Method resetSetpoint

tracker/src/loop.ts:313–339

()

  // --- the tick ---

  private resetSetpoint(): void {
    this.azTracker.reset();
    this.elTracker.reset();
    this.lastObservedTs = 0;
    // Vision state is target-specific — a stale lock or correction from the
    // previous plane must not smear onto the new one.
    this.lastDetection = null;
    this.tracks.reset();
    this.prevLuma = null;
    this.prevAim = null;
    this.corrAz = 0;
    this.corrEl = 0;
    this.corrAzApp = 0;
    this.corrElApp = 0;
    this.visionGoodSince = 0;
    this.ladderIdx = 0;
    this.lastLadderAt = 0;
    this.lastFocusZoom = 0;
    this.lastFocusAt = 0;
    this.focusCheckAt = 0;
    this.panRateI = 0;
    this.tiltRateI = 0;
    this.lastPanRateCmd = 0;
    this.lastTiltRateCmd = 0;
    this.errPanLP = 0;
    this.errTiltLP = 0;
  }

  private tick(): void {
    const now = Date.now();