] Invalid [ 11005 ]
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Te-Wei Tsai added a comment -

Tekniker will replace the existed algorithm.

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Te-Wei Tsai added a comment - Tekniker will replace the existed algorithm.

#### People

Assignee:
Te-Wei Tsai
Reporter:
Te-Wei Tsai
Watchers:
Te-Wei Tsai