Debugging multi-satelite search (1b048f05) · Commits · Elphel / motosat

PolynomialApproximation.php

+9 −3

Original line number	Original line	Diff line number	Diff line
	@@ -7,7 +7,7 @@ class PolynomialApproximation
	public $debugLevel = 1;		public $debugLevel = 1;
	public $debugFile = null;		public $debugFile = null;

	public function polynomialApproximation1d($data, $N){		public function polynomialApproximation1d($data, $N, $noreduce=true){
	//$my_array = array_fill(0, $size_of_the_array, $some_data);		//$my_array = array_fill(0, $size_of_the_array, $some_data);
	if ($this->debugFile === null){		if ($this->debugFile === null){
	$this->debugLevel = 0;		$this->debugLevel = 0;
	@@ -70,8 +70,14 @@ class PolynomialApproximation
	return $result;		return $result;

	} catch (Exception $e) {		} catch (Exception $e) {
	echo 'Caught exception: ', $e->getMessage(), ", reducing polynomial order\n";		//// fprintf($dbg_file, print_r(debug_backtrace(),1));
	if ($N1 < 0 ) {		fprintf($this->debugFile,
			"polynomialApproximation1d() Caught exception: ".$e->getMessage(), ", reducing polynomial order\n");
			fprintf($this->debugFile, print_r(debug_backtrace(),1)."\n");
			fprintf($this->debugFile, "data=".print_r(debug_backtrace(),1)."\nMatrix M:\n");
			$M->print($this->debugFile);
			// echo 'Caught exception: ', $e->getMessage(), ", reducing polynomial order\n";
			if (($N1 < 0) \|\| $noreduce) {
	return null;		return null;
	}		}
	$N1--;		$N1--;

test_01.php

+126 −59

Original line number	Original line	Diff line number	Diff line
	@@ -19,7 +19,7 @@ $AZ_CMAX = 4790;
	$EL_CMAX = 10979;		$EL_CMAX = 10979;
	$SK_CMAX = 931;		$SK_CMAX = 931;
	$MODEM_THRESHOLD = 17.0; // consider something if modem strength is above		$MODEM_THRESHOLD = 17.0; // consider something if modem strength is above
	$OVERSHOOT = 1; // final steps absolute error		$OVERSHOOT = 2; // 1; // final steps absolute error
	$LATE_STOP_AZ = 30; // steps		$LATE_STOP_AZ = 30; // steps

	// Rescan azimuth after noticed a satellite during area scan		// Rescan azimuth after noticed a satellite during area scan
	@@ -69,7 +69,7 @@ http://192.168.1.250/motor.xml?Action=Stop&Distance=100&Units=1 - stop

	//php > var_dump($DishAngle);		//php > var_dump($DishAngle);
	//array(3) {[0]=> float(9.97), [1]=> float(0), [2]=> float(0)}		//array(3) {[0]=> float(9.97), [1]=> float(0), [2]=> float(0)}
	$dbg_file = fopen("/home/eyesis/git/motosat/attic/logs/test05.log","w");		$dbg_file = fopen("/home/eyesis/git/motosat/attic/logs/test07.log","w");
	fprintf($dbg_file,"test log\n");		fprintf($dbg_file,"test log\n");

	if (false) {		if (false) {
	@@ -141,25 +141,23 @@ if (!$scan_mode){
	}		}

	if ($full_search){		if ($full_search){
	$rslt = lockToSatellite($min_strength, $DishAngle, $wnd_az, $wnd_el, $scan_step);		$rslt_sat = lockToSatellite($min_strength, $DishAngle, $wnd_az, $wnd_el, $scan_step);

			if ($dbg_file !== null) {
			fprintf($dbg_file, "lockToSatellite --> %s\n", print_r($rslt_sat,1));
			}


	$xml = new SimpleXMLElement("<?xml version='1.0'?><motosat/>");		$xml = new SimpleXMLElement("<?xml version='1.0'?><motosat/>");
	$State = $xml_state->State+0; // 1 - Ready, 2 - Busy		$State = $xml_state->State+0; // 1 - Ready, 2 - Busy, 3 - Stow! (turned to stow by no reason?)
	$busy = ($State & 2) != 0;		$busy = ($State & 2) != 0;
	$SignalQuality = myfval(explode(",",$xml_state->SignalQuality)[0]);		$SignalQuality = myfval(explode(",",$xml_state->SignalQuality)[0]);
	// print result to XML

	// $xml->addChild ('Success',(string) $Success );
	$xml->addChild ('SignalQuality',(string) $SignalQuality );		$xml->addChild ('SignalQuality',(string) $SignalQuality );
	// if (isset($DishAngle1D)){
	// $xml->addChild ('DishAngle1D',$DishAngle1D );
	// }
	// if (isset($DishAngle2D)){
	// $xml->addChild ('DishAngle2D',$DishAngle2D );
	// }
	$xml->addChild ('DishAngle',$xml_state->DishAngle );		$xml->addChild ('DishAngle',$xml_state->DishAngle );
	$xml->addChild ('DishCount',$xml_state->DishCountt );		$xml->addChild ('DishCount',$xml_state->DishCountt );
	$xml->addChild ('busy',(string) $busy );		$xml->addChild ('busy',(string) $busy );
	$xml->addChild ('State',(string) $State );		$xml->addChild ('State',(string) $State );
			$xml->addChild ('Result',(string) print_r($rslt_sat,1));

	$rslt=$xml->asXML();		$rslt=$xml->asXML();
	header("Content-Type: text/xml");		header("Content-Type: text/xml");
	@@ -252,9 +250,14 @@ function lockToSatellite($min_strength, $DishAngle, $wnd_az, $wnd_el, $scan_step
	$DishAngleCenter[0] = $DishAngle[0];		$DishAngleCenter[0] = $DishAngle[0];
	$DishAngleCenter[1] = $DishAngle[1];		$DishAngleCenter[1] = $DishAngle[1];
	$empty_az = array(); // array of pairs: ('low'=>min, "high"=>max) for scanned empoty azimuths in degrees		$empty_az = array(); // array of pairs: ('low'=>min, "high"=>max) for scanned empoty azimuths in degrees
	$satellites =array();// array of ('az'=>az, "el"=> el, 'strength'-> strength, 'guard_low', 'guard_high') in degrees for each foubnd satellite		$satellites =array();// array of ('az'=>az, "el"=> el, 'strength'-> strength, 'guard_low', 'guard_high') in degrees for each found satellite
	$num_az_steps = (int) ceil ($wnd_az/$SAT_AZ_STEP);		$num_az_steps = (int) ceil ($wnd_az/$SAT_AZ_STEP);
	$az_min = $DishAngle[0] - $wnd_az/2;		$az_min = $DishAngle[0] - $wnd_az/2;
			if ($dbg_file !== null) {
			fprintf($dbg_file, "+++++ lockToSatellite( %f, %s, %f, %f, %f\n",
			$min_strength, print_r($DishAngle,1), $wnd_az, $wnd_el, $scan_step);
			}

	// $az_max = $az_min + ($num_az_steps)* $SAT_AZ_STEP;		// $az_max = $az_min + ($num_az_steps)* $SAT_AZ_STEP;
	while (true) { // loop until found correct satellite, or failed		while (true) { // loop until found correct satellite, or failed
	$az_array = array_fill(0, $num_az_steps + 1, 0);		$az_array = array_fill(0, $num_az_steps + 1, 0);
	@@ -269,20 +272,37 @@ function lockToSatellite($min_strength, $DishAngle, $wnd_az, $wnd_el, $scan_step
	}		}

	}		}
			if ($dbg_file !== null) {
			fprintf($dbg_file, "0. az_array= %s\n", str_replace("\n"," ",print_r($az_array,1))."\n");
			}

	// Exclude each satellite with its guard range		// Exclude each satellite with its guard range
	foreach ($satellites as $indx => $azels){		foreach ($satellites as $indx => $azels){
	$i_min = (int) round (($azels['az'] - $azels['guard_low'])/$SAT_AZ_STEP);		$i_min = (int) round (($azels['az'] - $az_min - $azels['guard_low'])/$SAT_AZ_STEP);
	$i_max = (int) round (($azels['az'] + $azels['guard_high'])/$SAT_AZ_STEP);		$i_max = (int) round (($azels['az'] - $az_min + $azels['guard_high'])/$SAT_AZ_STEP);
			if ($dbg_file !== null) {
			fprintf($dbg_file, "i_min = %d, i_max= %d\n", $i_min, $i_max);
			}

	if ($i_min < 0) $i_min = 0;		if ($i_min < 0) $i_min = 0;
	if ($i_max > $num_az_steps) $i_max = $num_az_steps;		if ($i_max > $num_az_steps) $i_max = $num_az_steps;
	for ($i = $i_min; $i <= $i_max; $i++){		for ($i = $i_min; $i <= $i_max; $i++){
	$az_array[$i] = $indx +1; // number of satellite, starting from 1		$az_array[$i] = $indx +1; // number of satellite, starting from 1
			if ($dbg_file !== null) {
			fprintf($dbg_file, "%d: %d\n", $i,$az_array[$i]);
			}

			}
	}		}
			if ($dbg_file !== null) {
			fprintf($dbg_file, "1. az_array= %s\n", str_replace("\n"," ",print_r($az_array,1))."\n");
	}		}


	// Find azimuth range to scan		// Find azimuth range to scan
	for ($i_low = 0; ($i_low <= $num_az_steps) && ($az_array[$i_low] == 0); $i_low++ );		for ($i_low = 0; ($i_low <= $num_az_steps) && ($az_array[$i_low] != 0); $i_low++ );
	if ($i_low > $num_az_steps) { // all searched, no luck		if ($i_low > $num_az_steps) { // all searched, no luck
	// Here is te exit from thye loop !		// Here is te exit from the loop on failure!
	return array ('satellite' => null, 'satellites' => $satellites, 'empty' => $empty_az);		return array ('satellite' => null, 'satellites' => $satellites, 'empty' => $empty_az);
	}		}
	for ($i_high = $i_low; ($i_high < $num_az_steps) && ($az_array[$i_high+1] == 0); $i_high++);		for ($i_high = $i_low; ($i_high < $num_az_steps) && ($az_array[$i_high+1] == 0); $i_high++);
	@@ -294,27 +314,46 @@ function lockToSatellite($min_strength, $DishAngle, $wnd_az, $wnd_el, $scan_step
	$high_end_sat = ($i_high < $num_az_steps)? $az_array[$i_high + 1] : -1;		$high_end_sat = ($i_high < $num_az_steps)? $az_array[$i_high + 1] : -1;
	$az_range = $az_high - $az_low;		$az_range = $az_high - $az_low;
	$az_center = ($az_high + $az_low) / 2;		$az_center = ($az_high + $az_low) / 2;
			if ($dbg_file !== null) {
			fprintf($dbg_file, "DishAngleCenter=".str_replace("\n"," ",print_r($DishAngleCenter,1))."\n");
			fprintf($dbg_file, "low_end_sat = %d, high_end_sat= %d\n",$low_end_sat,$high_end_sat);
			fprintf($dbg_file, "Satellites=".str_replace("\n"," ",print_r($satellites,1))."\n");

			}

	if ($low_end_sat < 0){		if ($low_end_sat < 0){
	if ($high_end_sat < 0) { // both ends unknown		if ($high_end_sat < 0) { // both ends unknown
	$el_center = $DishAngleCenter[1];		$el_center = $DishAngleCenter[1];
	$el_range = $wnd_el;		$el_range = $wnd_el;
			if ($dbg_file !== null) {
			fprintf($dbg_file, "1: el_center = %f, el_range= %f\n",$el_center,$el_range);
			}

	} else { // satellite on the right only		} else { // satellite on the right only
	$el_center = $satellites[$high_end_sat -1]['el'];		$el_center = $satellites[$high_end_sat -1]['el'];
	$el_range = $MAX_ARC_TILT * $az_range;		$el_range = $MAX_ARC_TILT * $az_range;
			if ($dbg_file !== null) {
			fprintf($dbg_file, "2: el_center = %f, el_range= %f\n",$el_center,$el_range);
			}
	}		}
	} else {		} else {
	if ($high_end_sat < 0) {// satellite on the left only		if ($high_end_sat < 0) {// satellite on the left only
	$el_center = $satellites[$low_end_sat -1]['el'];		$el_center = $satellites[$low_end_sat -1]['el'];
	$el_range = $MAX_ARC_TILT * $az_range;		$el_range = $MAX_ARC_TILT * $az_range;
			if ($dbg_file !== null) {
			fprintf($dbg_file, "3: el_center = %f, el_range= %f\n",$el_center,$el_range);
			}
	} else { // both ends have satellites		} else { // both ends have satellites
	$el_center = ($satellites[$high_end_sat -1]['el'] + $satellites[$low_end_sat -1]['el']) / 2 ;		$el_center = ($satellites[$high_end_sat -1]['el'] + $satellites[$low_end_sat -1]['el']) / 2 ;
	$el_range = abs($satellites[$high_end_sat -1]['el'] - $satellites[$low_end_sat -1]['el']);		$el_range = abs($satellites[$high_end_sat -1]['el'] - $satellites[$low_end_sat -1]['el']);
			if ($dbg_file !== null) {
			fprintf($dbg_file, "4: el_center = %f, el_range= %f\n",$el_center,$el_range);
	}		}
	}		}
	// $xml_state = simplexml_load_file($motosat_url);		}
	// $DishAnglesNow = getDishAngles ($xml_state); // will go there if failed		if ($el_center < 50){
	// $dir = ($DishAnglesNow[0] < $az_center) ? 1 : 0;		return array ('satellite' => null, 'satellites' => $satellites, 'empty' => $empty_az);
			}
	// Do scanning of the range		// Do scanning of the range
	if ($dbg_file !== null) {		if ($dbg_file !== null) {
	fprintf($dbg_file, "==== Scanning sky window : center (az:%f7.3 el:%f7.3) az_range=%f7.3, el_range = %f7.3 ====\n",		fprintf($dbg_file, "==== Scanning sky window : center (az:%f7.3 el:%f7.3) az_range=%f7.3, el_range = %f7.3 ====\n",
	@@ -339,7 +378,15 @@ function lockToSatellite($min_strength, $DishAngle, $wnd_az, $wnd_el, $scan_step
	// Did found some satellite - peak azimuth		// Did found some satellite - peak azimuth
	// peakAzimuthOrElevation - limit range to scan range, do not allow max to be outside of the scan range!		// peakAzimuthOrElevation - limit range to scan range, do not allow max to be outside of the scan range!
	$minmax = array($az_low, $az_high);		$minmax = array($az_low, $az_high);
			if ($dbg_file !== null) {
			fprintf($dbg_file, "Starting peakAzimuthOrElevation(...(%f, %f))\n",$az_low,$az_high);
			}
	$rslt_az = peakAzimuthOrElevation($xml_state, 0, $AZ_PLAY, $AZ_RESCAN, $AZ_RESCAN_STEP, $USABLE_FRACT, $USABLE_POW, $ARGMAX_OURSIDE, $minmax);		$rslt_az = peakAzimuthOrElevation($xml_state, 0, $AZ_PLAY, $AZ_RESCAN, $AZ_RESCAN_STEP, $USABLE_FRACT, $USABLE_POW, $ARGMAX_OURSIDE, $minmax);
			if ($dbg_file !== null) {
			fprintf($dbg_file, "peakAzimuthOrElevation(...(%f, %f)) returned: %s\n",$az_low,$az_high, (string) $rslt_az);
			}


	$success_az = ($rslt_az ===1) ? 1 : 0;		$success_az = ($rslt_az ===1) ? 1 : 0;

	$xml_state = simplexml_load_file($motosat_url);		$xml_state = simplexml_load_file($motosat_url);
	@@ -356,7 +403,7 @@ function lockToSatellite($min_strength, $DishAngle, $wnd_az, $wnd_el, $scan_step
	if (($az_sat - $sat['az']) < $AZ_TOL + $AZ_RESCAN_STEP){ // accepting larger tolerance		if (($az_sat - $sat['az']) < $AZ_TOL + $AZ_RESCAN_STEP){ // accepting larger tolerance
	$satellites[$indx]['guard_high'] += $GUARD_STEP; // search range was on the right, increasing high guard range for the satellite		$satellites[$indx]['guard_high'] += $GUARD_STEP; // search range was on the right, increasing high guard range for the satellite
	if ($dbg_file !== null) {		if ($dbg_file !== null) {
	fprintf($dbg_file, "**** Increasing high guard range of the satellite :\n".print_r($satellites[$indx]));		fprintf($dbg_file, "**** Increasing high guard range of the satellite :\n".print_r($satellites[$indx],1));
	}		}
	continue;		continue;
	}		}
	@@ -367,7 +414,7 @@ function lockToSatellite($min_strength, $DishAngle, $wnd_az, $wnd_el, $scan_step
	if (($sat['az'] - $az_sat) < $AZ_TOL + $AZ_RESCAN_STEP){ // accepting larger tolerance		if (($sat['az'] - $az_sat) < $AZ_TOL + $AZ_RESCAN_STEP){ // accepting larger tolerance
	$satellites[$indx]['guard_low'] += $GUARD_STEP; // search range was on the left, increasing low guard range for the satellite		$satellites[$indx]['guard_low'] += $GUARD_STEP; // search range was on the left, increasing low guard range for the satellite
	if ($dbg_file !== null) {		if ($dbg_file !== null) {
	fprintf($dbg_file, "**** Increasing low guard range of the satellite :\n".print_r($satellites[$indx]));		fprintf($dbg_file, "**** Increasing low guard range of the satellite :\n".print_r($satellites[$indx],1));
	}		}
	continue;		continue;
	}		}
	@@ -387,13 +434,13 @@ function lockToSatellite($min_strength, $DishAngle, $wnd_az, $wnd_el, $scan_step
	if ($az_center < $sat['az']) {		if ($az_center < $sat['az']) {
	$satellites[$indx]['guard_low'] += $GUARD_STEP; // search range was on the left, increasing low guard range for the satellite		$satellites[$indx]['guard_low'] += $GUARD_STEP; // search range was on the left, increasing low guard range for the satellite
	if ($dbg_file !== null) {		if ($dbg_file !== null) {
	fprintf($dbg_file, "**** Increasing low guard range of the satellite:\n".print_r($satellites[$indx]));		fprintf($dbg_file, "**** Increasing low guard range of the satellite:\n".print_r($satellites[$indx],1));
	}		}

	} else {		} else {
	$satellites[$indx]['guard_high'] += $GUARD_STEP;// search range was on the right, increasing high guard range for the satellite		$satellites[$indx]['guard_high'] += $GUARD_STEP;// search range was on the right, increasing high guard range for the satellite
	if ($dbg_file !== null) {		if ($dbg_file !== null) {
	fprintf($dbg_file, "**** Increasing high guard range of the satellite:\n".print_r($satellites[$indx]));		fprintf($dbg_file, "**** Increasing high guard range of the satellite:\n".print_r($satellites[$indx],1));
	}		}
	}		}
	continue; // recalculate azimuth range, try again		continue; // recalculate azimuth range, try again
	@@ -410,7 +457,7 @@ function lockToSatellite($min_strength, $DishAngle, $wnd_az, $wnd_el, $scan_step
	}		}
	$modem_strength = getModemStrength();		$modem_strength = getModemStrength();
	$xml_state = simplexml_load_file($motosat_url);		$xml_state = simplexml_load_file($motosat_url);
	$DishAngleSat = $xml_state->DishAngle;		$DishAngleSat = getDishAngles($xml_state); // ->DishAngle;
	$satellite = array(		$satellite = array(
	'az' => $DishAngleSat[0],		'az' => $DishAngleSat[0],
	"el" => $DishAngleSat[1],		"el" => $DishAngleSat[1],
	@@ -448,7 +495,7 @@ function lockToSatellite($min_strength, $DishAngle, $wnd_az, $wnd_el, $scan_step
	if ($Success_2d){		if ($Success_2d){
	$modem_strength = getModemStrength();		$modem_strength = getModemStrength();
	$xml_state = simplexml_load_file($motosat_url);		$xml_state = simplexml_load_file($motosat_url);
	$DishAngleSat = $xml_state->DishAngle;		$DishAngleSat = getDishAngles($xml_state); // ->DishAngle;
	$satellite = array(		$satellite = array(
	'az' => $DishAngleSat[0],		'az' => $DishAngleSat[0],
	"el" => $DishAngleSat[1],		"el" => $DishAngleSat[1],
	@@ -496,8 +543,8 @@ function peak2D($xml_state, $az_play, $el_play, $az_range, $el_range, $az_step,
	}		}

	if ($dbg_file !== null) {		if ($dbg_file !== null) {
	fprintf($dbg_file, "==== 2D scan strengths: ====\n");		fprintf($dbg_file, "==== 2D scan strengths (will be printed in findMax2d() ): ====\n");
	fprintf($dbg_file, print_r($scan_strengths, 1));		// fprintf($dbg_file, print_r($scan_strengths, 1));
	}		}

	// $rel_argmax = findMax1d($scan_strengths, $fract, $pow, $argmax_outside);		// $rel_argmax = findMax1d($scan_strengths, $fract, $pow, $argmax_outside);
	@@ -518,7 +565,7 @@ function peak2D($xml_state, $az_play, $el_play, $az_range, $el_range, $az_step,
	}		}
	}		}
	if ($dbg_file !== null) {		if ($dbg_file !== null) {
	fprintf($dbg_file, "reltive argmax = [az=%f, el=%f]\n", $rel_argmax[0], $rel_argmax[1]);		fprintf($dbg_file, "relative argmax = [az=%f, el=%f]\n", $rel_argmax[0], $rel_argmax[1]);
	fprintf($dbg_file, " argmax = [az=%f, el=%f] (was [az=%f, el=%f])\n", $azel_argmax[0], $azel_argmax[1], $azel_start_center[0], $azel_start_center[1]);		fprintf($dbg_file, " argmax = [az=%f, el=%f] (was [az=%f, el=%f])\n", $azel_argmax[0], $azel_argmax[1], $azel_start_center[0], $azel_start_center[1]);
	}		}
	$DishAngle[0] = $azel_argmax[0] - $az_play;		$DishAngle[0] = $azel_argmax[0] - $az_play;
	@@ -560,10 +607,16 @@ function peakAzimuthOrElevation($xml_state, $el_not_az, $azel_play, $azel_range,
	if ($azel_min < $minmax[0]){		if ($azel_min < $minmax[0]){
	$azel_min = $minmax[0];		$azel_min = $minmax[0];
	}		}
	if ($azel_max < $minmax[1]){		if ($azel_max > $minmax[1]){
	$azel_max = $minmax[1];		$azel_max = $minmax[1];
	}		}
	}		}

			if ($dbg_file !== null) {
			fprintf($dbg_file, "Peaking %s\n",$direction);
			}


	if (($azel_max - $azel_min) < $azel_step){		if (($azel_max - $azel_min) < $azel_step){
	if ($dbg_file !== null) {		if ($dbg_file !== null) {
	fprintf($dbg_file, "==== $direction scan range to small min = %f, max = %f: ====\n", $azel_min, $azel_max);		fprintf($dbg_file, "==== $direction scan range to small min = %f, max = %f: ====\n", $azel_min, $azel_max);
	@@ -599,7 +652,7 @@ function peakAzimuthOrElevation($xml_state, $el_not_az, $azel_play, $azel_range,

	$azel_argmax = $azel_min + $azel_step * $rel_argmax;		$azel_argmax = $azel_min + $azel_step * $rel_argmax;
	if ($dbg_file !== null) {		if ($dbg_file !== null) {
	fprintf($dbg_file, "reltive argmax = %f\n", $rel_argmax);		fprintf($dbg_file, "relative argmax = %f\n", $rel_argmax);
	fprintf($dbg_file, "$direction argmax = %f (was %f)\n", $azel_argmax, $azel_start_center);		fprintf($dbg_file, "$direction argmax = %f (was %f)\n", $azel_argmax, $azel_start_center);
	}		}
	$DishAngle[$motor] = $azel_argmax - $azel_play;		$DishAngle[$motor] = $azel_argmax - $azel_play;
	@@ -801,10 +854,14 @@ function findMax1d($data, $fract, $pow, $frac_outside = 0.2){
	$max = $data[0];		$max = $data[0];
	$argmax = 0;		$argmax = 0;
	foreach ($data as $k => $v) {		foreach ($data as $k => $v) {
			if (! in_array($v, $HUGHES_BAD_STRENGTHS)) {
	if ($v > $max) {		if ($v > $max) {
	$max = $v;		$max = $v;
	$argmax = $k;		$argmax = $k;
	} else if ($v < $min) $min = $v;		} else if ($v < $min) {
			$min = $v;
			}
			}
	}		}

	if ($argmax == 0){		if ($argmax == 0){
	@@ -815,7 +872,7 @@ function findMax1d($data, $fract, $pow, $frac_outside = 0.2){
	return array('argmax'=>$argmax,'err'=>'last element');		return array('argmax'=>$argmax,'err'=>'last element');
	}		}

			// ignoring bad strengths (==30) - they will be filtered later
	$threshold = $min + ($max-$min) * $fract;		$threshold = $min + ($max-$min) * $fract;
	$k_min = $argmax;		$k_min = $argmax;
	while (($k_min > 0) && ($data[$k_min - 1] >= $threshold)){		while (($k_min > 0) && ($data[$k_min - 1] >= $threshold)){
	@@ -844,8 +901,6 @@ function findMax1d($data, $fract, $pow, $frac_outside = 0.2){
	$pa = new PolynomialApproximation();		$pa = new PolynomialApproximation();
	$pa->debugLevel = 1;		$pa->debugLevel = 1;
	$pa->debugFile = $dbg_file;		$pa->debugFile = $dbg_file;


	$rslt = $pa->polynomialApproximation1d($poly_data, 2);		$rslt = $pa->polynomialApproximation1d($poly_data, 2);


	@@ -947,17 +1002,17 @@ function scan_window($threshold, $DishAngleCenter, $wnd_az, $wnd_el, $scan_step,
	fprintf($dbg_file, "threshold=%f:\n",$threshold);		fprintf($dbg_file, "threshold=%f:\n",$threshold);
	fprintf($dbg_file, "scan_step=%f:\n",$scan_step);		fprintf($dbg_file, "scan_step=%f:\n",$scan_step);
	fprintf($dbg_file, "DishAngle - start:\n");		fprintf($dbg_file, "DishAngle - start:\n");
	fprintf($dbg_file, print_r($DishAngle,1));		fprintf($dbg_file, str_replace("\n"," ",print_r($DishAngle,1))."\n");
	fprintf($dbg_file, "DishAngleCenter - start:\n");		fprintf($dbg_file, "DishAngleCenter - start:\n");
	fprintf($dbg_file, print_r($DishAngleCenter,1));		fprintf($dbg_file, str_replace("\n"," ",print_r($DishAngleCenter,1))."\n");
	}		}
			// while (null !==moveElAzSk_degrees($DishAngle)); // returns number of steps
	while (null !==moveElAzSk_degrees($DishAngle));		moveElAzSk_degrees($DishAngle); // returns number of steps
	$DishAngle[0] = $az_end;		$DishAngle[0] = $az_end;

	if ($dbg_file) {		if ($dbg_file) {
	fprintf($dbg_file, "\nDishAngle - end:\n");		fprintf($dbg_file, "\nDishAngle - end:\n");
	fprintf($dbg_file, print_r($DishAngle,1));		fprintf($dbg_file, str_replace("\n"," ",print_r($DishAngle,1))."\n");
	}		}

	moveElAzSk_start_degrees($DishAngle);		moveElAzSk_start_degrees($DishAngle);
	@@ -969,8 +1024,8 @@ function scan_window($threshold, $DishAngleCenter, $wnd_az, $wnd_el, $scan_step,
	$xml_state = simplexml_load_file($motosat_url);		$xml_state = simplexml_load_file($motosat_url);
	if ($dbg_file) {		if ($dbg_file) {
	$DishAngle = getDishAngles ($xml_state);		$DishAngle = getDishAngles ($xml_state);
	fprintf($dbg_file, "\nDishAngle - after hitting/stopped:\n");		fprintf($dbg_file, "\n***** DishAngle - after hitting/stopped:\n");
	fprintf($dbg_file, print_r($DishAngle,1));		fprintf($dbg_file, str_replace("\n"," ",print_r($DishAngle,1))."\n");
	}		}

	//,$LATE_STOP_AZ		//,$LATE_STOP_AZ
	@@ -986,7 +1041,7 @@ function scan_window($threshold, $DishAngleCenter, $wnd_az, $wnd_el, $scan_step,
	$xml_state = simplexml_load_file($motosat_url);		$xml_state = simplexml_load_file($motosat_url);
	$DishAngle = getDishAngles ($xml_state);		$DishAngle = getDishAngles ($xml_state);
	fprintf($dbg_file, "\nDishAngle - after backing:\n");		fprintf($dbg_file, "\nDishAngle - after backing:\n");
	fprintf($dbg_file, print_r($DishAngle,1));		fprintf($dbg_file, str_replace("\n"," ",print_r($DishAngle,1))."\n");
	}		}
	$xml_state->addChild ('Success',(string) 1 );		$xml_state->addChild ('Success',(string) 1 );
	return $xml_state;		return $xml_state;
	@@ -995,8 +1050,8 @@ function scan_window($threshold, $DishAngleCenter, $wnd_az, $wnd_el, $scan_step,
	$dir = 1 - $dir;		$dir = 1 - $dir;
	}		}
	moveElAzSk_degrees($DishAngleCenter);		moveElAzSk_degrees($DishAngleCenter);
			// while (null !==moveElAzSk_degrees($DishAngleCenter));
	while (null !==moveElAzSk_degrees($DishAngleCenter));		moveElAzSk_degrees($DishAngleCenter);
	$xml_state = simplexml_load_file($motosat_url);		$xml_state = simplexml_load_file($motosat_url);
	$xml_state->addChild ('Success',(string) 0 );		$xml_state->addChild ('Success',(string) 0 );
	return $xml_state;		return $xml_state;
	@@ -1067,8 +1122,10 @@ function moveElAzSk_start_counts($new_azelsk_count) {
	}		}
	$dist = abs($dist);		$dist = abs($dist);
	$url = $motosat_url."?Action=".$mode.$dir.'&Distance='.$dist."&Units=0";		$url = $motosat_url."?Action=".$mode.$dir.'&Distance='.$dist."&Units=0";
			if ($dbg_file) {
			fprintf($dbg_file, "moveElAzSk_start_counts(): url = %s:\n",$url);
			}
	if (false && $dbg_file) {		if (false && $dbg_file) {
	fprintf($dbg_file, "url = %s:\n",$url);
	fprintf($dbg_file, "new_azelsk_count:\n");		fprintf($dbg_file, "new_azelsk_count:\n");
	fprintf($dbg_file, print_r($new_azelsk_count,1));		fprintf($dbg_file, print_r($new_azelsk_count,1));
	fprintf($dbg_file, "DishCount:\n");		fprintf($dbg_file, "DishCount:\n");
	@@ -1100,8 +1157,8 @@ function moveElAzSk_start_degrees($new_azelsk_degree) {
	($new_azelsk_degree[0] + $AZ_0)*$AZ_CPD,		($new_azelsk_degree[0] + $AZ_0)*$AZ_CPD,
	($new_azelsk_degree[1] + $EL_0)*$EL_CPD,		($new_azelsk_degree[1] + $EL_0)*$EL_CPD,
	($new_azelsk_degree[2] + $SK_0)*$SK_CPD);		($new_azelsk_degree[2] + $SK_0)*$SK_CPD);
	fprintf($dbg_file, "new_azelsk_degree:\n");		fprintf($dbg_file, ".... moveElAzSk_start_degrees(): new_azelsk_degree: ");
	fprintf($dbg_file, print_r($new_azelsk_degree,1));		fprintf($dbg_file, str_replace("\n"," ",print_r($new_azelsk_degree,1))."\n");
	// fprintf($dbg_file, "new_azelsk_count_dbg:\n");		// fprintf($dbg_file, "new_azelsk_count_dbg:\n");
	// fprintf($dbg_file, print_r($new_azelsk_count_dbg,1));		// fprintf($dbg_file, print_r($new_azelsk_count_dbg,1));
	// fprintf($dbg_file, "new_azelsk_count:\n");		// fprintf($dbg_file, "new_azelsk_count:\n");
	@@ -1192,18 +1249,28 @@ function moveElAzSk_counts($new_azelsk_count, $multi = true)

	function moveElAzSk_degrees($new_azelsk_degree, $multi = true)		function moveElAzSk_degrees($new_azelsk_degree, $multi = true)
	{		{
			global $dbg_file;
	$total_cycles = 0;		$total_cycles = 0;
	while (true) {		while (true) {
	$xml_state = moveElAzSk_start_degrees($new_azelsk_degree);		$xml_state = moveElAzSk_start_degrees($new_azelsk_degree);
	if (isset($xml_state)) {		if (isset($xml_state)) {
	$cycles = waitMotorsReady();		$cycles = waitMotorsReady();
	$total_cycles += $cycles;		$total_cycles += $cycles;
	if (!$multi)		if (! $multi) {
			if ($dbg_file) {
			fprintf($dbg_file, "moveElAzSk_degrees(), multi=" . $multi . ", total_cycles=" . $total_cycles . "\n");
			}
	return $total_cycles;		return $total_cycles;
	} else		}
			} else {
			if ($dbg_file) {
			fprintf($dbg_file, "moveElAzSk_degrees(), multi=" . $multi . ", total_cycles=" . $total_cycles . ", xml_state is NOT set\n");
			// fprintf($dbg_file, print_r(debug_backtrace(),1));
			}
	return $total_cycles; // did not move last time		return $total_cycles; // did not move last time
	}		}
	}		}
			}

	function myval ($s) {		function myval ($s) {
	$s=trim($s,"\" ");		$s=trim($s,"\" ");

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