Russell Owen, the delay time was requested to be hard-coded to be 0.25 second (5 lost tracking commands) at DM-25245. What is the time do you want now? Another option is to put it into the configuration file. Which way do you prefer?

I suggest an initial delay (before the first tracking command arrives) of 5 second, preferably configurable. This delay is not important for safety because the rotator is not moving.

Tracking commands may come as slowly as 10 Hz, so I suggest the maximum delay between tracking tracking commands be 0.5 seconds – though again, being configurable is useful. I hope the rotator extrapolates the last tracking command if the next one does not arrive in time (until the timer expires and the rotator faults and halts).

For the "rotator extrapolation" part, this will need to modify the MATLAB trajectory libraries by Tekniker.

Please help to review the PRs:
1. https://github.com/lsst-ts/ts_mt_hexRot_simulink/pull/42
2. https://github.com/lsst-ts/ts_rotator_controller/pull/45

Thanks!

Your comment about the trajectory libraries surprises me a bit, because the TMA azimuth, elevation, and camera cable wrap are all willing to extrapolate the last position. But that's a different ticket and perhaps not needed.

Reviewed on github