Collapse two-axis IDR into a single dual-axis instance#429
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End-to-end adoption of the dataclasses in PiFinder/types/positioning.py: - Solver builds a fresh PointingEstimate per attempt and pushes to solver_queue. Alignment queue carries AlignOnRaDec / AlignCancel / ReloadSqmCalibration commands and AlignedResult responses, dispatched via isinstance(). - Integrator owns the long-lived PointingEstimate. solve cells survive failed plate-solves so IMU dead-reckoning keeps producing aligned estimates. - shared_state.solution() / set_solution() carry PointingEstimate; default to an empty PointingEstimate() so consumers can always call .has_pointing() without a None check. - All ~15 consumers (UI, server, pos_server, nearby, etc.) read via the PointingEstimate access shape (pointing.aligned.estimate.RA, etc.). - solve_pixel -> target_pixel rename: code, default_config.json, shared_state.target_pixel() / set_target_pixel(), Config key. No user-config migration logic; users re-align to write the new key. - Delete solver_main.py (dead code), get_initialized_solved_dict(), to_legacy_dict() / from_legacy_dict() bridge methods, and the "PROPOSAL ONLY" framing in types/positioning.py. - Add matched_centroids / matched_stars fields to PointingEstimate so the SQM calibration UI can replay SQM calculations from cached published solutions. - Pull the simplified ImuDeadReckoning (and legacy companion + tests) from idr_tests so the integrator's IDR call surface matches. - 21 new unit tests in test_pointing_estimate.py covering dataclass basics, solver builders, integrator merge semantics, failed-solve anchor preservation, alignment dispatch, picklability, deep-copy isolation. - CONTEXT.md cleaned of stale migration notes. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
ImuDeadReckoning now handles both camera and aligned axes in one instance. solve() takes (camera, aligned, q_x2imu) and captures q_cam2aligned alongside q_eq2x; predict() composes the camera prediction with q_cam2aligned and returns both as a tuple. The integrator drops the idr_camera/idr_aligned pair for a single idr. The IDR remains a math primitive (RaDecRoll in, tuple of RaDecRoll out) and does not import from PiFinder.types.positioning. Equivalence tests now parametrize over (screen_direction, alignment_offset) and check both predicted.camera == legacy.cam and predicted.aligned == legacy.scope for identity and real-offset cases. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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Summary
ImuDeadReckoningnow handles both camera and aligned axes in one instance.solve()takes(camera, aligned, q_x2imu)and capturesq_cam2alignedalongsideq_eq2x;predict()composes the camera prediction withq_cam2alignedand returns both as a(camera, aligned)tuple.reset()clears both quaternions.integrator.pydrops theidr_camera/idr_alignedpair for a singleidr. Both call sites (_apply_successful_solve,_advance_with_imu) collapse to one IDR call.RaDecRollin,RaDecRollout. No import fromPiFinder.types.positioning.(screen_direction, alignment_offset ∈ {identity, real_offset})and assert bothpredicted.camera == legacy.get_cam_radec()andpredicted.aligned == legacy.get_scope_radec().imu_dead_reckoning_legacy.pystays in the tree until the user is comfortable removing it in a follow-up.Builds on #428 (the prior
solveddict →PointingEstimatemigration on the same branch).Test plan
nox -s lint type_hints smoke_tests unit_tests— all green (213 unit tests pass).pointing.aligned.estimatereflects it.🤖 Generated with Claude Code