tested both directions (099a66d6) · Commits · Elphel / motosat

test_01.php

+35 −23

Original line number	Diff line number	Diff line
		@@ -25,7 +25,12 @@ $LATE_STOP_AZ = 30; // steps
		// Rescan azimuth after noticed a satellite during area scan
		$AZ_PLAY = 1.0; // Hysteresis caused by mechanical play (degrees)
		$AZ_RESCAN = 8; // (degrees) around expected center
		$AZ_RESCAN_STEP = 0.25; // (degrees)
		$AZ_RESCAN_STEP = 0.5; // (degrees)

		$EL_PLAY = 1.0; // Hysteresis caused by mechanical play (degrees)
		$EL_RESCAN = 8; // (degrees) around expected center
		$EL_RESCAN_STEP = 0.5; // (degrees)

		$USABLE_FRACT = 0.6; // use ony samples not less than this fraction of maximal
		$USABLE_POW = 1.0; // transform (maxstrengh - strengh) by applying pow - 1.2 ...1.3 may have marginal improvements
		$ARGMAX_OURSIDE = 0.2; // Allow argmax outside of the measured range by this fraction
		@@ -98,8 +103,12 @@ if ($scan_mode){
		$Success = $xml_state->Success;

		if (intval ($Success)){
		peakAzimuth($xml_state, $AZ_PLAY,$AZ_RESCAN, $AZ_RESCAN_STEP, $USABLE_FRACT, $USABLE_POW, $ARGMAX_OURSIDE);
		$Success = peakAzimuthOrElevation($xml_state, 0, $AZ_PLAY,$AZ_RESCAN, $AZ_RESCAN_STEP, $USABLE_FRACT, $USABLE_POW, $ARGMAX_OURSIDE);
		$xml_state = simplexml_load_file($motosat_url);
		if (intval ($Success)){
		$Success = peakAzimuthOrElevation($xml_state, 1, $EL_PLAY,$EL_RESCAN, $EL_RESCAN_STEP, $USABLE_FRACT, $USABLE_POW, $ARGMAX_OURSIDE);
		$xml_state = simplexml_load_file($motosat_url);
		}
		}

		$xml = new SimpleXMLElement("<?xml version='1.0'?><motosat/>");
		@@ -147,61 +156,64 @@ header('Access-Control-Allow-Origin: *');
		printf($rslt);
		exit (0);

		function peakAzimuth($xml_state, $az_play,$az_range, $az_step, $fract, $pow = 1.0, $argmax_outside=0.2){
		function peakAzimuthOrElevation($xml_state, $el_not_az, $azel_play, $azel_range, $azel_step, $fract, $pow = 1.0, $argmax_outside=0.2){
		global $motosat_url, $dbg_file;
		if ($xml_state === null){
		$xml_state = simplexml_load_file($motosat_url);
		}
		$DishAngle = getDishAngles ($xml_state);
		$az_start_center = $DishAngle[0];
		$motor = $el_not_az ? 1: 0;
		$direction = $el_not_az ? "ELEVATION" : "AZIMUTH";

		$azel_start_center = $DishAngle[$motor];
		//move to sart rescan azimuth minus mechanical play
		$DishAngle[0] = $az_start_center - $az_play - $az_range/2;
		$DishAngle[$motor] = $azel_start_center - $azel_play - $azel_range/2;
		moveElAzSk_degrees($DishAngle);
		$scan_strengths = Array();
		for ($az = $az_start_center - $az_range/2;
		$az < ($az_start_center + $az_range/2 + $az_step);
		$az += $az_step){
		$DishAngle[0] = $az;
		for ($azel = $azel_start_center - $azel_range/2;
		$azel < ($azel_start_center + $azel_range/2 + $azel_step);
		$azel += $azel_step){
		$DishAngle[$motor] = $azel;
		moveElAzSk_degrees($DishAngle); // to be on the safe side re-read xml
		$modem_strength= getModemStrength();
		$scan_strengths[] = $modem_strength;
		}
		if ($dbg_file !== null) {
		fprintf($dbg_file, "==== Azimuth scan strengths: ====\n");
		fprintf($dbg_file, "==== $direction scan strengths: ====\n");
		fprintf($dbg_file, print_r($scan_strengths, 1));
		}
		$rel_argmax = findMax1d($scan_strengths, $fract, $pow, $argmax_outside);
		if ($rel_argmax !== null) {
		$az_argmax = $az_start_center - $az_range / 2 + $az_step * $rel_argmax;
		$azel_argmax = $azel_start_center - $azel_range / 2 + $azel_step * $rel_argmax;
		if ($dbg_file !== null) {
		fprintf($dbg_file, "reltive argmax = %f\n", $rel_argmax);
		fprintf($dbg_file, "azimuth argmax = %f (was %f)\n", $az_argmax, $az_start_center);
		fprintf($dbg_file, "$direction argmax = %f (was %f)\n", $azel_argmax, $azel_start_center);
		}
		$DishAngle[0] = $az_argmax - $az_play;
		$DishAngle[$motor] = $azel_argmax - $azel_play;
		if ($dbg_file !== null) {
		fprintf($dbg_file, "====== Moving azimuth to compensate motor play to = %f\n", $DishAngle[0]);
		fprintf($dbg_file, "====== Moving $direction to compensate motor play to = %f\n", $DishAngle[$motor]);
		}

		moveElAzSk_degrees($DishAngle);
		$DishAngle[0] = $az_argmax;
		$DishAngle[$motor] = $azel_argmax;
		if ($dbg_file !== null) {
		fprintf($dbg_file, "====== Moving azimuth to argmax position = %f\n", $DishAngle[0]);
		fprintf($dbg_file, "====== Moving $direction to argmax position = %f\n", $DishAngle[$motor]);
		}
		moveElAzSk_degrees($DishAngle);
		return 1; // success
		} else {
		// for now - move back
		if ($dbg_file !== null) {
		fprintf($dbg_file, "****** Failed to find maximum, going to known position.\n");
		fprintf($dbg_file, "****** Failed to find maximum for $direction, going to known position.\n");
		}
		$DishAngle[0] = $az_start_center;
		$DishAngle[$motor] = $azel_start_center;
		moveElAzSk_degrees($DishAngle);
		return 0; // failed
		}
		}



		return;
		}

		function findMax1d($data, $fract, $pow, $frac_outside = 0.2){
		global $dbg_file;
		$min= $data[0];

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