It would be helpful to have a timestamp field added to the telemetry struct output by the low-level MT Rotator controller. My preferred format is that used by SAL: TAI unix seconds as double precision (float isn't accurate enough).
This would provide a reference point for reported velocity.
It would also allow computing a measured rotator velocity using (pos1 - pos0) /( t1 - t0) – which seems likely to avoid the oddities we see in the two actual velocities that are presently being reported.
I assume the low-level Rotator controller has easy access to TAI time; it certainly should, as it is necessary in order to properly handle tracking commands.