Telemetry recording and replay with pointing math refactor#411
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mrosseel wants to merge 10 commits into
Open
Telemetry recording and replay with pointing math refactor#411mrosseel wants to merge 10 commits into
mrosseel wants to merge 10 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
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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