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  1. Data Management
  2. DM-29692

Camera MThexapod CompensationMode does not work

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      Description

      When entering compensationMode the EUI keeps switching between Stationary and Moving Pt-Pt. EFD is reflecting this under "MTHexapod.logevent_controllerState.enabledSubstate".

      Does this happens because actuators 2-6 do not report their position —>inPosition event is not generated —> compensationMode keeps compensating —> hexapod does not accept ve further move command because it is constantly “moving”?

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            rowen Russell Owen added a comment -

            There are two aspects to this ticket:

            • Moves and offsets are unreliable (while in compensation mode) because the low-level controller rejects new move commands when it is already moving, and it will sometimes be moving due to compensation offsets. This is DM-29423, which I am working on.
            • The compensation offsets will indeed trigger the enabled substate to go back and forth between MOVING_POINT_TO_POINT and STATIONARY, with a possible occasional CONTROLLED_STOPPING (after I merge DM-29423). This just shows the compensation updates. It is harmless and I see no reasonable way to avoid it.
            Show
            rowen Russell Owen added a comment - There are two aspects to this ticket: Moves and offsets are unreliable (while in compensation mode) because the low-level controller rejects new move commands when it is already moving, and it will sometimes be moving due to compensation offsets. This is DM-29423 , which I am working on. The compensation offsets will indeed trigger the enabled substate to go back and forth between MOVING_POINT_TO_POINT and STATIONARY, with a possible occasional CONTROLLED_STOPPING (after I merge DM-29423 ). This just shows the compensation updates. It is harmless and I see no reasonable way to avoid it.
            Hide
            rowen Russell Owen added a comment -

            Duplicate of DM-29423

            Show
            rowen Russell Owen added a comment - Duplicate of DM-29423
            Hide
            bxin Bo Xin [X] (Inactive) added a comment -

            Hi Holger Drass , on Russell Owen's second point above - does this oscillation between substates happen even we are not tracking?

            Since we don't have temperature compensation yet, when mount elevation is not changing, I think the substate should not change all the time. What is triggering the substate change? Supposedly it is looking at the difference between the target position and the current position? If so, is the tolerance configurable?

            Show
            bxin Bo Xin [X] (Inactive) added a comment - Hi Holger Drass  , on  Russell Owen 's second point above - does this oscillation between substates happen even we are not tracking? Since we don't have temperature compensation yet, when mount elevation is not changing, I think the substate should not change all the time. What is triggering the substate change? Supposedly it is looking at the difference between the target position and the current position? If so, is the tolerance configurable?
            Hide
            hdrass Holger Drass added a comment -

            Hi Bo Xin [X], the mount was providing constant azimuth and elevation values at all times. So no tracking involved.

            My guess is that the telescope never gets the inPosition event and goes on compensating and therefore changes between Stationary and MovingPt-PT

            Show
            hdrass Holger Drass added a comment - Hi Bo Xin [X] , the mount was providing constant azimuth and elevation values at all times. So no tracking involved. My guess is that the telescope never gets the inPosition event and goes on compensating and therefore changes between Stationary and MovingPt-PT

              People

              Assignee:
              rowen Russell Owen
              Reporter:
              hdrass Holger Drass
              Watchers:
              Andy Clements, Bo Xin [X] (Inactive), Holger Drass, Russell Owen, Sandrine Thomas
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