103 navigator add mount sync when centering is ok and add mount position radec

src/modules/navigator/navigator.cpp

@@ -186,15 +186,15 @@ void Navigator::OnNewImage()
         folders.append("/usr/share/astrometry/");
         stellarSolver.setIndexFolderPaths(folders);
         stellarSolver.setProperty("UseScale", true);
-        stellarSolver.setSearchScale(ech * 0.9, ech * 1.1, ScaleUnits::ARCSEC_PER_PIX);
+        stellarSolver.setSearchScale(ech * 0.8, ech * 1.2, ScaleUnits::ARCSEC_PER_PIX);
         stellarSolver.setProperty("UsePosition", true);
         stellarSolver.setSearchPositionInDegrees(wra, wde);
         stellarSolver.setParameters(StellarSolver::getBuiltInProfiles()[SSolver::Parameters::DEFAULT]);
         stellarSolver.setProperty("ProcessType", SOLVE);
         stellarSolver.setProperty("ExtractorType", EXTRACTOR_INTERNAL);
         stellarSolver.setProperty("SolverType", SOLVER_STELLARSOLVER);
-        stellarSolver.setLogLevel(LOG_ALL);
-        stellarSolver.setSSLogLevel(LOG_VERBOSE);
+        stellarSolver.setLogLevel(LOG_MSG);
+        stellarSolver.setSSLogLevel(LOG_NORMAL);
         stellarSolver.setProperty("LogToFile", true);
         stellarSolver.setProperty("LogFileName", getWebroot() + "/navigator_solver.log");
         stellarSolver.start();
@@ -216,6 +216,16 @@ void Navigator::updateProperty(INDI::Property property)
         sendWarning("cameraAlert");
         emit cameraAlert();
     }
+    if (
+        (property.getDeviceName() == getString("devices", "mount"))
+        &&  (property.getName()   == std::string("EQUATORIAL_EOD_COORD"))
+    )
+    {
+        // Update mount position
+        INDI::PropertyNumber prop = property;
+        getEltFloat("mountposition", "RA")->setValue(prop.findWidgetByName("RA")->value, false);
+        getEltFloat("mountposition", "DEC")->setValue(prop.findWidgetByName("DEC")->value, true);
+    }
     if (
         (property.getDeviceName() == getString("devices", "mount"))
         &&  (property.getName()   == std::string("EQUATORIAL_EOD_COORD"))
@@ -266,7 +276,7 @@ void Navigator::OnSucessSolve()
 {
     if (stellarSolver.failed())
     {
-        sendError("Image NOT solved - centering aborted");
+        sendError("Image NOT solved - Centering aborted");
         stellarSolver.abort();
         getProperty("actions")->setState(OST::Error);
         mState = "idle";
@@ -293,6 +303,7 @@ void Navigator::OnSucessSolve()
         sendMessage(QString("Centering successful after %1 iteration(s) - within tolerance")
                     .arg(mCurrentIteration));
         getProperty("actions")->setState(OST::Ok);
+        syncMountIfNeeded(solvedRA, solvedDEC);
         mState = "idle";
         mCurrentIteration = 0;
         return;
@@ -458,8 +469,6 @@ void Navigator::correctOffset(double solvedRA, double solvedDEC)
                 .arg(newDEC, 0, 'f', 2));
 
     // Send corrected position to mount
-    qDebug() << prop.findWidgetByName("RA")->value << "->" << newRA;
-    qDebug() << prop.findWidgetByName("DEC")->value << "->" << newDEC;
     prop.findWidgetByName("RA")->value = newRA;
     prop.findWidgetByName("DEC")->value = newDEC;
     mWaitingSlew = true;
@@ -468,3 +477,40 @@ void Navigator::correctOffset(double solvedRA, double solvedDEC)
     // Mount will trigger updateProperty when slew is complete
     // which will call Shoot() again for next iteration
 }
+void Navigator::syncMountIfNeeded(double solvedRA, double solvedDEC)
+{
+
+    // Get mount device
+    QString mount = getString("devices", "mount");
+    INDI::BaseDevice dp = getDevice(mount.toStdString().c_str());
+    if (!(dp.getDriverInterface() & INDI::BaseDevice::TELESCOPE_INTERFACE))
+    {
+        sendError( "Device " + mount + " has no telescope interface");
+        return;
+    }
+
+    if (!sendModNewSwitch(mount, "ON_COORD_SET", "SYNC", ISS_ON)) return;
+
+    INDI::PropertyNumber prop = dp.getProperty("EQUATORIAL_EOD_COORD");
+    if (!prop.isValid())
+    {
+        sendError("Error - unable to find " + mount + " / EQUATORIAL_EOD_COORD property. Aborting.");
+        return;
+    }
+    double jd = ln_get_julian_from_sys();
+    INDI::IEquatorialCoordinates j2000pos;
+    INDI::IEquatorialCoordinates observed;
+    observed.rightascension = solvedRA;
+    observed.declination = solvedDEC;
+    INDI::ObservedToJ2000(&observed, jd, &j2000pos);
+
+    prop.findWidgetByName("RA")->value = j2000pos.declination;
+    prop.findWidgetByName("DEC")->value = j2000pos.rightascension;
+    sendNewNumber(prop);
+
+    //restore slew
+    if (!sendModNewSwitch(mount, "ON_COORD_SET", "SLEW", ISS_ON)) return;
+
+    sendMessage("Mount successfully synchronized with solved field");
+
+}

src/modules/navigator/navigator.h

@@ -47,6 +47,7 @@ class MODULE_INIT Navigator : public IndiModule
         void convertSelection(void);
         void correctOffset(double solvedRA, double solvedDEC);
         bool checkCentering(double solvedRA, double solvedDEC, double targetRA, double targetDEC);
+        void syncMountIfNeeded(double solvedRA, double solvedDEC);
 
 
         QString mState = "idle";

src/modules/navigator/navigator.json

@@ -6,7 +6,7 @@
         "group": "",
         "permission": 2,
         "hasprofile":true,
-        "rule":0,
+        "rule":2,
         "label": "Centering parameters",
         "elements": {
             "maxiterations": {
@@ -35,7 +35,17 @@
                 "slider":2,
                 "format":"%.1f",
                 "hint":"Centering tolerance in arcseconds"
+            },
+            "syncafter": {
+                "autoupdate":true,
+                "directedit":true,
+                "type": "bool",
+                "label": "Sync mount after sucess",
+                "order": "3",
+                "value":false,
+                "hint":"Synchronise mount coordinates after centering"
             }
+
         }
     },
     "search": {
@@ -198,6 +208,28 @@
                 ]
             }
         }
+    },
+    "mountposition": {
+        "devcat": "Control",
+        "order": "Control0000",
+        "group": "",
+        "permission": 0,
+        "rule":0,
+        "label": "Mount position",
+        "elements": {
+            "RA": {
+                "type": "float",
+                "label": "RA",
+                "order": "10",
+                "value": 0.0
+            },
+            "DEC": {
+                "type": "float",
+                "label": "DEC",
+                "order": "20",
+                "value": 0.0
+            }
+        }
     }
 }
 }