1. Summary

This document summarises the changes made to I19-4-0, the latest version in the I19 release tree of the INT Telescope Control System, to produce the release tree I20.

2. Release History

3. Hardware and Firmware Modifications

None

4. Deliverables and Installation

• The CMS classes necessary to build TCS versions in the I20 release tree are defined in Section 8, they are also defined in the version files in [INT_LOGIN.VERSION].
• CMS libraries containing the source code for the TCS, the PLOT and CAMTEST utilities, and the build procedures are held on LPAS3; the root directory for the CMS libraries is defined by the logical name SOURCE_DIR.
• The release notes document for the I20 release tree (this document) is stored in ~docs/tcs/intrel/tcs-intrel-20/tcs-intrel-20.html
• The Latex source for the INT User Manual is stored in ~mpf/docs/tcs/int_manual/. Note that this file needs updating. The Postscript version is in www.ing.iac.es/Astronomy/observing/manuals/ps/tcs/int.ps

5. Reasons for release

I20-0-0

New features

• The last 30 minutes of encoder data is saved to a ring file. This data can be copied to a standard encoder logfile using the command LOG ENC KEEP n , where n is the number of minutes to save, up to a maximum of 30. A LOG ENC KEEP command can only save data starting from the last time a LOG ENC KEEP command was issued, or for the last 30 minutes, whichever is the shorter time.
• The focus position error and velocity demand are recorded in the encoder log.
• A nominal positional offset has been implemented for use with tangent plane offsets; incremental offsets, where the offset is simply added to the source coordinates, are unchanged. The nominal positional offset is treated as the offset origin for the source currently being tracked, it is set to zero on source change.
• The ability to use cumulative slow offsets has been added, and is supported by TELD, the TCS DRAMA task.
• Extra focus items have been added to the TCS FITS packet; the new items are:

  FITS name	DRAMA parameter name
  ACTELFOC	actFocus	actual telescope focus
  FOCUSTMP	focTmpCorr	focus temperature correction
  FOCUSALT	focAltCorr	focus elevation correction
  FOCUSFLT	focFltCorr	focus offset for filter

• A bug in the differential tracking code has been fixed.
• The DRAMA task's communication protocols have been rewritten. A command sent from the ICS to the TCS will no longer be overwritten by the next command if the commands are almost simultaneous (as in a script). Similarly, data blocks sent from the TCS to the ICS will not be lost if they are sent in quick succession.
• The telescope status is not set to TRACKING until it has been within the tracking window for 10 consecutive cycles. This only applies to the status as sent to TELD, not as displayed in the DISPLAY window.
• Prime is the default focal station on startup.
• Binary form of system catalogue (SYSTEM.SAV) is now kept with the corresponding TCS version of USER. This avoids the problem caused when SYSTEM.SAV has different record lengths in different TCS versions.

Changes to the USER commands

• STORE POSITION 0  Sets the nominal offset to the current offset position.
• ENTER ARC 0 xi eta  Sets the nominal offset to xi, eta.
• OFFSET ARC xi eta;  SLOWOFF xi eta rate  The nominal offset is added to the tangent plane offset (xi, eta) specified with these commands.
• POSITION 0  Moves the telescope to the nominal offset position.
• ENTER ARC 0 0 0  Zeroes the nominal offset, leaving the telescope position unchanged.
• SLOWOFF xi eta rate ADD  Offsets the telescope relative to its current position at the given rate.

Defects fixed

• FR 13840 : TELD crashes when ICS sends command OFFSET ARC -0
  This was not a TCS fault; it has been fixed in the ICS tcs subsystem.

I20-1-0

New features

• The TCS FITS packet has been modified to be the same as the WHT TCS packet. All meaned values have been replaced by values collected at the start and end of the observation. The effective mean airmass is retained. Details of the TCS packet can be found in INS-DAS-26.
• The TCS startup procedure dismounts all NFS mounts and attempts to remount the required system. The TCS DRAMA task will send an ALARM to the talker log if the NFS mounted system is unavailable.

Defects fixed

• FR 14723 : TCS FITS header item EQUINOX is not FITS compliant
• PIMS issue 538 : PARK ZENITH command from ICS never completes

6. Known problems and restrictions

Defect reports outstanding

• FR 10093 : Request to allow rotator movement from handset
• PIMS issue 492 (was FR 11292) : Error formatting catalog entry for output
• FR 12766 : Blind offset did not return to target
• FR 13213 : PF rotator s/w limit problem
• FR 13562 : Documentation needed on pointing tests
• FR 13712 : Improve CALIBRATE ANALYSE ZERO messages
• PIMS issue 493 (was FR 14811) : TCS catalogues do not accept tabs
• FR 15201 : Request for shutter vignetting warning
• PIMS issue 495 (was FR 15348) : Single star calibrate with zero residual

Other problems

7. Compatibility

• Needs CAMAC driver v2-3.
• Compatible with TPOINT v4.4-4.

8. Software changes

I20-0-0

I20-0-0 comprises the following subsystem versions; any changes made to a subsystem since I19-4-0 are listed.

BUILD v1-01

• New process OUTLOG supported.
• MMS files amended because of new version of MMS in DECset.

CAMACDB v0-1

• Unchanged

DISPLAY v2-01

• Displays the offset origin (nominal offset) if set.

EQUATLIB v1-0

• Unchanged

GSEXAM v0-1

• Unchanged

INCLIB v6-03

• New variables to support saving encoder data in ring buffer.
• Number of autoguiders and aperture offsets increased to twenty.
• Increase size of data blocks sent to TELD.
• Align data in global COMMON blocks.
• Add support for improved reporting of tracking status.

INT v5-05

• Encoder data is logged to a ring buffer.
• Update SLOWOFF command for cumulative offsets.
• Prime is the default focal station at startup.

INTINIT v4-00

• Make Prime the default focal station.

MONITOR v1-01

• New process OUTLOG supported.
• Increase timeouts for process creation and termination.

MSG v0-7

• Unchanged

NETSERVER v0-7

• This subsystem is not used by the INT TCS.

OUTLOG v0-04

• New process. Saves encoder data from an internal ring buffer to ring files.

POINT v0-5

• Unchanged

RUN v1-04

• Add support for improved DRAMA comms protocol.

SHARE v0-3

• Unchanged

SYNC v4-07

• Writes encoder data to a ring buffer. OUTLOG copies this data to a ring file, every minute.
• Zero the nominal positional offset on source change.
• Fix bug in differential tracking.
• Zero focus correction if focus is not tracking.
• Report telescope is tracking when it is within tracking window for 10 consecutive cycles (0.5 seconds).

SYSCOMP v1-04

• CONFIG block sent reliably to TELD when it starts up.
• Send actual focus and focus corrections to TELD.
• Support new DRAMA comms protocol.

TCSLIB v1-02

• Unchanged

TELD v6-02

• Support cumulative slow offsets.
• Add actual focus and focus corrections to FITS headers.
• New comms protocol so commands from ICS and data blocks from TCS cannot be overwritten by subsequent commands/data blocks.
• Fix bug in tcsDerived.c.
  

TV v1-02

• Unchanged

USER v5-02

• LOG command takes a new parameter, KEEP, which copies encoder data from a ring file to a standard log file.
• Implement nominal positional offsets.
• Implement cumulative slow offsets.
• SYSTEM.SAV is now kept with each USER version.

I20-1-0

I20-1-0 is the same as I20-0-0 apart from changes to the following subsystems.

INTINIT v4-01

• Set focus-logging flag ENC_GL_FOCUSFILE to FALSE explicitly.
• Set status of Cass rotator to STOPPED, to allow PARK ZEN command to complete when sent from ICS.

POINT v0-6

• Removed rule for cms.opt in MMS file.

RUN v1-06

• Dismount all NFS mounts, remount required system.

TELD v6-03

• TCS FITS packet revamped, more items included.
• Send ALARM to talker log if ICS disk is unavailable.