Telescope drive

There recently were some problems with the altitude motor brushes which let to some strong telescope vibrations that caused one of the telescope load cells to be displaced. Protection against altitude oscillations has been implemented where the telescope power is switched off if this occurs.

Work is is progress to improve the handling of the periodic encoder errors for the altitude and azimuth axes. These 1.0 and 0.5 degree errors are an effect from the physical design of the two encoder discs where one disc is fixed and the other one rotates. They each have 360 segments. A new approach has been defined where a model with relevant parameters will be applied to the calculated position before applying it to the actual encoder.