V1.6.15 - Updates

- SELECT on HA does not leave the HA menu (except during guided Startup). Use RIGHT as usual.
- The Polar alignment in CAL now slews to Polaris, prompts you to center it, then slews to the point beyond Polaris, and prompts you to center it.
- Fixed a bug where when one axis completed a slew before the other it displayed the starting coordinate instead of the target.

Author: ClutchplateDude

Software/Arduino code/OpenAstroTracker/Mount.cpp

@@ -486,6 +486,13 @@ void Mount::loop() {
   }
 
   if (raStillRunning || decStillRunning) {
+    if (!raStillRunning) {
+      _currentRA = _targetRA;
+    }
+    if (!decStillRunning) {
+      _currentDEC = _targetDEC;
+    }
+
     //Serial.println("Loop: RA " + String(raStillRunning) + String(decStillRunning) );
     displayStepperPositionThrottled();
   }

Software/Arduino code/OpenAstroTracker/OpenAstroTracker.ino

@@ -1,7 +1,7 @@
 /*
   =======================================================================================================================================
 
-    Version 1.6.14
+    Version 1.6.15
 
     1. Connect your Arduino, under tools choose "Arduino Uno", set the right Port and set "Arduino ISP" as the Programmer.
     2. Hit upload (Ctrl-U)
@@ -14,7 +14,7 @@
 
   =======================================================================================================================================
 */
-String version = "V1.6.14";
+String version = "V1.6.15";
 
 // See NORTHERN_HEMISPHERE in Globals.h if you not in the northern hemisphere
 

Software/Arduino code/OpenAstroTracker/c72_menuHA.ino

@@ -20,7 +20,7 @@ bool processHAKeys() {
     // slow down key repetitions
     mount.delay(200);
     waitForRelease = false;
-  } 
+  }
   else if (lcdButtons.keyChanged(key)) {
     switch (key) {
 
@@ -29,18 +29,20 @@ bool processHAKeys() {
         }
         break;
 
-      case btnSELECT:
-      case btnRIGHT: {
+      case btnSELECT: {
           EEPROM.update(1, mount.HA().getHours());
           EEPROM.update(2, mount.HA().getMinutes());
           lcdMenu.printMenu("Stored.");
           mount.delay(500);
-
           if (startupState == StartupWaitForHACompletion) {
             startupState = StartupHAConfirmed;
             inStartup = true;
           }
-          else {
+        }
+        break;
+
+      case btnRIGHT: {
+          if (startupState != StartupWaitForHACompletion) {
             lcdMenu.setNextActive();
           }
         }

Software/Arduino code/OpenAstroTracker/c76_menuCAL.ino

@@ -1,7 +1,9 @@
 #define HIGHLIGHT_POLAR 1
 #define HIGHLIGHT_SPEED 2
-#define POLAR_CALIBRATION 3
-#define SPEED_CALIBRATION 4
+#define POLAR_CALIBRATION_WAIT 3
+#define POLAR_CALIBRATION_GO  4
+#define POLAR_CALIBRATION_WAIT_HOME  5
+#define SPEED_CALIBRATION 6
 
 byte calState = HIGHLIGHT_POLAR;
 
@@ -29,25 +31,36 @@ bool processCalibrationKeys() {
     else {
       calDelay = 150;
     }
+  } 
+  else if (calState == POLAR_CALIBRATION_WAIT_HOME) {
+    if (!mount.isSlewingRAorDEC()) {
+      lcdMenu.updateDisplay();
+      calState = HIGHLIGHT_POLAR;
+    }
   }
 
+
+
   if (checkForKeyChange && lcdButtons.keyChanged(key)) {
     waitForRelease = true;
 
     switch (calState) {
-      case POLAR_CALIBRATION: {
+
+      case POLAR_CALIBRATION_GO: {
           if (key == btnSELECT) {
+            lcdMenu.printMenu("Aligned, homing");
+            mount.delay(600);
             mount.setTargetToHome();
             mount.startSlewingToTarget();
-            lcdMenu.setNextActive();
-            calState = HIGHLIGHT_POLAR;
+            calState = POLAR_CALIBRATION_WAIT_HOME;
           }
           if (key == btnRIGHT) {
             lcdMenu.setNextActive();
             calState = HIGHLIGHT_POLAR;
           }
         }
         break;
+
       case SPEED_CALIBRATION: {
           // UP and DOWN are handled above
           if (key == btnSELECT) {
@@ -67,16 +80,27 @@ bool processCalibrationKeys() {
       case HIGHLIGHT_POLAR:
         if (key == btnDOWN) calState = HIGHLIGHT_SPEED;
         else if (key == btnSELECT) {
-          calState = POLAR_CALIBRATION;
-          
+          calState = POLAR_CALIBRATION_WAIT;
+
           // Move the RA to that of Polaris. Moving to this RA aligns the DEC axis such that
           // it swings along the line between Polaris and the Celestial Pole.
-          mount.targetRA() = DayTime(2, 57, 56); // This is Polaris RA. 
+          mount.targetRA() = DayTime(2, 57, 56); // This is Polaris RA.
           // Account for the current settings.
           mount.targetRA().addTime(mount.getHACorrection());
           mount.targetRA().subtractTime(mount.HA());
-          
-          // Now set DEC to move the same distance past Polaris as it is from the Celestial Pole. That equates to 88deg 42' 6".
+
+          // Now set DEC to move to Polaris
+          mount.targetDEC() = DegreeTime(89 - (NORTHERN_HEMISPHERE ? 90 : -90), 21, 3);
+          mount.startSlewingToTarget();
+        }
+        break;
+
+      case POLAR_CALIBRATION_WAIT:
+        if (key == btnSELECT) {
+          calState = POLAR_CALIBRATION_GO;
+
+          // RA is already set. Now set DEC to move the same distance past Polaris as
+          // it is from the Celestial Pole. That equates to 88deg 42' 6".
           mount.targetDEC() = DegreeTime(88 - (NORTHERN_HEMISPHERE ? 90 : -90), 42, 6);
           mount.startSlewingToTarget();
         }
@@ -106,14 +130,20 @@ void printCalibrationSubmenu() {
     case HIGHLIGHT_POLAR :
       lcdMenu.printMenu(">Polar alignment");
       break;
-    case HIGHLIGHT_SPEED:
-      lcdMenu.printMenu(">Speed calibratn");
-      break;
-    case POLAR_CALIBRATION :
+    case POLAR_CALIBRATION_WAIT_HOME:
+    case POLAR_CALIBRATION_WAIT:
+    case POLAR_CALIBRATION_GO :
       if (!mount.isSlewingRAorDEC()) {
+        lcdMenu.setCursor(0, 0);
         lcdMenu.printMenu("Centr on Polaris");
+        lcdMenu.setCursor(0, 1);
+        lcdMenu.printMenu(">Centered");
       }
       break;
+
+    case HIGHLIGHT_SPEED:
+      lcdMenu.printMenu(">Speed calibratn");
+      break;
     case SPEED_CALIBRATION :
       sprintf(scratchBuffer, "SpdFctr: ");
       dtostrf(mount.getSpeedCalibration(), 6, 4, &scratchBuffer[9]);