AWR INTELLIGENT HANDSET VERSION HISTORY

V1.701 release 20th May 2007
NEW FEATURES
Additional commands through the serial protocol to work with a high end spec of the ASCOM interface. Implemented :GVN# (Get version number) :GSP# (Get side of pier) :PE# (Periodic error playback enable / disable) :^xxxxx# Feedthrough command to drivebox with reply sent back to HOST (very powerful).
IMPROVEMENT
GOTO OPERATION has been much improved by more careful modelling of the algorithm and snappier performance in the last stages.
RAMP: The parameter ACCEL has been changed to RAMP representing the total time to accelerate to slew speed from rest. ALL USERS HAVE TO ADJUST THIS VARIABLE (both AXES).
MAZ Calculation from two star alignment was short by a factor of 1/cos(latitude). This has now been corrected. Should now be possible to get the polar alignment better and quicker.
MENU names for DRIVE and GUIDE have been changed to RATES and TRACK which better describe the functions.
DATABASE FILTER for staying in the same patch of sky (constellation) has been made easier. It will now FIX to the constellation of the last object viewed.
BUG FIX
TRACKING as a result of two star CAL has been disabled as it is not working satisfactorily.
V1.69 release 29th November 2006
NEW FEATURES
Minor features to do with LIST management. New menu items to CLEAR the PREV list and also LOCK it. If you add your calibration stars and the few objects you are interested in then LOCK it, no further objects will get added to it until you unlock it. There is a new MENU TREE to download.
IMPROVEMENT
The labelling of the periodic error selections has been altered to make it easier. INDEX (replaces MECH) now toggles between INDEX=TIME and INDEX=MECH. PLAY is the new name for INHIBIT.
BUG FIX
This has been present since Periodic Error (version 1.4) was released. If you have periodic correction enabled and then do a GOTO either from the handset or from the PC then it will abort immediately if a periodic correction was in progress. This may have also failed to finish the shutdown procedure when PARKing the scope. This has been fixed in version 1.69

V1.68 release 7th October 2006
NEW FEATURES
In the Database OBJECT screen the SYNC function is now offered if the handset is not calibrated or you have just completed a GOTO. This allows you to centre the object and press SYNC to synchronise the coordinates (CAL1).
CAL2 result for polar misalignment can now be used to automatically put the handset into TRACK mode to compensate for drifts caused by imprecise Polar alingnment. This function is selectable, or the results of CAL2 can be UNCAL (wiped) to return to normal King rate following. So using this feature the coordinates will drift, but compensated by both motors turning and so the star should remain bang in the middle. This result is also used to improve the GOTO accuracy.
CAL3 is now available which will help you find out the amount of CONE error and Non-Perpendicularity error.
BUG FIX
Shutdown / Parking has been a biggish problem, in some instances it does, in others it doesn't. We have finally tracked down why this is. It WILL now perform PARK properly and STOP!!!
Note: if you leave the scope tracking, but it goes below the horizon it will now also stop.

V1.6 release 16th July 2005
NEW FEATURES
DATABASE added. Major re-organisation of the menu structure to provide the extra functions required to operate a database. Individual catalogue files can be downloaded from a computer by the user. Considerable code compaction in order to make space for it. The DUMP function in the factory menu has been lost. DATABASE DESCRIPTIONS
:X?# command allows the computer to poll the handset for the movement status during GOTO for use in robotic applications.
MAX-HA entry to fix the maximum hour angle the telescope will work over.
SETPARK to log the position of the telescope as the place to be used when using the new PARK function.
IMPROVEMENTS
When GOTO's are aborted, the drivebox is now brought to a controlled stop rather than a power up reset, which is much quicker.
GOTO ALGORITHM has been re-aligned so that it does not overshoot when aquiring a new position.
BUG FIX
Calculation was sometimes going awry when CAL2 entyered giving nonsence results.

V1.5 release March 2004
NEW FEATURES
LIST feature which stores the previous 16 entered coordinates which can be fetched and used for further GOTO's or CAL use. This is very effective for a two point CAL.
HORIZ entry for an artificial horizon limit above the true horizon.
MAX-DEC entry to limit the maximum declination available when doing GOTO's. This stops the scope performing illegal GOTO's over the pole on limited mounts.

V1.4 release 18th January 2003
NEW FEATURES
Added PERIODIC ERROR CALIBRATION. Operation verified with an EQ6 mount. Article.
IMPROVEMENTS
Calibration is maintained when SHUTDOWN is used so that observatory installations will still be calibrated at power up.

V1.3 release 24th March 2002
NEW FEATURES
Implemented BACKLASH corrections for both axes. New menu in FACTORY. Data entered in arc seconds. Tested for Northern and Southern hemisphere use.
Revised low level protocol.
IMPROVEMENTS
Improved communications with drive box due to bigger command buffer in drive box (less reported errors).
MREV function now operates only when scope is within 30 minutes of the Central Meridian.
BUG FIX
SHUTDOWN function now works.
Under certain conditions the scope could move the wrong way when GOTO used in Eastern hemisphere - corrected.

V1.2.2 release 1st October 2001
NEW FEATURES>
AWR protocol for HOST with improved resolution (to 1 arc second DEC and 1 second RA) on coordinates. Extra command 'GET HOUR ANGLE' available using AWR protocol.
Commands from drive box now sent to HOST when in AWR mode.
Host computer can now remotely operate the relays.
IMPROVEMENTS
Scope now considers 1 hour past the Meridian as the same hemisphere so there is less confusion about which way to slew when doing GOTO's.
Results from two star CAL are fixed degrees, not scientific format.
"COORD UNREACHABLE" now reads "BELOW HORIZON". BUG FIX
Power up with blank but lit display sorted.

V1.1 release June 2001
NEW FEATURES>
Two star calibration achieved. Polar alignment error is displayed.