Fix single axis tracker algorithm #96
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chipbarnaby
reviewed
May 9, 2020
| float azm_delta = azm - pv_azm; | ||
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| // normalize azm_delta between -Pi and Pi | ||
| if (azm_delta >= kPi) |
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Normalization test s/b > not >=. if azm_delta == kPi, the code would subtract k2Pi, yielding -kPi, then add k2Pi, yielding kPi. Not wrong, but ... . Should also use else.
if ( d > kPi)
d-= k2Pi
else if (d < -kPi)
d+=k2Pi
chipbarnaby
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May 9, 2020
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chipbarnaby
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chipbarnaby
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See comments.
It would seem that some of the angle normalization stuff could be extracted to utility functions, lots of similar code. Someday.
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