From 2b685bdaff4a2584bab8cc8ff00407a84f601147 Mon Sep 17 00:00:00 2001
From: Lutz <lutz@stmuc.com>
Date: Thu, 6 Feb 2025 23:11:03 -0800
Subject: [PATCH 1/8] WIP - Updates

Serial handling was blocking until timeout (1s), which made sub 1s guiding near impossible (!).
---
 src/MeadeCommandProcessor.cpp |  5 ++--
 src/Mount.cpp                 | 53 ++++++++++++++++++++++++++---------
 src/Mount.hpp                 |  2 ++
 src/b_setup.hpp               | 22 +++++++--------
 src/f_serial.hpp              | 44 ++++++++++++++++++++---------
 5 files changed, 86 insertions(+), 40 deletions(-)

diff --git a/src/MeadeCommandProcessor.cpp b/src/MeadeCommandProcessor.cpp
index 2198fb77..56b1bf5a 100644
--- a/src/MeadeCommandProcessor.cpp
+++ b/src/MeadeCommandProcessor.cpp
@@ -622,7 +622,7 @@ bool gpsAqcuisitionComplete(int &indicator);  // defined in c72_menuHA_GPS.hpp
 //      Information:
 //        This stops all motors, including tracking. Note that deceleration curves are still followed.
 //      Returns:
-//        "1" when all motors have stopped
+//        nothing
 //
 // :Qd#
 //      Description:
@@ -1517,6 +1517,7 @@ String MeadeCommandProcessor::handleMeadeSetInfo(String inCmd)
 /////////////////////////////
 String MeadeCommandProcessor::handleMeadeMovement(String inCmd)
 {
+    LOG(DEBUG_MEADE, "[MEADE]: Process Move command: [%s]", inCmd.c_str());
     if (inCmd[0] == 'S')  // :MS#
     {
         _mount->startSlewingToTarget();
@@ -2199,7 +2200,7 @@ String MeadeCommandProcessor::processCommand(String inCmd)
 {
     if (inCmd[0] == ':')
     {
-        LOG(DEBUG_MEADE, "[MEADE]: Received command '%s'", inCmd.c_str());
+        LOG(DEBUG_MEADE, "[MEADE]: Received command   '%s'", inCmd.c_str());
 
         // Apparently some LX200 implementations put spaces in their commands..... remove them with impunity.
         int spacePos;
diff --git a/src/Mount.cpp b/src/Mount.cpp
index f498c018..ae36149a 100644
--- a/src/Mount.cpp
+++ b/src/Mount.cpp
@@ -357,7 +357,7 @@ void Mount::configureAZStepper(byte pin1, byte pin2, int maxSpeed, int maxAccele
     #ifdef NEW_STEPPER_LIB
     _stepperAZ = new StepperAzSlew(AccelStepper::DRIVER, pin1, pin2);
     #else
-    _stepperAZ    = new AccelStepper(AccelStepper::DRIVER, pin1, pin2);
+    _stepperAZ = new AccelStepper(AccelStepper::DRIVER, pin1, pin2);
     #endif
     _stepperAZ->setMaxSpeed(maxSpeed);
     _stepperAZ->setAcceleration(maxAcceleration);
@@ -375,7 +375,7 @@ void Mount::configureALTStepper(byte pin1, byte pin2, int maxSpeed, int maxAccel
     #ifdef NEW_STEPPER_LIB
     _stepperALT = new StepperAltSlew(AccelStepper::DRIVER, pin1, pin2);
     #else
-    _stepperALT   = new AccelStepper(AccelStepper::DRIVER, pin1, pin2);
+    _stepperALT = new AccelStepper(AccelStepper::DRIVER, pin1, pin2);
     #endif
     _stepperALT->setMaxSpeed(maxSpeed);
     _stepperALT->setAcceleration(maxAcceleration);
@@ -733,7 +733,7 @@ void Mount::configureALTdriver(uint16_t ALT_SW_RX, uint16_t ALT_SW_TX, float rse
     _driverALT->pdn_disable(true);
         #if UART_CONNECTION_TEST_TXRX == 1
     bool UART_Rx_connected = false;
-    UART_Rx_connected = connectToDriver(_driverALT, "ALT");
+    UART_Rx_connected      = connectToDriver(_driverALT, "ALT");
     if (!UART_Rx_connected)
     {
         digitalWrite(ALT_EN_PIN,
@@ -824,7 +824,7 @@ void Mount::configureFocusDriver(
     _driverFocus->pdn_disable(true);
         #if UART_CONNECTION_TEST_TXRX == 1
     bool UART_Rx_connected = false;
-    UART_Rx_connected = connectToDriver(_driverFocus, "Focus");
+    UART_Rx_connected      = connectToDriver(_driverFocus, "Focus");
     if (!UART_Rx_connected)
     {
         digitalWrite(FOCUS_EN_PIN,
@@ -1541,11 +1541,28 @@ void Mount::stopGuiding(bool ra, bool dec)
     // Stop RA guide first, since it's just a speed change back to tracking speed
     if (ra && (_mountStatus & STATUS_GUIDE_PULSE_RA))
     {
-        LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
-            "[GUIDE]: stopGuide:    RA  set speed       : %f (at %l)",
-            _trackingSpeed,
-            _stepperTRK->currentPosition());
+        long raStepsDuringGuide = _stepperTRK->currentPosition() - _stepperTrkPosAtGuideStart;
+        LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: stopGuide:    TRK stop guide at  : %l", _stepperTRK->currentPosition());
+        LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: stopGuide:    TRK steps moved    : %l", raStepsDuringGuide);
+        long extraSteps = 0;
+        if (_stepperTRK->speed() < _trackingSpeed)
+        {
+            // EAST (1.5x), faster so we need 1/3 of the steps
+            extraSteps = -((1.0 / (2.0 - RA_PULSE_MULTIPLIER)) - 1.0) * raStepsDuringGuide;
+        }
+        else
+        {
+            // WEST (0.5)
+            extraSteps = (1.0 - (1.0 / RA_PULSE_MULTIPLIER)) * raStepsDuringGuide;
+        }
         _stepperTRK->setSpeed(_trackingSpeed);
+
+        // Calculate the extra steps moved during guiding on top of tracking and convert from TRK stepper to RA stepper
+        extraSteps *= RA_SLEW_MICROSTEPPING / RA_TRACKING_MICROSTEPPING;
+        LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: stopGuide:    RA extra steps      : %l", extraSteps);
+        // Adjust RA coordinate by the amount of steps moved during guiding
+        _stepperRA->setCurrentPosition(_stepperRA->currentPosition() + extraSteps);
+
         _mountStatus &= ~STATUS_GUIDE_PULSE_RA;
     }
 
@@ -1561,8 +1578,12 @@ void Mount::stopGuiding(bool ra, bool dec)
             _stepperGUIDE->run();
             _stepperTRK->runSpeed();
         }
+        long decStepsDuringGuide = _stepperGUIDE->currentPosition() - _stepperGuidePosAtGuideStart;
 
-        LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: stopGuide:    DEC stopped at      : %l", _stepperGUIDE->currentPosition());
+        LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: stopGuide:    DEC steps moved     : %l", decStepsDuringGuide);
+        // Adjust DEC coordinate by the amount of steps moved during guiding
+        _stepperDEC->setCurrentPosition(_stepperDEC->currentPosition()
+                                        + decStepsDuringGuide * DEC_SLEW_MICROSTEPPING / DEC_GUIDE_MICROSTEPPING);
         _mountStatus &= ~STATUS_GUIDE_PULSE_DEC;
     }
 
@@ -1611,8 +1632,9 @@ void Mount::guidePulse(byte direction, int duration)
     // Also compensate for microstepping mode change between slew & guiding/tracking
     float decGuidingSpeed = _stepsPerDECDegree * (DEC_GUIDE_MICROSTEPPING / DEC_SLEW_MICROSTEPPING) * siderealDegreesInHour
                             / 3600.0f;  // u-steps/deg * deg/hr / sec/hr = u-steps/sec
-    float raGuidingSpeed = _stepsPerRADegree * (RA_TRACKING_MICROSTEPPING / RA_SLEW_MICROSTEPPING) * siderealDegreesInHour
-                           / 3600.0f;  // u-steps/deg * deg/hr / sec/hr = u-steps/sec
+
+    // We recalculate tracking speed here...
+    float raGuidingSpeed = _stepsPerRADegree * (RA_TRACKING_MICROSTEPPING / RA_SLEW_MICROSTEPPING) * 360.0f / SIDEREAL_SECONDS_PER_DAY;
 
     // TODO: Do we need to track how many steps the steppers took and add them to the GoHome calculation?
     // If so, we need to remember where we were when we started the guide pulse. Then at the end,
@@ -1625,6 +1647,7 @@ void Mount::guidePulse(byte direction, int duration)
             LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   DEC base speed      : %f", decGuidingSpeed);
             LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   DEC guide speed     : %f", DEC_PULSE_MULTIPLIER * decGuidingSpeed);
             _stepperGUIDE->setSpeed(DEC_PULSE_MULTIPLIER * decGuidingSpeed);
+            _stepperGuidePosAtGuideStart = _stepperGUIDE->currentPosition();
             _mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_DEC;
             _guideDecEndTime = millis() + duration;
             break;
@@ -1633,6 +1656,7 @@ void Mount::guidePulse(byte direction, int duration)
             LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   DEC base speed      : %f", decGuidingSpeed);
             LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   DEC guide speed     : %f", -DEC_PULSE_MULTIPLIER * decGuidingSpeed);
             _stepperGUIDE->setSpeed(-DEC_PULSE_MULTIPLIER * decGuidingSpeed);
+            _stepperGuidePosAtGuideStart = _stepperGUIDE->currentPosition();
             _mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_DEC;
             _guideDecEndTime = millis() + duration;
             break;
@@ -1647,6 +1671,7 @@ void Mount::guidePulse(byte direction, int duration)
                 "[GUIDE]: guidePulse:   RA  guide speed     : %f (%f x adjusted speed)",
                 (RA_PULSE_MULTIPLIER * raGuidingSpeed),
                 RA_PULSE_MULTIPLIER);
+            _stepperTrkPosAtGuideStart = _stepperTRK->currentPosition();
             _stepperTRK->setSpeed(RA_PULSE_MULTIPLIER * raGuidingSpeed);  // Faster than siderael
             _mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_RA;
             _guideRaEndTime = millis() + duration;
@@ -1660,8 +1685,9 @@ void Mount::guidePulse(byte direction, int duration)
             LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   RA  adjusted speed  : %f", raGuidingSpeed);
             LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
                 "[GUIDE]: guidePulse:   RA  guide speed     : %f (%f x adjusted speed)",
-                (2.0 - RA_PULSE_MULTIPLIER * raGuidingSpeed),
+                (2.0 - RA_PULSE_MULTIPLIER) * raGuidingSpeed,
                 (2.0 - RA_PULSE_MULTIPLIER));
+            _stepperTrkPosAtGuideStart = _stepperTRK->currentPosition();
             _stepperTRK->setSpeed(raGuidingSpeed * (2.0f - RA_PULSE_MULTIPLIER));  // Slower than siderael
             _mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_RA;
             _guideRaEndTime = millis() + duration;
@@ -1836,7 +1862,7 @@ void Mount::getAZALTPositions(long &azPos, long &altPos)
 #if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
     azPos = _stepperAZ->currentPosition();
 #else
-    azPos  = 0;
+    azPos = 0;
 #endif
 #if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
     altPos = _stepperALT->currentPosition();
@@ -2957,6 +2983,7 @@ void Mount::loop()
         bool stopDecGuiding = (now > _guideDecEndTime) && (_mountStatus & STATUS_GUIDE_PULSE_DEC);
         if (stopRaGuiding || stopDecGuiding)
         {
+            LOG(DEBUG_GUIDE, "[MOUNT]: Loop: StopGuiding. Now: %l, RA End: %l, DEC End: %l", now, _guideRaEndTime, _guideDecEndTime);
             stopGuiding(stopRaGuiding, stopDecGuiding);
         }
         else
diff --git a/src/Mount.hpp b/src/Mount.hpp
index 8a2d63ec..173d3186 100644
--- a/src/Mount.hpp
+++ b/src/Mount.hpp
@@ -655,6 +655,8 @@ class Mount
 
     unsigned long _guideRaEndTime;
     unsigned long _guideDecEndTime;
+    long _stepperGuidePosAtGuideStart;
+    long _stepperTrkPosAtGuideStart;
     unsigned long _lastMountPrint = 0;
     float _trackingSpeed;             // RA u-steps/sec when in tracking mode
     float _trackingSpeedCalibration;  // Dimensionless, very close to 1.0
diff --git a/src/b_setup.hpp b/src/b_setup.hpp
index 310716d2..d9c8ed45 100644
--- a/src/b_setup.hpp
+++ b/src/b_setup.hpp
@@ -339,7 +339,6 @@ void setup()
 // Set the stepper motor parameters
 #if (RA_STEPPER_TYPE != STEPPER_TYPE_NONE)
     LOG(DEBUG_ANY, "[STEPPERS]: Configure RA stepper NEMA.");
-    LOG(DEBUG_ANY, "[STEPPERS]: Stepper SPR     : %d", RA_STEPPER_SPR);
     LOG(DEBUG_ANY, "[STEPPERS]: Slew Microsteps : %d", RA_SLEW_MICROSTEPPING);
     LOG(DEBUG_ANY, "[STEPPERS]: Trk Microsteps  : %d", RA_TRACKING_MICROSTEPPING);
     LOG(DEBUG_ANY, "[STEPPERS]: Stepper SPR     : %d", RA_STEPPER_SPR);
@@ -363,17 +362,18 @@ void setup()
 
 #if (DEC_STEPPER_TYPE != STEPPER_TYPE_NONE)
     LOG(DEBUG_ANY, "[STEPPERS]: Configure DEC stepper NEMA.");
-    LOG(DEBUG_ANY, "[STEPPERS]: Slew Microsteps : %d", DEC_SLEW_MICROSTEPPING);
-    LOG(DEBUG_ANY, "[STEPPERS]: Stepper SPR     : %d", DEC_STEPPER_SPR);
-    LOG(DEBUG_ANY, "[STEPPERS]: Transmission    : %f", DEC_TRANSMISSION);
+    LOG(DEBUG_ANY, "[STEPPERS]: Slew Microsteps  : %d", DEC_SLEW_MICROSTEPPING);
+    LOG(DEBUG_ANY, "[STEPPERS]: Guide Microsteps : %d", DEC_GUIDE_MICROSTEPPING);
+    LOG(DEBUG_ANY, "[STEPPERS]: Stepper SPR      : %d", DEC_STEPPER_SPR);
+    LOG(DEBUG_ANY, "[STEPPERS]: Transmission     : %f", DEC_TRANSMISSION);
     #ifdef NEW_STEPPER_LIB
-    LOG(DEBUG_ANY, "[STEPPERS]: Driver Slew SPR : %l", config::Dec::DRIVER_SPR_SLEW);
-    LOG(DEBUG_ANY, "[STEPPERS]: Driver Trk SPR  : %l", config::Dec::DRIVER_SPR_TRK);
-    LOG(DEBUG_ANY, "[STEPPERS]: SPR Slew        : %f", config::Dec::SPR_SLEW);
-    LOG(DEBUG_ANY, "[STEPPERS]: SPR Trk         : %f", config::Dec::SPR_TRK);
-    LOG(DEBUG_ANY, "[STEPPERS]: Speed Slew      : %f", config::Dec::SPEED_SLEW);
-    LOG(DEBUG_ANY, "[STEPPERS]: Accel Slew      : %f", config::Dec::ACCEL_SLEW);
-    LOG(DEBUG_ANY, "[STEPPERS]: Speed Trk       : %f", config::Dec::SPEED_TRK);
+    LOG(DEBUG_ANY, "[STEPPERS]: Driver Slew SPR  : %l", config::Dec::DRIVER_SPR_SLEW);
+    LOG(DEBUG_ANY, "[STEPPERS]: Driver Trk SPR   : %l", config::Dec::DRIVER_SPR_TRK);
+    LOG(DEBUG_ANY, "[STEPPERS]: SPR Slew         : %f", config::Dec::SPR_SLEW);
+    LOG(DEBUG_ANY, "[STEPPERS]: SPR Trk          : %f", config::Dec::SPR_TRK);
+    LOG(DEBUG_ANY, "[STEPPERS]: Speed Slew       : %f", config::Dec::SPEED_SLEW);
+    LOG(DEBUG_ANY, "[STEPPERS]: Accel Slew       : %f", config::Dec::ACCEL_SLEW);
+    LOG(DEBUG_ANY, "[STEPPERS]: Speed Trk        : %f", config::Dec::SPEED_TRK);
     LOG(DEBUG_ANY, "[STEPPERS]: Configure DEC stepper NEMA...");
     mount.configureDECStepper(DECmotorPin1, DECmotorPin2, config::Dec::SPEED_SLEW, config::Dec::ACCEL_SLEW);
     #else
diff --git a/src/f_serial.hpp b/src/f_serial.hpp
index 9d6e8dd4..42a7c2a5 100644
--- a/src/f_serial.hpp
+++ b/src/f_serial.hpp
@@ -11,6 +11,7 @@ void processSerialData();
 // The main loop when under serial control
 void serialLoop()
 {
+    //Serial.print('.');
     mount.loop();
     mount.displayStepperPositionThrottled();
 
@@ -21,6 +22,7 @@ void serialLoop()
     #if (WIFI_ENABLED == 1)
     wifiControl.loop();
     #endif
+    //Serial.println('x');
 }
 
     //////////////////////////////////////////////////
@@ -35,12 +37,13 @@ void serialEvent()
 // ESP needs to call this in a loop :_(
 void processSerialData()
 {
-    char buffer[2];
+    static char buffer[20];
+    static unsigned int index = 0;
     while (Serial.available() > 0)
     {
-        if (Serial.readBytes(buffer, 1) == 1)
+        if (Serial.readBytes((buffer + index), 1) == 1)
         {
-            if (buffer[0] == 0x06)
+            if (buffer[index] == 0x06)
             {
                 LOG(DEBUG_SERIAL, "[SERIAL]: Received: ACK request, replying P");
                 // When not debugging, print the result to the serial port .
@@ -48,25 +51,38 @@ void processSerialData()
     #if (DEBUG_LEVEL == DEBUG_NONE) || (DEBUG_SEPARATE_SERIAL == 1)
                 Serial.print('P');
     #endif
+                index = 0;
             }
             else
             {
-                String inCmd = String(buffer[0]) + Serial.readStringUntil('#');
-                LOG(DEBUG_SERIAL, "[SERIAL]: ReceivedCommand(%d chars): [%s]", inCmd.length(), inCmd.c_str());
-
-                String retVal = MeadeCommandProcessor::instance()->processCommand(inCmd);
-                if (retVal != "")
+                if (buffer[index] == '#')
                 {
-                    LOG(DEBUG_SERIAL, "[SERIAL]: RepliedWith:  [%s]", retVal.c_str());
-                    // When not debugging, print the result to the serial port .
-                    // When debugging, only print the result to Serial if we're on seperate ports.
+                    // Ignoring trailing hash
+                    buffer[index] = 0;
+                    String inCmd      = String(buffer);
+                    LOG(DEBUG_SERIAL, "[SERIAL]: ReceivedCommand(%d chars): [%s]", inCmd.length(), inCmd.c_str());
+
+                    String retVal = MeadeCommandProcessor::instance()->processCommand(inCmd);
+                    if (retVal != "")
+                    {
+                        LOG(DEBUG_SERIAL, "[SERIAL]: RepliedWith:  [%s]", retVal.c_str());
+                        // When not debugging, print the result to the serial port .
+                        // When debugging, only print the result to Serial if we're on seperate ports.
     #if (DEBUG_LEVEL == DEBUG_NONE) || (DEBUG_SEPARATE_SERIAL == 1)
-                    Serial.print(retVal);
+                        Serial.print(retVal);
     #endif
+                    }
+                    // Wait for next command
+                    index = 0;
                 }
-                else
+                else if (buffer[index] > 31)
                 {
-                    LOG(DEBUG_SERIAL, "[SERIAL]: NoReply");
+                    index++;
+                    if (index >= sizeof(buffer))
+                    {
+                        LOG(DEBUG_SERIAL, "[SERIAL]: Command buffer overflow! Ignoring received data.");
+                        index = 0;
+                    }
                 }
             }
         }

From 672790fb8e98309a48150dccc9ba73472a548ee3 Mon Sep 17 00:00:00 2001
From: Lutz <lutz@stmuc.com>
Date: Fri, 21 Feb 2025 09:08:42 -0800
Subject: [PATCH 2/8] Ignore guide pulse at tracking limits

---
 src/Mount.cpp | 156 ++++++++++++++++++++++++++------------------------
 1 file changed, 81 insertions(+), 75 deletions(-)

diff --git a/src/Mount.cpp b/src/Mount.cpp
index ae36149a..69ce666d 100644
--- a/src/Mount.cpp
+++ b/src/Mount.cpp
@@ -733,7 +733,7 @@ void Mount::configureALTdriver(uint16_t ALT_SW_RX, uint16_t ALT_SW_TX, float rse
     _driverALT->pdn_disable(true);
         #if UART_CONNECTION_TEST_TXRX == 1
     bool UART_Rx_connected = false;
-    UART_Rx_connected      = connectToDriver(_driverALT, "ALT");
+    UART_Rx_connected      = connectToDriver("ALT");
     if (!UART_Rx_connected)
     {
         digitalWrite(ALT_EN_PIN,
@@ -824,7 +824,7 @@ void Mount::configureFocusDriver(
     _driverFocus->pdn_disable(true);
         #if UART_CONNECTION_TEST_TXRX == 1
     bool UART_Rx_connected = false;
-    UART_Rx_connected      = connectToDriver(_driverFocus, "Focus");
+    UART_Rx_connected      = connectToDriver("FOC");
     if (!UART_Rx_connected)
     {
         digitalWrite(FOCUS_EN_PIN,
@@ -1609,89 +1609,95 @@ void Mount::guidePulse(byte direction, int duration)
 #if (DEBUG_LEVEL != DEBUG_NONE)
     const char *directionName = "-NE-S---W";
 #endif
-    LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: > Guide Pulse %c for %dms", directionName[direction], duration);
-    if ((direction == NORTH) || (direction == SOUTH))
+    LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: > Guide Pulse %c for %dms requested", directionName[direction], duration);
+    if (!isSlewingTRK())
     {
-        LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   DEC current steps   : %l", _stepperGUIDE->currentPosition());
-        LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   DEC steps/deg       : %f", _stepsPerDECDegree);
-        LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
-            "[GUIDE]: guidePulse:   DEC Microstep ratio : %f",
-            (DEC_GUIDE_MICROSTEPPING / DEC_SLEW_MICROSTEPPING));
+        LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: Not tracking (at limit?), ignoring guide pulse");
     }
     else
     {
-        LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   RA  current steps   : %l", _stepperTRK->currentPosition());
-        LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   RA  steps/deg       : %f", _stepsPerRADegree);
-        LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
-            "[GUIDE]: guidePulse:   RA  Microstep ratio : %f",
-            (RA_TRACKING_MICROSTEPPING / RA_SLEW_MICROSTEPPING));
-    }
-
-    // DEC stepper moves at sidereal rate in both directions
-    // RA stepper moves at either 2.5x sidereal rate or 0.5x sidereal rate.
-    // Also compensate for microstepping mode change between slew & guiding/tracking
-    float decGuidingSpeed = _stepsPerDECDegree * (DEC_GUIDE_MICROSTEPPING / DEC_SLEW_MICROSTEPPING) * siderealDegreesInHour
-                            / 3600.0f;  // u-steps/deg * deg/hr / sec/hr = u-steps/sec
+        if ((direction == NORTH) || (direction == SOUTH))
+        {
+            LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   DEC current steps   : %l", _stepperGUIDE->currentPosition());
+            LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   DEC steps/deg       : %f", _stepsPerDECDegree);
+            LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
+                "[GUIDE]: guidePulse:   DEC Microstep ratio : %f",
+                (1.0 * DEC_GUIDE_MICROSTEPPING / DEC_SLEW_MICROSTEPPING));
+        }
+        else
+        {
+            LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   RA  current steps   : %l", _stepperTRK->currentPosition());
+            LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   RA  steps/deg       : %f", _stepsPerRADegree);
+            LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
+                "[GUIDE]: guidePulse:   RA  Microstep ratio : %f",
+                (1.0 * RA_TRACKING_MICROSTEPPING / RA_SLEW_MICROSTEPPING));
+        }
 
-    // We recalculate tracking speed here...
-    float raGuidingSpeed = _stepsPerRADegree * (RA_TRACKING_MICROSTEPPING / RA_SLEW_MICROSTEPPING) * 360.0f / SIDEREAL_SECONDS_PER_DAY;
+        // DEC stepper moves at sidereal rate in both directions
+        // RA stepper moves at either 2.5x sidereal rate or 0.5x sidereal rate.
+        // Also compensate for microstepping mode change between slew & guiding/tracking
+        float decGuidingSpeed = _stepsPerDECDegree * (1.0 * DEC_GUIDE_MICROSTEPPING / DEC_SLEW_MICROSTEPPING) * siderealDegreesInHour
+                                / 3600.0f;  // u-steps/deg * deg/hr / sec/hr = u-steps/sec
+        float raGuidingSpeed = _stepsPerRADegree * (1.0 * RA_TRACKING_MICROSTEPPING / RA_SLEW_MICROSTEPPING) * siderealDegreesInHour
+                               / 3600.0f;  // u-steps/deg * deg/hr / sec/hr = u-steps/sec
 
-    // TODO: Do we need to track how many steps the steppers took and add them to the GoHome calculation?
-    // If so, we need to remember where we were when we started the guide pulse. Then at the end,
-    // we can calculate the difference. Ignore DEC Guide for now.
-    // TODO: Take guide pulses on DEC into account
+        // TODO: Do we need to track how many steps the steppers took and add them to the GoHome calculation?
+        // If so, we need to remember where we were when we started the guide pulse. Then at the end,
+        // we can calculate the difference. Ignore DEC Guide for now.
+        // TODO: Take guide pulses on DEC into account
 
-    switch (direction)
-    {
-        case NORTH:
-            LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   DEC base speed      : %f", decGuidingSpeed);
-            LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   DEC guide speed     : %f", DEC_PULSE_MULTIPLIER * decGuidingSpeed);
-            _stepperGUIDE->setSpeed(DEC_PULSE_MULTIPLIER * decGuidingSpeed);
-            _stepperGuidePosAtGuideStart = _stepperGUIDE->currentPosition();
-            _mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_DEC;
-            _guideDecEndTime = millis() + duration;
-            break;
+        switch (direction)
+        {
+            case NORTH:
+                LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   DEC base speed      : %f", decGuidingSpeed);
+                LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
+                    "[GUIDE]: guidePulse:   DEC guide speed     : %f",
+                    DEC_PULSE_MULTIPLIER * decGuidingSpeed);
+                _stepperGUIDE->setSpeed(DEC_PULSE_MULTIPLIER * decGuidingSpeed);
+                _mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_DEC;
+                _guideDecEndTime = millis() + duration;
+                break;
 
-        case SOUTH:
-            LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   DEC base speed      : %f", decGuidingSpeed);
-            LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   DEC guide speed     : %f", -DEC_PULSE_MULTIPLIER * decGuidingSpeed);
-            _stepperGUIDE->setSpeed(-DEC_PULSE_MULTIPLIER * decGuidingSpeed);
-            _stepperGuidePosAtGuideStart = _stepperGUIDE->currentPosition();
-            _mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_DEC;
-            _guideDecEndTime = millis() + duration;
-            break;
+            case SOUTH:
+                LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   DEC base speed      : %f", decGuidingSpeed);
+                LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
+                    "[GUIDE]: guidePulse:   DEC guide speed     : %f",
+                    -DEC_PULSE_MULTIPLIER * decGuidingSpeed);
+                _stepperGUIDE->setSpeed(-DEC_PULSE_MULTIPLIER * decGuidingSpeed);
+                _mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_DEC;
+                _guideDecEndTime = millis() + duration;
+                break;
 
-        case WEST:
-            // We were in tracking mode before guiding, so no need to update microstepping mode on RA driver
-            LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   RA  base speed      : %f", raGuidingSpeed);
-            LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   RA  speed factor    : %f", _trackingSpeedCalibration);
-            raGuidingSpeed *= _trackingSpeedCalibration;
-            LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   RA  adjusted speed  : %f", raGuidingSpeed);
-            LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
-                "[GUIDE]: guidePulse:   RA  guide speed     : %f (%f x adjusted speed)",
-                (RA_PULSE_MULTIPLIER * raGuidingSpeed),
-                RA_PULSE_MULTIPLIER);
-            _stepperTrkPosAtGuideStart = _stepperTRK->currentPosition();
-            _stepperTRK->setSpeed(RA_PULSE_MULTIPLIER * raGuidingSpeed);  // Faster than siderael
-            _mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_RA;
-            _guideRaEndTime = millis() + duration;
-            break;
+            case WEST:
+                // We were in tracking mode before guiding, so no need to update microstepping mode on RA driver
+                LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   RA  base speed      : %f", raGuidingSpeed);
+                LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   RA  speed factor    : %f", _trackingSpeedCalibration);
+                raGuidingSpeed *= _trackingSpeedCalibration;
+                LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   RA  adjusted speed  : %f", raGuidingSpeed);
+                LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
+                    "[GUIDE]: guidePulse:   RA  guide speed     : %f (%f x adjusted speed)",
+                    (RA_PULSE_MULTIPLIER * raGuidingSpeed),
+                    RA_PULSE_MULTIPLIER);
+                _stepperTRK->setSpeed(RA_PULSE_MULTIPLIER * raGuidingSpeed);  // Faster than siderael
+                _mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_RA;
+                _guideRaEndTime = millis() + duration;
+                break;
 
-        case EAST:
-            // We were in tracking mode before guiding, so no need to update microstepping mode on RA driver
-            LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   RA  base speed      : %f", raGuidingSpeed);
-            LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   RA  speed factor    : %f", _trackingSpeedCalibration);
-            raGuidingSpeed *= _trackingSpeedCalibration;
-            LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   RA  adjusted speed  : %f", raGuidingSpeed);
-            LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
-                "[GUIDE]: guidePulse:   RA  guide speed     : %f (%f x adjusted speed)",
-                (2.0 - RA_PULSE_MULTIPLIER) * raGuidingSpeed,
-                (2.0 - RA_PULSE_MULTIPLIER));
-            _stepperTrkPosAtGuideStart = _stepperTRK->currentPosition();
-            _stepperTRK->setSpeed(raGuidingSpeed * (2.0f - RA_PULSE_MULTIPLIER));  // Slower than siderael
-            _mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_RA;
-            _guideRaEndTime = millis() + duration;
-            break;
+            case EAST:
+                // We were in tracking mode before guiding, so no need to update microstepping mode on RA driver
+                LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   RA  base speed      : %f", raGuidingSpeed);
+                LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   RA  speed factor    : %f", _trackingSpeedCalibration);
+                raGuidingSpeed *= _trackingSpeedCalibration;
+                LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   RA  adjusted speed  : %f", raGuidingSpeed);
+                LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
+                    "[GUIDE]: guidePulse:   RA  guide speed     : %f (%f x adjusted speed)",
+                    (2.0 - RA_PULSE_MULTIPLIER * raGuidingSpeed),
+                    (2.0 - RA_PULSE_MULTIPLIER));
+                _stepperTRK->setSpeed(raGuidingSpeed * (2.0f - RA_PULSE_MULTIPLIER));  // Slower than siderael
+                _mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_RA;
+                _guideRaEndTime = millis() + duration;
+                break;
+        }
     }
 // Since we will not be updating the display during a guide pulse, update the display here.
 #if INFO_DISPLAY_TYPE != INFO_DISPLAY_TYPE_NONE

From 9a6e776528c1961995ebfba507106deaed1628a1 Mon Sep 17 00:00:00 2001
From: Lutz <lutz@stmuc.com>
Date: Fri, 21 Feb 2025 09:23:06 -0800
Subject: [PATCH 3/8] V1.13.14 - Updates

- Improved Serial command handling (made it less 'blocking'), which should improve general performance
- Guiding now updates RA/DEC coordinates
- Guide pulses are ignored when tracking is disabled (for example, when at the limits)
---
 Changelog.md | 6 +++++-
 Version.h    | 2 +-
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/Changelog.md b/Changelog.md
index 6918ccc0..66ff7bdb 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -1,3 +1,8 @@
+**V1.13.14 - Updates**
+- Improved Serial command handling (made it less 'blocking'), which should improve general performance
+- Guiding now updates RA/DEC coordinates
+- Guide pulses are ignored when tracking is disabled (for example, when at the limits)
+
 **V1.13.13 - Updates**
 - Improved Meade command documentation
 - Fixed a bug that was not correctly showing the stepper direction in the :GX# command reply./
@@ -44,7 +49,6 @@ NOTE: Make sure to do a Factory Reset when using this version.
 - Lowered ESP32 second core priority
 - Added support for informational display
 - You must upgrade to OATControl V1.1.2.0 to use with this version (at least if you want to use teh DEC park/unpark feature)
-
 **V1.13.2 - Updates**
 - Fix for RA steps being incorrectly set on every boot.
 
diff --git a/Version.h b/Version.h
index 7d49180c..d7ea4141 100644
--- a/Version.h
+++ b/Version.h
@@ -3,4 +3,4 @@
 // Also, numbers are interpreted as simple numbers.                        _   __   _
 // So 1.8 is actually 1.08, meaning that 1.12 is a later version than 1.8.  \_(..)_/
 
-#define VERSION "V1.13.13"
+#define VERSION "V1.13.14"

From 68e4c5a700d636cd842bb6098c5fc42068349a53 Mon Sep 17 00:00:00 2001
From: Lutz <lutz@stmuc.com>
Date: Fri, 21 Feb 2025 09:28:27 -0800
Subject: [PATCH 4/8] Lint fixes

---
 src/Mount.cpp    |  6 +++---
 src/f_serial.hpp | 12 ++++++------
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/src/Mount.cpp b/src/Mount.cpp
index 00d8a757..5c98229b 100644
--- a/src/Mount.cpp
+++ b/src/Mount.cpp
@@ -349,7 +349,7 @@ void Mount::configureAZStepper(byte pin1, byte pin2, int maxSpeed, int maxAccele
     #ifdef NEW_STEPPER_LIB
     _stepperAZ = new StepperAzSlew(AccelStepper::DRIVER, pin1, pin2);
     #else
-    _stepperAZ = new AccelStepper(AccelStepper::DRIVER, pin1, pin2);
+    _stepperAZ    = new AccelStepper(AccelStepper::DRIVER, pin1, pin2);
     #endif
     _stepperAZ->setMaxSpeed(maxSpeed);
     _stepperAZ->setAcceleration(maxAcceleration);
@@ -367,7 +367,7 @@ void Mount::configureALTStepper(byte pin1, byte pin2, int maxSpeed, int maxAccel
     #ifdef NEW_STEPPER_LIB
     _stepperALT = new StepperAltSlew(AccelStepper::DRIVER, pin1, pin2);
     #else
-    _stepperALT = new AccelStepper(AccelStepper::DRIVER, pin1, pin2);
+    _stepperALT   = new AccelStepper(AccelStepper::DRIVER, pin1, pin2);
     #endif
     _stepperALT->setMaxSpeed(maxSpeed);
     _stepperALT->setAcceleration(maxAcceleration);
@@ -1893,7 +1893,7 @@ void Mount::getAZALTPositions(long &azPos, long &altPos)
 #if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
     azPos = _stepperAZ->currentPosition();
 #else
-    azPos = 0;
+    azPos  = 0;
 #endif
 #if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
     altPos = _stepperALT->currentPosition();
diff --git a/src/f_serial.hpp b/src/f_serial.hpp
index 4e4771b0..2af2b337 100644
--- a/src/f_serial.hpp
+++ b/src/f_serial.hpp
@@ -123,7 +123,7 @@ void processSerialData()
                     // When debugging, only print the result to Serial if we're on seperate ports.
         #if (DEBUG_LEVEL == DEBUG_NONE) || (DEBUG_SEPARATE_SERIAL == 1)
                 Serial.print('P');
-    #endif
+        #endif
                 index = 0;
             }
             else
@@ -132,18 +132,18 @@ void processSerialData()
                 {
                     // Ignoring trailing hash
                     buffer[index] = 0;
-                    String inCmd      = String(buffer);
+                    String inCmd  = String(buffer);
                     LOG(DEBUG_SERIAL, "[SERIAL]: ReceivedCommand(%d chars): [%s]", inCmd.length(), inCmd.c_str());
 
                     String retVal = MeadeCommandProcessor::instance()->processCommand(inCmd);
                     if (retVal != "")
                     {
                         LOG(DEBUG_SERIAL, "[SERIAL]: RepliedWith:  [%s]", retVal.c_str());
-                        // When not debugging, print the result to the serial port .
-                        // When debugging, only print the result to Serial if we're on seperate ports.
-    #if (DEBUG_LEVEL == DEBUG_NONE) || (DEBUG_SEPARATE_SERIAL == 1)
+                            // When not debugging, print the result to the serial port .
+                            // When debugging, only print the result to Serial if we're on seperate ports.
+        #if (DEBUG_LEVEL == DEBUG_NONE) || (DEBUG_SEPARATE_SERIAL == 1)
                         Serial.print(retVal);
-    #endif
+        #endif
                     }
                     // Wait for next command
                     index = 0;

From f4a25be7b72f0fcdbaecdfa96534ee7842dfa1ef Mon Sep 17 00:00:00 2001
From: Lutz <lutz@stmuc.com>
Date: Tue, 4 Mar 2025 15:40:00 -0800
Subject: [PATCH 5/8] Fixed comments and simplified expression

---
 src/Mount.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/Mount.cpp b/src/Mount.cpp
index 5c98229b..be747058 100644
--- a/src/Mount.cpp
+++ b/src/Mount.cpp
@@ -1572,12 +1572,12 @@ void Mount::stopGuiding(bool ra, bool dec)
         long extraSteps = 0;
         if (_stepperTRK->speed() < _trackingSpeed)
         {
-            // EAST (1.5x), faster so we need 1/3 of the steps
-            extraSteps = -((1.0 / (2.0 - RA_PULSE_MULTIPLIER)) - 1.0) * raStepsDuringGuide;
+            // EAST (0.5) - slower so we need all the steps (with a 1.5 multiplier)
+            extraSteps = (1.0 - (1.0 / (2.0 - RA_PULSE_MULTIPLIER))) * raStepsDuringGuide;
         }
         else
         {
-            // WEST (0.5)
+            // WEST (1.5x), faster so we need 1/3 of the steps (with a 1.5 multiplier)
             extraSteps = (1.0 - (1.0 / RA_PULSE_MULTIPLIER)) * raStepsDuringGuide;
         }
         _stepperTRK->setSpeed(_trackingSpeed);

From 5d5003810a3ce5a55ff5aff2dc4ffc67af3647d8 Mon Sep 17 00:00:00 2001
From: Lutz <lutz@stmuc.com>
Date: Thu, 6 Mar 2025 20:43:18 -0800
Subject: [PATCH 6/8] Revert coordinate updates on guiding

---
 src/Mount.cpp | 27 +--------------------------
 1 file changed, 1 insertion(+), 26 deletions(-)

diff --git a/src/Mount.cpp b/src/Mount.cpp
index be747058..6ff13987 100644
--- a/src/Mount.cpp
+++ b/src/Mount.cpp
@@ -1566,28 +1566,9 @@ void Mount::stopGuiding(bool ra, bool dec)
     // Stop RA guide first, since it's just a speed change back to tracking speed
     if (ra && (_mountStatus & STATUS_GUIDE_PULSE_RA))
     {
-        long raStepsDuringGuide = _stepperTRK->currentPosition() - _stepperTrkPosAtGuideStart;
         LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: stopGuide:    TRK stop guide at  : %l", _stepperTRK->currentPosition());
-        LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: stopGuide:    TRK steps moved    : %l", raStepsDuringGuide);
-        long extraSteps = 0;
-        if (_stepperTRK->speed() < _trackingSpeed)
-        {
-            // EAST (0.5) - slower so we need all the steps (with a 1.5 multiplier)
-            extraSteps = (1.0 - (1.0 / (2.0 - RA_PULSE_MULTIPLIER))) * raStepsDuringGuide;
-        }
-        else
-        {
-            // WEST (1.5x), faster so we need 1/3 of the steps (with a 1.5 multiplier)
-            extraSteps = (1.0 - (1.0 / RA_PULSE_MULTIPLIER)) * raStepsDuringGuide;
-        }
         _stepperTRK->setSpeed(_trackingSpeed);
-
-        // Calculate the extra steps moved during guiding on top of tracking and convert from TRK stepper to RA stepper
-        extraSteps *= RA_SLEW_MICROSTEPPING / RA_TRACKING_MICROSTEPPING;
-        LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: stopGuide:    RA extra steps      : %l", extraSteps);
-        // Adjust RA coordinate by the amount of steps moved during guiding
-        _stepperRA->setCurrentPosition(_stepperRA->currentPosition() + extraSteps);
-
+        LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: stopGuide:    TRK speed set to   : %f", _trackingSpeed);
         _mountStatus &= ~STATUS_GUIDE_PULSE_RA;
     }
 
@@ -1603,12 +1584,6 @@ void Mount::stopGuiding(bool ra, bool dec)
             _stepperGUIDE->run();
             _stepperTRK->runSpeed();
         }
-        long decStepsDuringGuide = _stepperGUIDE->currentPosition() - _stepperGuidePosAtGuideStart;
-
-        LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: stopGuide:    DEC steps moved     : %l", decStepsDuringGuide);
-        // Adjust DEC coordinate by the amount of steps moved during guiding
-        _stepperDEC->setCurrentPosition(_stepperDEC->currentPosition()
-                                        + decStepsDuringGuide * DEC_SLEW_MICROSTEPPING / DEC_GUIDE_MICROSTEPPING);
         _mountStatus &= ~STATUS_GUIDE_PULSE_DEC;
     }
 

From 86976209bea4affbbf12420939a86f73bd0ab6e5 Mon Sep 17 00:00:00 2001
From: Lutz <lutz@stmuc.com>
Date: Thu, 6 Mar 2025 20:49:41 -0800
Subject: [PATCH 7/8] More fixes

---
 Changelog.md  | 1 -
 src/Mount.hpp | 2 --
 2 files changed, 3 deletions(-)

diff --git a/Changelog.md b/Changelog.md
index 66ff7bdb..41ce3607 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -1,6 +1,5 @@
 **V1.13.14 - Updates**
 - Improved Serial command handling (made it less 'blocking'), which should improve general performance
-- Guiding now updates RA/DEC coordinates
 - Guide pulses are ignored when tracking is disabled (for example, when at the limits)
 
 **V1.13.13 - Updates**
diff --git a/src/Mount.hpp b/src/Mount.hpp
index 40edd450..80d53351 100644
--- a/src/Mount.hpp
+++ b/src/Mount.hpp
@@ -654,8 +654,6 @@ class Mount
 
     unsigned long _guideRaEndTime;
     unsigned long _guideDecEndTime;
-    long _stepperGuidePosAtGuideStart;
-    long _stepperTrkPosAtGuideStart;
     unsigned long _lastMountPrint = 0;
     float _trackingSpeed;             // RA u-steps/sec when in tracking mode
     float _trackingSpeedCalibration;  // Dimensionless, very close to 1.0

From 07231ad04e8965972df5c8cffee836f98bf74e15 Mon Sep 17 00:00:00 2001
From: Lutz <lutz@stmuc.com>
Date: Sat, 8 Mar 2025 14:25:31 -0800
Subject: [PATCH 8/8] PR Feedback

---
 src/HallSensorHoming.cpp |  9 ++++++++
 src/f_serial.hpp         | 46 ++++++++++++++++++----------------------
 2 files changed, 30 insertions(+), 25 deletions(-)

diff --git a/src/HallSensorHoming.cpp b/src/HallSensorHoming.cpp
index a53704b4..57a289a9 100644
--- a/src/HallSensorHoming.cpp
+++ b/src/HallSensorHoming.cpp
@@ -210,6 +210,7 @@ void HallSensorHoming::processHomingProgress()
                         {
                             // First time the pin has triggered, record that position
                             _homingData.position[HOMING_START_PIN_POSITION] = _pMount->getCurrentStepperPosition(_axis);
+
                             LOG(DEBUG_STEPPERS,
                                 "[HOMING]: Potentially found start of sensor at %l",
                                 _homingData.position[HOMING_START_PIN_POSITION]);
@@ -230,6 +231,10 @@ void HallSensorHoming::processHomingProgress()
                             // Make sure we continue moving far enough to reach end
                             long distance = _homingData.initialDir * _stepsPerDegree * _homingData.searchDistance;
                             _pMount->moveStepperBy(_axis, distance);
+                            LOG(DEBUG_STEPPERS,
+                                "[HOMING]: Making sure stepper keeps going by another %l steps. New target is %l",
+                                distance,
+                                _pMount->getCurrentStepperPosition(_axis) + distance);
 
                             _homingData.lastPinState   = homingPinState;
                             _homingData.pinChangeCount = 0;
@@ -289,6 +294,10 @@ void HallSensorHoming::processHomingProgress()
                             // Make sure we continue moving far enough to reach end
                             long distance = -_homingData.initialDir * _stepsPerDegree * _homingData.searchDistance;
                             _pMount->moveStepperBy(_axis, distance);
+                            LOG(DEBUG_STEPPERS,
+                                "[HOMING]: Making sure stepper keeps going by another %l steps. New target is %l",
+                                distance,
+                                _pMount->getCurrentStepperPosition(_axis) + distance);
 
                             _homingData.lastPinState   = homingPinState;
                             _homingData.pinChangeCount = 0;
diff --git a/src/f_serial.hpp b/src/f_serial.hpp
index 2af2b337..ad3741a7 100644
--- a/src/f_serial.hpp
+++ b/src/f_serial.hpp
@@ -16,7 +16,6 @@ void processSerialData();
 // The main loop when under serial control
 void serialLoop()
 {
-    //Serial.print('.');
     mount.loop();
     mount.displayStepperPositionThrottled();
 
@@ -126,36 +125,33 @@ void processSerialData()
         #endif
                 index = 0;
             }
-            else
+            else if (buffer[index] == '#')
             {
-                if (buffer[index] == '#')
-                {
-                    // Ignoring trailing hash
-                    buffer[index] = 0;
-                    String inCmd  = String(buffer);
-                    LOG(DEBUG_SERIAL, "[SERIAL]: ReceivedCommand(%d chars): [%s]", inCmd.length(), inCmd.c_str());
+                // Ignoring trailing hash
+                buffer[index]      = '\0';
+                const String inCmd = String(buffer);
+                LOG(DEBUG_SERIAL, "[SERIAL]: ReceivedCommand(%d chars): [%s]", inCmd.length(), inCmd.c_str());
 
-                    String retVal = MeadeCommandProcessor::instance()->processCommand(inCmd);
-                    if (retVal != "")
-                    {
-                        LOG(DEBUG_SERIAL, "[SERIAL]: RepliedWith:  [%s]", retVal.c_str());
-                            // When not debugging, print the result to the serial port .
-                            // When debugging, only print the result to Serial if we're on seperate ports.
+                const String retVal = MeadeCommandProcessor::instance()->processCommand(inCmd);
+                if (retVal != "")
+                {
+                    LOG(DEBUG_SERIAL, "[SERIAL]: RepliedWith:  [%s]", retVal.c_str());
+                        // When not debugging, print the result to the serial port .
+                        // When debugging, only print the result to Serial if we're on seperate ports.
         #if (DEBUG_LEVEL == DEBUG_NONE) || (DEBUG_SEPARATE_SERIAL == 1)
-                        Serial.print(retVal);
+                    Serial.print(retVal);
         #endif
-                    }
-                    // Wait for next command
-                    index = 0;
                 }
-                else if (buffer[index] > 31)
+                // Wait for next command
+                index = 0;
+            }
+            else if (buffer[index] >= ' ')
+            {
+                index++;
+                if (index >= sizeof(buffer))
                 {
-                    index++;
-                    if (index >= sizeof(buffer))
-                    {
-                        LOG(DEBUG_SERIAL, "[SERIAL]: Command buffer overflow! Ignoring received data.");
-                        index = 0;
-                    }
+                    LOG(DEBUG_SERIAL, "[SERIAL]: Command buffer overflow! Ignoring received data.");
+                    index = 0;
                 }
             }
         }