Method tick

tracker/src/loop.ts:341–808

()

  }

  private tick(): void {
    const now = Date.now();
    const cfg = this.cfg();
    const d = this.driver();
    const pose = d.getPose();
    // Dead-reckoned current pose: position replies stall around drives, so
    // the raw pose can lag by seconds mid-pursuit — closing the loop on it
    // injects phase lag that reads as trailing/hunting. All error terms and
    // slew estimates use this; the raw pose is kept for state/recording.
    const poseEst = d.getPoseEstimate() ?? pose;

    let prediction: Prediction | null = null;
    let targetAc: Aircraft | undefined;
    let commandedPanTilt: PanTilt | null = null;
    let hfovDeg: number | null = null;
    let angular: number | null = null;

    // Target selection runs in auto mode, or pinned in manual-target mode.
    const tracking =
      this.mode === "auto" || (this.mode === "manual" && this.manualHex != null);

    const selection = selectTarget(
      this.upstream.getAircraft(),
      cfg.site,
      now,
      this.current,
      cfg.targetMode,
      cfg.target,
    );

    if (tracking) {
      const hex = this.manualHex ?? selection.hex;
      if (hex !== this.current?.hex) {
        this.current = hex ? { hex, sinceMs: now } : null;
        this.resetSetpoint();
        this.recorder.write("target", { hex });
      }
      targetAc = hex ? this.upstream.find(hex) : undefined;
      // A manually-pinned target may be outside the candidate filter — allow it.
      if (this.manualHex && !targetAc) this.current = null;
    }

    if (tracking && targetAc) {
      prediction = predictAim(
        targetAc,
        cfg.site,
        now,
        this.history,
        cfg.predict,
        cfg.mount,
        cfg.limits,
        poseEst ? { panDeg: poseEst.panDeg, tiltDeg: poseEst.tiltDeg } : null,
      );
    }

    if (prediction && targetAc) {
      // Trajectory plan: detects near-zenith passes where chasing azimuth
      // would exceed the pan rate — pre-rotates to the exit side instead.