Merge stopping the gimbal where it is when switching from a scan to manual

README.md

@@ -322,7 +322,7 @@ job. Details, payloads and safety rules: [docs/mqtt-api.md](docs/mqtt-api.md).
 
 | Command | Does |
 |---|---|
-| `mode auto` / `mode manual` | sweep the scan grid / stop and take the gimbal by hand (it stays homed and powered) |
+| `mode auto` / `mode manual` | sweep the scan grid / stop the gimbal where it is and take it by hand (it stays homed and powered) |
 | `mode pan <heading> <span> [<pitch>]` | watch one direction: `mode pan 90 30` covers 75°-105°, a picture every 6° |
 | `gimbal home` | find the endstops and centre - needed after every power-up |
 | `gimbal move <yaw>[,<pitch>]` | point at a **true bearing** (0 = north) and an elevation, in degrees; without a pitch only yaw moves. A yaw-only tower ignores the pitch and refuses pitch-only commands |

src/core/Application.cpp

@@ -1849,6 +1849,7 @@ struct Application::Impl {
         if (m == Mode::Manual) camera->stop();
         else camera->start();
         scheduler->setMode(m, pan);
+        if (m == Mode::Manual && was != Mode::Manual) stopScanMove();
         if (m == Mode::Pan) {
             const auto& h = scheduler->panHeadingsNow();
             LOG_INFO << "mode pan: " << panText(pan) << " - " << h.size()
@@ -1861,6 +1862,22 @@ struct Application::Impl {
         return true;
     }
 
+    // Leaving a scan: stop the move it last sent, which the firmware would
+    // otherwise finish - a slow return to the first waypoint can take many
+    // seconds the operator spends waiting for the gimbal to answer. The firmware
+    // ramps the axis down and holds where it comes to rest (it does not resume
+    // the move), and the next MOVE or jog supersedes a stop still ramping down.
+    // Sent whether or not telemetry shows motion, since a MOVE sent this tick
+    // is not in it yet. Never during a homing, which a STOP ends in ERROR.
+    void stopScanMove() {
+        const MotorTelemetry t = motor->telemetry();
+        if (t.yaw.state == AxisState::Homing ||
+            (t.pitch_present && t.pitch.state == AxisState::Homing))
+            return;
+        if (anyLeftoverMove()) LOG_INFO << "stopping the gimbal where it is";
+        motor->sendCommand("STOP ALL");
+    }
+
     // A pan the gimbal can actually do: its pitch inside the homed window (not
     // clamped to it - that would image an elevation nobody asked for), and at
     // least one of its headings inside the reachable yaw arc.

src/core/HelpText.cpp

@@ -35,7 +35,7 @@ const std::vector<HelpSection>& helpCatalog() {
                 "Pitch defaults to 0 (level); a yaw-only tower ignores it. Key p pans",
                 "30 deg around the current aim.",
                 "Example:  mode pan 90 30"}},
-            {"mode manual", "Stop scanning; aim by hand (key m). Cancels a running procedure.", {}},
+            {"mode manual", "Stop scanning, and the gimbal where it is; aim by hand (key m). Cancels a running procedure.", {}},
         }},
         {"Capture", "Images and cameras. Manual mode, homed gimbal.", {
             {"snapshot", "Take one image now (key Space).", {