Telemetry recording and replay with pointing math refactor#411
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mrosseel wants to merge 14 commits into
Open
Telemetry recording and replay with pointing math refactor#411mrosseel wants to merge 14 commits into
mrosseel wants to merge 14 commits into
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Replays synthetic telemetry through real ImuDeadReckoning and integrator wrapper functions, measuring dead-reckoning error vs ground truth. Three tests: stationary drift, slew tracking, and solve correction reset. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
- Telemetry recorder captures solve and IMU events with timestamps - Menu entries for telemetry start/stop/replay - Integrator wired to record solves and IMU readings - UI list screen for telemetry sessions Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Split integrator.py into three focused modules: - pointing.py: coordinate math (IMU dead-reckoning, plate-solve integration, roll/constellation/altaz finalization) - telemetry.py: TelemetryManager facade (recording, replay, command dispatch, image saving, replay event handling) - integrator.py: main loop and queue plumbing only Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
- 55 unit tests covering TelemetryRecorder, TelemetryPlayer, TelemetryManager, and pointing.py functions - Fix test_integrator_drift.py import from PiFinder.integrator to PiFinder.pointing after refactor Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
…and analysis tools - Record raw gyro and accelerometer readings in IMU events - Record target changes (name, RA/Dec, Alt/Az) for time-to-target analysis - Fix replay: solve_time, solve_source, imu_pos, failed solves, mount_type header - Reset integrator state after replay ends - Move location to separate .location sidecar file for privacy - Reduce file size with stationary IMU decimation (10x) and float rounding - Add telemetry analysis scripts: session visualizer, drift analysis, truss flex analysis, IMU free-run drift visualization - Include sample recording (session_20260309.jsonl, location scrubbed) - 67 unit tests covering all new functionality Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Single conflict in python/PiFinder/integrator.py: telemetry already refactored the helper functions (update_plate_solve_and_imu, update_imu, set_cam2scope_alignment, get_roll_by_mount_type) into pointing.py. Kept telemetry's refactor; dropped the duplicate helpers that upstream modified in place. Upstream-only additions (get_alt_az, get_constellation, pointing_updated flag) and the imu_time tweak in update_imu are NOT incorporated here — apply them to pointing.py as a follow-up if wanted.
Upstream's astro_coords refactor (brickbots#420) moved RaDecRoll from pointing_model/astro_coords.py to types/coordinates.py and reworked the API: constructor now takes (ra, dec, roll, deg=...) and replaces set_from_deg/get_deg with set(...) and get(deg=True). Resolution: - integrator.py: kept HEAD; dropped duplicate helpers (now in pointing.py) - pointing.py: updated import path and ported all RaDecRoll calls to the new API (set_from_deg/get_deg → constructor / get(deg=True)) - integrator_classic.py: accepted upstream deletion (brickbots#421 dropped classic integrator); telemetry's only change was a trivial **kwargs signature
The clear-on-failure block in solver() reset solved["RA"]/Dec/Matches but left camera_center and camera_solve pinned to the last successful solve across every failure path. Integrator-side downstream is unaffected (integrator.py:96 only merges new position data when RA is not None), but stale camera_center leaks into anything reading 'solved' from the solver's perspective. Completes the existing 'otherwise old values persist' clearing block.
solver.py imports tetra3 at module scope, which transitively pulled the submodule into any caller of get_initialized_solved_dict — including integrator.py and the integration-drift tests. CI's checkout step does not init submodules, so tests/test_integrator_drift.py failed to collect: PiFinder/solver.py:28: ModuleNotFoundError: No module named 'tetra3' Move the pure-data dict factory to a tiny new module PiFinder/solved.py. Update solver.py, integrator.py, and test_integrator_drift.py to import from there. No runtime behavior change.
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Summary
telemetry.py,telemetry_list.pyUI, menu entries)integrator.py(slims integrator from ~600 lines to ~335)Test plan
nox -s unit_testspasses (includes newtest_telemetry.pyandtest_integrator_drift.py)nox -s lintpassesnox -s type_hintspasses🤖 Generated with Claude Code