From fd7d652b87ddb1f45eaf3081a7ac2b093dbb4b44 Mon Sep 17 00:00:00 2001 From: Mike Rosseel Date: Thu, 5 Mar 2026 16:29:14 +0100 Subject: [PATCH 1/6] test: add integrator drift integration tests 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 --- python/tests/test_integrator_drift.py | 409 ++++++++++++++++++++++++++ 1 file changed, 409 insertions(+) create mode 100644 python/tests/test_integrator_drift.py diff --git a/python/tests/test_integrator_drift.py b/python/tests/test_integrator_drift.py new file mode 100644 index 000000000..86637d400 --- /dev/null +++ b/python/tests/test_integrator_drift.py @@ -0,0 +1,409 @@ +""" +Integration tests for IMU dead-reckoning drift through the real integrator +wrapper functions. Replays synthetic telemetry through ImuDeadReckoning and +measures pointing error vs ground truth. + +Catches regressions in: +- Quaternion math (drift explodes) +- Solve incorporation (positions don't update) +- Dead-reckoning (IMU movements not reflected) +- RaDecRoll / quaternion transform correctness +""" + +import copy +from dataclasses import dataclass +from typing import List + +import numpy as np +import pytest +import quaternion + +from PiFinder.integrator import ( + update_imu, + update_plate_solve_and_imu, +) +from PiFinder.pointing_model.imu_dead_reckoning import ImuDeadReckoning +from PiFinder.pointing_model.quaternion_transforms import axis_angle2quat, radec2q_eq +from PiFinder.solver import get_initialized_solved_dict + + +# ── Synthetic telemetry generation ────────────────────────────────── + + +@dataclass +class SolveEvent: + """A plate-solve event with true RA/Dec and IMU quaternion.""" + + timestamp: float + ra_deg: float + dec_deg: float + roll_deg: float + imu_quat: quaternion.quaternion + + +@dataclass +class ImuEvent: + """An IMU-only reading between solves, with ground truth for error measurement.""" + + timestamp: float + imu_quat: quaternion.quaternion + moving: bool + true_ra_deg: float + true_dec_deg: float + + +@dataclass +class Measurement: + """Dead-reckoned vs ground-truth angular error.""" + + error_arcsec: float + timestamp: float + + +def angular_separation_deg(ra1, dec1, ra2, dec2): + """Great-circle angular separation in degrees between two (RA, Dec) pairs in degrees.""" + ra1_r, dec1_r = np.deg2rad(ra1), np.deg2rad(dec1) + ra2_r, dec2_r = np.deg2rad(ra2), np.deg2rad(dec2) + cos_sep = np.sin(dec1_r) * np.sin(dec2_r) + np.cos(dec1_r) * np.cos( + dec2_r + ) * np.cos(ra1_r - ra2_r) + cos_sep = np.clip(cos_sep, -1.0, 1.0) + return np.rad2deg(np.arccos(cos_sep)) + + +def _make_imu_quat_for_radec( + imu_dr: ImuDeadReckoning, ra_rad: float, dec_rad: float, roll_rad: float +) -> quaternion.quaternion: + """ + Compute the IMU quaternion q_x2imu consistent with a given (RA, Dec, Roll), + assuming q_eq2x is identity. + + From: q_eq2cam = q_eq2x * q_x2imu * q_imu2cam + With q_eq2x = I: q_x2imu = q_eq2cam * q_cam2imu + """ + q_eq2cam = radec2q_eq(ra_rad, dec_rad, roll_rad) + q_x2imu = q_eq2cam * imu_dr.q_cam2imu + return q_x2imu.normalized() + + +def generate_stationary_session( + seed: int = 42, + duration_s: float = 10.0, + solve_interval_s: float = 2.0, + imu_rate_hz: float = 10.0, + noise_arcsec: float = 1.0, +) -> list: + """ + Generate a stationary session: scope doesn't move, IMU has small noise. + Returns list of SolveEvent and ImuEvent in chronological order. + """ + rng = np.random.default_rng(seed) + ra_deg, dec_deg, roll_deg = 180.0, 45.0, 0.0 + ra_rad, dec_rad = np.deg2rad(ra_deg), np.deg2rad(dec_deg) + roll_rad = np.deg2rad(0.0) + + tmp_dr = ImuDeadReckoning("flat") + base_quat = _make_imu_quat_for_radec(tmp_dr, ra_rad, dec_rad, roll_rad) + + events = [] + t = 0.0 + imu_dt = 1.0 / imu_rate_hz + next_solve = 0.0 + + while t <= duration_s: + noise_rad = np.deg2rad(noise_arcsec / 3600.0) + axis = rng.normal(size=3) + axis /= np.linalg.norm(axis) + angle = rng.normal(scale=noise_rad) + q_noise = axis_angle2quat(axis, angle) + noisy_quat = (base_quat * q_noise).normalized() + + if t >= next_solve: + events.append( + SolveEvent( + timestamp=t, + ra_deg=ra_deg, + dec_deg=dec_deg, + roll_deg=roll_deg, + imu_quat=noisy_quat, + ) + ) + next_solve = t + solve_interval_s + else: + events.append( + ImuEvent( + timestamp=t, + imu_quat=noisy_quat, + moving=False, + true_ra_deg=ra_deg, + true_dec_deg=dec_deg, + ) + ) + + t += imu_dt + + return events + + +def generate_slew_session( + seed: int = 123, + duration_s: float = 30.0, + solve_interval_s: float = 3.0, + imu_rate_hz: float = 10.0, + slew_speed_deg_s: float = 2.0, + drift_arcsec_s: float = 5.0, +) -> list: + """ + Generate a slewing session: scope moves in RA at constant rate, + IMU has a slow systematic drift added on top. + """ + rng = np.random.default_rng(seed) + start_ra_deg, dec_deg, roll_deg = 90.0, 30.0, 0.0 + + tmp_dr = ImuDeadReckoning("flat") + events = [] + t = 0.0 + imu_dt = 1.0 / imu_rate_hz + next_solve = 0.0 + last_solve_time = 0.0 + + drift_axis = rng.normal(size=3) + drift_axis /= np.linalg.norm(drift_axis) + drift_rate_rad_s = np.deg2rad(drift_arcsec_s / 3600.0) + + while t <= duration_s: + true_ra_deg = start_ra_deg + slew_speed_deg_s * t + true_ra_rad = np.deg2rad(true_ra_deg) + dec_rad = np.deg2rad(dec_deg) + roll_rad = np.deg2rad(roll_deg) + + base_quat = _make_imu_quat_for_radec(tmp_dr, true_ra_rad, dec_rad, roll_rad) + + time_since_solve = t - last_solve_time + drift_angle = drift_rate_rad_s * time_since_solve + q_drift = axis_angle2quat(drift_axis, drift_angle) + + noise_rad = np.deg2rad(1.0 / 3600.0) + noise_axis = rng.normal(size=3) + noise_axis /= np.linalg.norm(noise_axis) + q_noise = axis_angle2quat(noise_axis, rng.normal(scale=noise_rad)) + + drifted_quat = (base_quat * q_drift * q_noise).normalized() + + if t >= next_solve: + events.append( + SolveEvent( + timestamp=t, + ra_deg=true_ra_deg, + dec_deg=dec_deg, + roll_deg=roll_deg, + imu_quat=drifted_quat, + ) + ) + last_solve_time = t + next_solve = t + solve_interval_s + else: + events.append( + ImuEvent( + timestamp=t, + imu_quat=drifted_quat, + moving=True, + true_ra_deg=true_ra_deg, + true_dec_deg=dec_deg, + ) + ) + + t += imu_dt + + return events + + +# ── Replay engine ─────────────────────────────────────────────────── + + +def _populate_solved_from_event(solved: dict, event: SolveEvent): + """Fill the solved dict from a solve event, mirroring the real integrator.""" + solved["RA"] = event.ra_deg + solved["Dec"] = event.dec_deg + solved["Roll"] = event.roll_deg + solved["camera_center"]["RA"] = event.ra_deg + solved["camera_center"]["Dec"] = event.dec_deg + solved["camera_center"]["Roll"] = event.roll_deg + solved["camera_solve"] = { + "RA": event.ra_deg, + "Dec": event.dec_deg, + "Roll": event.roll_deg, + } + solved["imu_quat"] = event.imu_quat + solved["solve_time"] = event.timestamp + solved["solve_source"] = "CAM" + + +def replay_imu_drift(events: list) -> List[Measurement]: + """ + Replay telemetry and measure dead-reckoning error at each IMU update + by comparing the integrator's solved position to ground truth. + """ + imu_dr = ImuDeadReckoning("flat") + solved = get_initialized_solved_dict() + last_image_solve = None + measurements: List[Measurement] = [] + + for event in events: + if isinstance(event, SolveEvent): + _populate_solved_from_event(solved, event) + last_image_solve = copy.deepcopy(solved) + update_plate_solve_and_imu(imu_dr, solved) + + elif isinstance(event, ImuEvent): + if last_image_solve is None: + continue + + imu_dict = {"quat": event.imu_quat, "moving": event.moving} + update_imu(imu_dr, solved, last_image_solve, imu_dict) + + if solved["RA"] is not None: + error_deg = angular_separation_deg( + solved["RA"], + solved["Dec"], + event.true_ra_deg, + event.true_dec_deg, + ) + measurements.append( + Measurement( + error_arcsec=error_deg * 3600.0, + timestamp=event.timestamp, + ) + ) + + return measurements + + +def replay_post_solve_errors(events: list, max_readings: int = 3) -> List[Measurement]: + """ + Measure dead-reckoning error of the first few IMU readings after each solve + vs ground truth. Verifies that solve incorporation resets drift. + """ + imu_dr = ImuDeadReckoning("flat") + solved = get_initialized_solved_dict() + last_image_solve = None + measurements: List[Measurement] = [] + readings_since_solve = max_readings + + for event in events: + if isinstance(event, SolveEvent): + _populate_solved_from_event(solved, event) + last_image_solve = copy.deepcopy(solved) + update_plate_solve_and_imu(imu_dr, solved) + readings_since_solve = 0 + + elif isinstance(event, ImuEvent): + if last_image_solve is None: + continue + + imu_dict = {"quat": event.imu_quat, "moving": event.moving} + update_imu(imu_dr, solved, last_image_solve, imu_dict) + + if readings_since_solve < max_readings and solved["RA"] is not None: + error_deg = angular_separation_deg( + solved["RA"], + solved["Dec"], + event.true_ra_deg, + event.true_dec_deg, + ) + measurements.append( + Measurement( + error_arcsec=error_deg * 3600.0, + timestamp=event.timestamp, + ) + ) + readings_since_solve += 1 + + return measurements + + +# ── Tests ─────────────────────────────────────────────────────────── + + +@pytest.mark.integration +class TestIntegratorDrift: + """ + Integration tests that replay synthetic telemetry through the real + ImuDeadReckoning and integrator wrapper functions, measuring drift + vs ground truth. + """ + + def test_stationary_drift(self): + """ + Scope is stationary, IMU has only tiny noise. + Dead-reckoned position should stay very close to truth. + """ + events = generate_stationary_session(seed=42, duration_s=10.0) + measurements = replay_imu_drift(events) + + assert len(measurements) > 0, "Should have at least one measurement" + errors = [m.error_arcsec for m in measurements] + mean_error = np.mean(errors) + max_error = np.max(errors) + + # Stationary scope with 1 arcsec noise: drift should be tiny + # Baseline: ~0 arcsec (noise below measurement precision) + assert mean_error < 5, ( + f"Stationary mean drift {mean_error:.1f} arcsec exceeds 5 arcsec threshold" + ) + assert max_error < 10, ( + f"Stationary max drift {max_error:.1f} arcsec exceeds 10 arcsec threshold" + ) + + def test_slew_tracking_accuracy(self): + """ + Scope slewing at 2 deg/s with 5 arcsec/s simulated IMU drift. + Dead-reckoning should track the true position with bounded error. + Error should not grow without bound over the session. + """ + events = generate_slew_session(seed=123, duration_s=30.0) + measurements = replay_imu_drift(events) + + assert len(measurements) > 0, "Should have at least one measurement" + errors = [m.error_arcsec for m in measurements] + mean_error = np.mean(errors) + + # With 5 arcsec/s drift and 3s solve intervals, accumulated drift + # between solves is bounded. Baseline: mean ~6, max ~13 arcsec. + assert mean_error < 15, ( + f"Slew mean drift {mean_error:.1f} arcsec exceeds 15 arcsec threshold" + ) + + # Verify errors don't grow without bound across the session + if len(errors) >= 20: + first_quarter = np.mean(errors[: len(errors) // 4]) + last_quarter = np.mean(errors[-len(errors) // 4 :]) + assert last_quarter < first_quarter * 3, ( + f"Drift growing over time: first quarter {first_quarter:.1f}, " + f"last quarter {last_quarter:.1f} arcsec" + ) + + def test_solve_correction_resets_drift(self): + """ + After each solve, the first few IMU dead-reckoned positions should + have near-zero error vs ground truth (solve corrects drift). + """ + events = generate_slew_session( + seed=456, + duration_s=20.0, + solve_interval_s=4.0, + slew_speed_deg_s=1.0, + drift_arcsec_s=2.0, + ) + measurements = replay_post_solve_errors(events, max_readings=3) + + assert len(measurements) > 0, "Should have post-solve measurements" + errors = [m.error_arcsec for m in measurements] + mean_error = np.mean(errors) + + # Right after a solve, error should be just noise + tiny drift. + # Baseline: mean ~7, max ~11 arcsec. + assert mean_error < 20, ( + f"Post-solve mean error {mean_error:.1f} arcsec exceeds 20 arcsec threshold. " + "Solve correction may not be resetting drift properly." + ) From ace665b5d18aa11665894faab4c0cbb238cd735e Mon Sep 17 00:00:00 2001 From: Mike Rosseel Date: Thu, 5 Mar 2026 16:43:52 +0100 Subject: [PATCH 2/6] feat: add telemetry recording and replay - 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 --- default_config.json | 4 +- python/PiFinder/camera_interface.py | 12 +- python/PiFinder/integrator.py | 212 +++++++++++++++++++- python/PiFinder/integrator_classic.py | 2 +- python/PiFinder/main.py | 8 + python/PiFinder/telemetry.py | 270 ++++++++++++++++++++++++++ python/PiFinder/ui/callbacks.py | 14 ++ python/PiFinder/ui/menu_structure.py | 52 +++++ python/PiFinder/ui/telemetry_list.py | 104 ++++++++++ 9 files changed, 674 insertions(+), 4 deletions(-) create mode 100644 python/PiFinder/telemetry.py create mode 100644 python/PiFinder/ui/telemetry_list.py diff --git a/default_config.json b/default_config.json index 7ce509784..3402265f0 100644 --- a/default_config.json +++ b/default_config.json @@ -177,5 +177,7 @@ "active_eyepiece_index": 0 }, "imu_threshold_scale": 1, - "imu_integrator": "classic" + "imu_integrator": "classic", + "telemetry_record": false, + "telemetry_images": false } diff --git a/python/PiFinder/camera_interface.py b/python/PiFinder/camera_interface.py index 1ee3fe320..9c54fe4c9 100644 --- a/python/PiFinder/camera_interface.py +++ b/python/PiFinder/camera_interface.py @@ -425,7 +425,17 @@ def get_image_loop( f"Exposure saved and auto-exposure disabled: {self.exposure_time}µs" ) - if command.startswith("save"): + if command.startswith("save_image:"): + # Save current camera frame to specified path + save_path = command.split(":", 1)[1] + try: + img = camera_image.copy() + img.save(save_path, "PNG", compress_level=6) + logger.debug("Telemetry image saved: %s", save_path) + except Exception as e: + logger.error("Failed to save telemetry image: %s", e) + + if command.startswith("save:"): # Set flag to save next capture to this file self._save_next_to = command.split(":")[1] console_queue.put("CAM: Save flag set") diff --git a/python/PiFinder/integrator.py b/python/PiFinder/integrator.py index 2457f4872..4ca990886 100644 --- a/python/PiFinder/integrator.py +++ b/python/PiFinder/integrator.py @@ -40,7 +40,15 @@ IMU_MOVED_ANG_THRESHOLD = np.deg2rad(0.06) -def integrator(shared_state, solver_queue, console_queue, log_queue, is_debug=False): +def integrator( + shared_state, + solver_queue, + console_queue, + log_queue, + is_debug=False, + command_queue=None, + camera_command_queue=None, +): MultiprocLogging.configurer(log_queue) """ """ if is_debug: @@ -64,7 +72,101 @@ def integrator(shared_state, solver_queue, console_queue, log_queue, is_debug=Fa last_image_solve = None last_solve_time = time.time() + # Telemetry recording + from PiFinder.telemetry import TelemetryRecorder, TelemetryPlayer + + recorder = TelemetryRecorder() + recorder.images_enabled = bool(cfg.get_option("telemetry_images")) + if cfg.get_option("telemetry_record"): + recorder.start(cfg, shared_state) + + # Replay state + replay_mode = False + replay_player = None + while True: + # Process integrator commands + if command_queue is not None: + try: + cmd = command_queue.get(block=False) + if isinstance(cmd, tuple): + cmd_name, cmd_arg = cmd + if cmd_name == "telemetry_record_on": + recorder.images_enabled = bool( + cfg.get_option("telemetry_images") + ) + recorder.start(cfg, shared_state) + console_queue.put("Telemetry: Recording") + elif cmd_name == "telemetry_record_off": + recorder.stop() + console_queue.put("Telemetry: Stopped") + elif cmd_name == "replay": + logger.info("Entering replay mode: %s", cmd_arg) + replay_player = TelemetryPlayer(cmd_arg) + replay_mode = True + # Set location/datetime from header + if replay_player.header: + hdr = replay_player.header + if hdr.get("loc"): + loc = shared_state.location() + loc.lat = hdr["loc"][0] + loc.lon = hdr["loc"][1] + loc.altitude = hdr["loc"][2] + loc.lock = True + loc.source = "replay" + shared_state.set_location(loc) + if hdr.get("dt"): + from datetime import datetime as dt_cls + + shared_state.set_datetime( + dt_cls.fromisoformat(hdr["dt"]) + ) + console_queue.put("Telemetry: Replay started") + elif cmd_name == "replay_stop": + logger.info("Exiting replay mode") + replay_mode = False + replay_player = None + if camera_command_queue is not None: + camera_command_queue.put("start") + console_queue.put("Telemetry: Replay stopped") + except queue.Empty: + pass + + # Replay mode: feed recorded data instead of live sources + if replay_mode and replay_player is not None: + state_utils.sleep_for_framerate(shared_state) + # Drain real solver queue to prevent buildup + try: + while True: + solver_queue.get(block=False) + except queue.Empty: + pass + + event, done = replay_player.get_next_event() + if done and event is None: + replay_mode = False + replay_player = None + if camera_command_queue is not None: + camera_command_queue.put("start") + console_queue.put("Telemetry: Replay finished") + logger.info("Replay finished") + continue + + if event is not None: + _handle_replay_event( + event, + shared_state, + solved, + last_image_solve, + imu_dead_reckoning, + mount_type, + ) + # Update last_image_solve/last_solve_time for solve events + if event["e"] == "solve" and solved["RA"] is not None: + last_image_solve = copy.deepcopy(solved) + last_solve_time = time.time() + continue + state_utils.sleep_for_framerate(shared_state) # Check for new camera solve in queue @@ -75,6 +177,15 @@ def integrator(shared_state, solver_queue, console_queue, log_queue, is_debug=Fa pass if type(next_image_solve) is dict: + # Record solve with the current IMU-predicted position + # (before it gets overwritten by the new solve). + # This lets us measure drift = predicted vs actual. + solve_record_t = recorder.record_solve( + next_image_solve, + predicted_ra=solved.get("RA"), + predicted_dec=solved.get("Dec"), + ) + # For camera solves, always start from last successful camera solve # NOT from shared_state (which may contain IMU drift) # This prevents IMU noise accumulation during failed solves @@ -113,6 +224,20 @@ def integrator(shared_state, solver_queue, console_queue, log_queue, is_debug=Fa shared_state.set_solve_state(True) # We have a new image solve: Use plate-solving for RA/Dec update_plate_solve_and_imu(imu_dead_reckoning, solved) + + # Save image alongside telemetry if enabled + if ( + recorder.enabled + and recorder.images_enabled + and camera_command_queue is not None + and solve_record_t is not None + ): + session_dir = recorder.get_session_dir() + if session_dir: + img_path = str( + session_dir / f"img_{solve_record_t:.3f}.png" + ) + camera_command_queue.put(f"save_image:{img_path}") else: # Failed solve - clear constellation solved["solve_source"] = "CAM_FAILED" @@ -128,6 +253,7 @@ def integrator(shared_state, solver_queue, console_queue, log_queue, is_debug=Fa # the last plate solved coordinates. imu = shared_state.imu() if imu: + recorder.record_imu(imu) update_imu(imu_dead_reckoning, solved, last_image_solve, imu) # Push IMU updates only if newer than last push @@ -171,8 +297,92 @@ def integrator(shared_state, solver_queue, console_queue, log_queue, is_debug=Fa shared_state.set_solution(solved) shared_state.set_solve_state(True) + recorder.flush() + except EOFError: logger.error("Main no longer running for integrator") + finally: + recorder.stop() + + +# ======== Replay helper ============================================== + + +def _handle_replay_event( + event, shared_state, solved, last_image_solve, imu_dead_reckoning, mount_type +): + """Process a single replayed telemetry event.""" + if event["e"] == "imu": + q = event.get("q") + if q and last_image_solve and imu_dead_reckoning.tracking: + imu = { + "quat": quaternion.quaternion(q[0], q[1], q[2], q[3]), + "moving": event.get("mv", False), + "status": event.get("st", 0), + } + update_imu(imu_dead_reckoning, solved, last_image_solve, imu) + + # Push updated solution + if solved["RA"] is not None: + location = shared_state.location() + dt = shared_state.datetime() + if location: + calc_utils.sf_utils.set_location( + location.lat, location.lon, location.altitude + ) + solved["Roll"] = get_roll_by_mount_type( + solved["RA"], solved["Dec"], location, dt, mount_type + ) + solved["constellation"] = calc_utils.sf_utils.radec_to_constellation( + solved["RA"], solved["Dec"] + ) + if location and dt: + solved["Alt"], solved["Az"] = calc_utils.sf_utils.radec_to_altaz( + solved["RA"], solved["Dec"], dt + ) + shared_state.set_solution(solved) + shared_state.set_solve_state(True) + + elif event["e"] == "solve": + # Reconstruct a solve dict from the recorded event + if event.get("ra") is not None: + solved["RA"] = event["ra"] + solved["Dec"] = event["dec"] + solved["Roll"] = event.get("roll") + solved["camera_center"] = { + "RA": event.get("cam_ra"), + "Dec": event.get("cam_dec"), + "Roll": event.get("cam_roll"), + "Alt": None, + "Az": None, + } + iq = event.get("iq") + if iq: + solved["imu_quat"] = quaternion.quaternion(iq[0], iq[1], iq[2], iq[3]) + solved["Matches"] = event.get("matches") + solved["RMSE"] = event.get("rmse") + solved["solve_source"] = "CAM" + solved["solve_time"] = time.time() + solved["constellation"] = calc_utils.sf_utils.radec_to_constellation( + solved["RA"], solved["Dec"] + ) + shared_state.set_solve_state(True) + update_plate_solve_and_imu(imu_dead_reckoning, solved) + + location = shared_state.location() + dt = shared_state.datetime() + if location: + calc_utils.sf_utils.set_location( + location.lat, location.lon, location.altitude + ) + solved["Roll"] = get_roll_by_mount_type( + solved["RA"], solved["Dec"], location, dt, mount_type + ) + if location and dt: + solved["Alt"], solved["Az"] = calc_utils.sf_utils.radec_to_altaz( + solved["RA"], solved["Dec"], dt + ) + shared_state.set_solution(solved) # ======== Wrapper and helper functions =============================== diff --git a/python/PiFinder/integrator_classic.py b/python/PiFinder/integrator_classic.py index 2ed8da798..b55af9a67 100644 --- a/python/PiFinder/integrator_classic.py +++ b/python/PiFinder/integrator_classic.py @@ -45,7 +45,7 @@ def imu_moved(imu_a, imu_b): return False -def integrator(shared_state, solver_queue, console_queue, log_queue, is_debug=False): +def integrator(shared_state, solver_queue, console_queue, log_queue, is_debug=False, **kwargs): MultiprocLogging.configurer(log_queue) try: if is_debug: diff --git a/python/PiFinder/main.py b/python/PiFinder/main.py index d447bf66c..68d1b7668 100644 --- a/python/PiFinder/main.py +++ b/python/PiFinder/main.py @@ -121,6 +121,7 @@ def setup_dirs(): utils.create_path(Path(utils.data_dir, "screenshots")) utils.create_path(Path(utils.data_dir, "solver_debug_dumps")) utils.create_path(Path(utils.data_dir, "logs")) + utils.create_path(Path(utils.data_dir, "telemetry")) os.chmod(Path(utils.data_dir), 0o777) @@ -325,6 +326,8 @@ def main( logger.info("PiFinder running on %s, %s, %s", os_detail, platform, arch) # init UI Modes + integrator_command_queue: Queue = Queue() + command_queues = { "camera": camera_command_queue, "console": console_queue, @@ -332,6 +335,7 @@ def main( "align_command": alignment_command_queue, "align_response": alignment_response_queue, "gps": gps_queue, + "integrator": integrator_command_queue, } cfg = config.Config() @@ -490,6 +494,10 @@ def main( integrator_logqueque, verbose, ), + kwargs={ + "command_queue": integrator_command_queue, + "camera_command_queue": camera_command_queue, + }, ) integrator_process.start() diff --git a/python/PiFinder/telemetry.py b/python/PiFinder/telemetry.py new file mode 100644 index 000000000..0fb145bd8 --- /dev/null +++ b/python/PiFinder/telemetry.py @@ -0,0 +1,270 @@ +""" +Telemetry recording and replay for the integrator. + +Records IMU readings and plate solves with accurate timing to JSONL files +in ~/PiFinder_data/telemetry/. Replay mode feeds recorded data back through +the integrator for bench testing. +""" + +import json +import logging +import threading +import time +from collections import deque +from datetime import datetime +from pathlib import Path + +from PiFinder import utils + +logger = logging.getLogger("Telemetry") + +TELEMETRY_DIR = Path(utils.data_dir) / "telemetry" + + +def _serialize_quat(q): + """Serialize a quaternion to a list [w, x, y, z].""" + if q is None: + return None + try: + return [float(q.w), float(q.x), float(q.y), float(q.z)] + except (AttributeError, TypeError): + return None + + +class TelemetryRecorder: + """ + Records IMU and solve events to a JSONL file. + + Uses a deque buffer flushed every 5 seconds by a background thread. + When disabled, all methods are no-ops. + """ + + def __init__(self): + self.enabled = False + self.images_enabled = False + self._buffer = deque(maxlen=300) + self._file = None + self._flush_thread = None + self._stop_event = threading.Event() + self._session_dir = None + self._last_flush = 0.0 + + def start(self, cfg, shared_state): + """Start a new recording session.""" + if self.enabled: + self.stop() + + TELEMETRY_DIR.mkdir(parents=True, exist_ok=True) + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + self._session_dir = TELEMETRY_DIR / timestamp + self._session_dir.mkdir(parents=True, exist_ok=True) + session_file = self._session_dir / "session.jsonl" + + self._file = open(session_file, "a") + self.enabled = True + self._last_flush = time.time() + + # Write header + location = shared_state.location() + dt = shared_state.datetime() + header = { + "t": time.time(), + "e": "hdr", + "loc": [location.lat, location.lon, location.altitude] + if location + else None, + "dt": dt.isoformat() if dt else None, + "cfg": {"integrator": cfg.get_option("imu_integrator")}, + } + self._buffer.append(json.dumps(header) + "\n") + + # Start flush thread + self._stop_event.clear() + self._flush_thread = threading.Thread( + target=self._flush_loop, daemon=True, name="telemetry-flush" + ) + self._flush_thread.start() + logger.info("Telemetry recording started: %s", session_file) + + def stop(self): + """Stop the current recording session.""" + if not self.enabled: + return + self.enabled = False + self._stop_event.set() + if self._flush_thread: + self._flush_thread.join(timeout=2) + self._flush_thread = None + self._do_flush() + if self._file: + self._file.close() + self._file = None + self._session_dir = None + logger.info("Telemetry recording stopped") + + def record_imu(self, imu): + """Record an IMU reading. No-op if disabled.""" + if not self.enabled or imu is None: + return + record = { + "t": time.time(), + "e": "imu", + "q": _serialize_quat(imu.get("quat")), + "pos": list(imu["pos"]) if imu.get("pos") is not None else None, + "mv": imu.get("moving", False), + "st": imu.get("status", 0), + } + self._buffer.append(json.dumps(record) + "\n") + + def record_solve(self, solve_dict, predicted_ra=None, predicted_dec=None): + """Record a plate solve result. No-op if disabled. + + predicted_ra/predicted_dec are the integrator's IMU-predicted position + just before the solve arrived, enabling drift measurement. + + Returns the timestamp used for the record, or None if not recorded. + """ + if not self.enabled or solve_dict is None: + return None + t = time.time() + record = { + "t": t, + "e": "solve", + "ra": solve_dict.get("RA"), + "dec": solve_dict.get("Dec"), + "roll": solve_dict.get("Roll"), + "pred_ra": predicted_ra, + "pred_dec": predicted_dec, + "cam_ra": solve_dict.get("camera_center", {}).get("RA") + if isinstance(solve_dict.get("camera_center"), dict) + else None, + "cam_dec": solve_dict.get("camera_center", {}).get("Dec") + if isinstance(solve_dict.get("camera_center"), dict) + else None, + "cam_roll": solve_dict.get("camera_center", {}).get("Roll") + if isinstance(solve_dict.get("camera_center"), dict) + else None, + "iq": _serialize_quat(solve_dict.get("imu_quat")), + "ip": list(solve_dict["imu_pos"]) + if solve_dict.get("imu_pos") is not None + else None, + "matches": solve_dict.get("Matches"), + "rmse": solve_dict.get("RMSE"), + "src": solve_dict.get("solve_source"), + } + self._buffer.append(json.dumps(record) + "\n") + return t + + def get_session_dir(self): + """Return current session directory path, or None.""" + return self._session_dir + + def flush(self): + """Time-gated flush - only actually flushes every 5 seconds.""" + if not self.enabled: + return + now = time.time() + if now - self._last_flush >= 5.0: + self._do_flush() + self._last_flush = now + + def _do_flush(self): + """Flush the buffer to disk.""" + if not self._file or not self._buffer: + return + lines = [] + while self._buffer: + try: + lines.append(self._buffer.popleft()) + except IndexError: + break + if lines: + self._file.writelines(lines) + self._file.flush() + + def _flush_loop(self): + """Background thread that flushes every 5 seconds.""" + while not self._stop_event.is_set(): + self._stop_event.wait(5.0) + self._do_flush() + + +class TelemetryPlayer: + """ + Reads a recorded JSONL session and replays events with original timing. + """ + + def __init__(self, path): + self.path = Path(path) + self.events = [] + self.header = None + self._index = 0 + self._base_time = None + self._replay_start = None + self._load() + + def _load(self): + """Load all events from the JSONL file.""" + file_path = self.path + if file_path.is_dir(): + file_path = file_path / "session.jsonl" + + with open(file_path) as f: + for line in f: + line = line.strip() + if not line: + continue + event = json.loads(line) + if event.get("e") == "hdr": + self.header = event + else: + self.events.append(event) + + if self.events: + self._base_time = self.events[0]["t"] + logger.info( + "Loaded telemetry: %d events from %s", len(self.events), file_path + ) + + def reset(self): + """Reset replay to the beginning.""" + self._index = 0 + self._replay_start = None + + def get_next_event(self): + """ + Return the next event if its relative timestamp has elapsed, + otherwise return None. Call this in a loop. + + Returns (event_dict, done_bool). + """ + if self._index >= len(self.events): + return None, True + + if self._replay_start is None: + self._replay_start = time.time() + + event = self.events[self._index] + event_offset = event["t"] - self._base_time + elapsed = time.time() - self._replay_start + + if elapsed >= event_offset: + self._index += 1 + return event, self._index >= len(self.events) + + return None, False + + @property + def progress(self): + """Return replay progress as a fraction 0.0-1.0.""" + if not self.events: + return 1.0 + return self._index / len(self.events) + + @property + def total_events(self): + return len(self.events) + + @property + def current_index(self): + return self._index diff --git a/python/PiFinder/ui/callbacks.py b/python/PiFinder/ui/callbacks.py index 78878c178..3a02e1efe 100644 --- a/python/PiFinder/ui/callbacks.py +++ b/python/PiFinder/ui/callbacks.py @@ -405,6 +405,20 @@ def generate_custom_object_name(ui_module: UIModule) -> str: return f"CUSTOM {max_num + 1}" +def telemetry_record_toggle(ui_module: UIModule) -> None: + """Toggle telemetry recording on/off via integrator command queue.""" + enabled = ui_module.config_object.get_option("telemetry_record") + if "integrator" in ui_module.command_queues: + if enabled: + ui_module.command_queues["integrator"].put(("telemetry_record_on", None)) + ui_module.message("Telemetry\nRecording", 2) + else: + ui_module.command_queues["integrator"].put(("telemetry_record_off", None)) + ui_module.message("Telemetry\nStopped", 2) + else: + ui_module.message("No integrator\nqueue", 2) + + def update_gpsd_baud_rate(ui_module: UIModule) -> None: """ Updates the GPSD configuration with the current baud rate setting. diff --git a/python/PiFinder/ui/menu_structure.py b/python/PiFinder/ui/menu_structure.py index e4ee44380..fc494b143 100644 --- a/python/PiFinder/ui/menu_structure.py +++ b/python/PiFinder/ui/menu_structure.py @@ -14,6 +14,7 @@ from PiFinder.ui.equipment import UIEquipment from PiFinder.ui.location_list import UILocationList from PiFinder.ui.radec_entry import UIRADecEntry +from PiFinder.ui.telemetry_list import UITelemetryList import PiFinder.ui.callbacks as callbacks @@ -1144,6 +1145,57 @@ def _(key: str) -> Any: }, ], }, + { + "name": _("Dev Tools"), + "class": UITextMenu, + "select": "single", + "items": [ + { + "name": _("Telemetry"), + "class": UITextMenu, + "select": "single", + "items": [ + { + "name": _("Record"), + "class": UITextMenu, + "select": "single", + "config_option": "telemetry_record", + "post_callback": callbacks.telemetry_record_toggle, + "items": [ + { + "name": _("Off"), + "value": False, + }, + { + "name": _("On"), + "value": True, + }, + ], + }, + { + "name": _("Images"), + "class": UITextMenu, + "select": "single", + "config_option": "telemetry_images", + "items": [ + { + "name": _("Off"), + "value": False, + }, + { + "name": _("On"), + "value": True, + }, + ], + }, + { + "name": _("Load"), + "class": UITelemetryList, + }, + ], + }, + ], + }, ], }, { diff --git a/python/PiFinder/ui/telemetry_list.py b/python/PiFinder/ui/telemetry_list.py new file mode 100644 index 000000000..b5aefcd2c --- /dev/null +++ b/python/PiFinder/ui/telemetry_list.py @@ -0,0 +1,104 @@ +""" +UI screen for listing and loading telemetry recording sessions. + +Lists .jsonl files from ~/PiFinder_data/telemetry/ with filename and size. +Selecting a file triggers replay via the integrator command queue. +""" + +import logging + +from PiFinder.ui.text_menu import UITextMenu +from PiFinder.telemetry import TELEMETRY_DIR + +from typing import Any, TYPE_CHECKING + +if TYPE_CHECKING: + + def _(a) -> Any: + return a + + +logger = logging.getLogger("UI.TelemetryList") + + +class UITelemetryList(UITextMenu): + """File picker for telemetry sessions.""" + + __title__ = "Telemetry" + + def __init__(self, *args, **kwargs): + self._sessions = self._scan_sessions() + kwargs["item_definition"] = self._create_menu_definition() + super().__init__(*args, **kwargs) + + def _scan_sessions(self): + """Scan telemetry directory for session files.""" + sessions = [] + if not TELEMETRY_DIR.exists(): + return sessions + + # Look for session dirs (contain session.jsonl) and standalone .jsonl files + for entry in sorted(TELEMETRY_DIR.iterdir(), reverse=True): + jsonl_path = None + if entry.is_dir(): + candidate = entry / "session.jsonl" + if candidate.exists(): + jsonl_path = candidate + elif entry.suffix == ".jsonl": + jsonl_path = entry + + if jsonl_path: + size_kb = jsonl_path.stat().st_size / 1024 + label = entry.name + if size_kb >= 1024: + size_str = f"{size_kb / 1024:.1f}MB" + else: + size_str = f"{size_kb:.0f}KB" + sessions.append( + { + "label": label, + "size_str": size_str, + "path": str(entry), + } + ) + return sessions + + def _create_menu_definition(self): + items = [] + for s in self._sessions: + items.append( + { + "name": f"{s['label']} ({s['size_str']})", + "value": s["path"], + } + ) + if not items: + items.append({"name": "No sessions found", "value": None}) + return {"name": "Telemetry", "select": "single", "items": items} + + def key_right(self): + """Select a session to replay.""" + if not self._sessions: + self.message("No sessions", 2) + return False + + idx = self._current_item_index + items = self.item_definition["items"] + if idx >= len(items): + return False + + session_path = items[idx].get("value") + if session_path is None: + return False + + # Send replay command to integrator + if "integrator" in self.command_queues: + self.command_queues["camera"].put("stop") + self.command_queues["integrator"].put(("replay", session_path)) + self.message("Replay\nstarted", 2) + logger.info("Starting telemetry replay: %s", session_path) + else: + self.message("No integrator\nqueue", 2) + logger.warning("Integrator command queue not available") + + return True From aff51b9a15b14ed4d8bad5f1c97e77ffaaf447c4 Mon Sep 17 00:00:00 2001 From: Mike Rosseel Date: Sun, 8 Mar 2026 19:19:22 +0100 Subject: [PATCH 3/6] refactor: extract pointing math and telemetry into separate modules 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 --- python/PiFinder/integrator.py | 481 +++------------------------------- python/PiFinder/pointing.py | 191 ++++++++++++++ python/PiFinder/telemetry.py | 191 +++++++++++++- 3 files changed, 415 insertions(+), 448 deletions(-) create mode 100644 python/PiFinder/pointing.py diff --git a/python/PiFinder/integrator.py b/python/PiFinder/integrator.py index 4ca990886..f24ed631c 100644 --- a/python/PiFinder/integrator.py +++ b/python/PiFinder/integrator.py @@ -1,44 +1,33 @@ #!/usr/bin/python # -*- coding:utf-8 -*- """ -This module is the solver -* Checks IMU -* Plate solves high-res image - -TODO: -- Rename solved --> pointing_estimate (also includes IMU) -- Rename next_image_solved --> new_solve -- Rename last_image_solve --> prev_solve (previous successful solve) -- Simplify program flow and explain in comments at top -- Refactor into class PointingTracker +Integrator: combines plate solves and IMU dead-reckoning into a single +pointing estimate, then pushes to shared_state. +Telemetry record/replay is handled by TelemetryManager; pointing math +lives in pointing.py. """ -import datetime import queue import time import copy import logging -import numpy as np -import quaternion # numpy-quaternion from PiFinder import config from PiFinder import state_utils -import PiFinder.calc_utils as calc_utils from PiFinder.multiproclogging import MultiprocLogging -from PiFinder.pointing_model.astro_coords import RaDecRoll from PiFinder.solver import get_initialized_solved_dict from PiFinder.pointing_model.imu_dead_reckoning import ImuDeadReckoning -import PiFinder.pointing_model.quaternion_transforms as qt +from PiFinder.pointing import ( + finalize_and_push_solution, + update_imu, + update_plate_solve_and_imu, +) +from PiFinder.telemetry import TelemetryManager logger = logging.getLogger("IMU.Integrator") -# Constants: -# Use IMU tracking if the angle moved is above this -# TODO: May need to adjust this depending on the IMU sensitivity thresholds -IMU_MOVED_ANG_THRESHOLD = np.deg2rad(0.06) - def integrator( shared_state, @@ -50,123 +39,45 @@ def integrator( camera_command_queue=None, ): MultiprocLogging.configurer(log_queue) - """ """ if is_debug: logger.setLevel(logging.DEBUG) logger.debug("Starting Integrator") try: - # Dict of RA, Dec, etc. initialized to None: solved = get_initialized_solved_dict() cfg = config.Config() mount_type = cfg.get_option("mount_type") logger.debug(f"mount_type = {mount_type}") - # Set up dead-reckoning tracking by the IMU: imu_dead_reckoning = ImuDeadReckoning(cfg.get_option("screen_direction")) - # imu_dead_reckoning.set_cam2scope_alignment(q_scope2cam) # TODO: Enable when q_scope2cam is available from alignment - # This holds the last image solve position info - # so we can delta for IMU updates last_image_solve = None last_solve_time = time.time() - # Telemetry recording - from PiFinder.telemetry import TelemetryRecorder, TelemetryPlayer - - recorder = TelemetryRecorder() - recorder.images_enabled = bool(cfg.get_option("telemetry_images")) - if cfg.get_option("telemetry_record"): - recorder.start(cfg, shared_state) - - # Replay state - replay_mode = False - replay_player = None + telemetry = TelemetryManager( + cfg, shared_state, console_queue, camera_command_queue + ) while True: - # Process integrator commands - if command_queue is not None: - try: - cmd = command_queue.get(block=False) - if isinstance(cmd, tuple): - cmd_name, cmd_arg = cmd - if cmd_name == "telemetry_record_on": - recorder.images_enabled = bool( - cfg.get_option("telemetry_images") - ) - recorder.start(cfg, shared_state) - console_queue.put("Telemetry: Recording") - elif cmd_name == "telemetry_record_off": - recorder.stop() - console_queue.put("Telemetry: Stopped") - elif cmd_name == "replay": - logger.info("Entering replay mode: %s", cmd_arg) - replay_player = TelemetryPlayer(cmd_arg) - replay_mode = True - # Set location/datetime from header - if replay_player.header: - hdr = replay_player.header - if hdr.get("loc"): - loc = shared_state.location() - loc.lat = hdr["loc"][0] - loc.lon = hdr["loc"][1] - loc.altitude = hdr["loc"][2] - loc.lock = True - loc.source = "replay" - shared_state.set_location(loc) - if hdr.get("dt"): - from datetime import datetime as dt_cls + telemetry.poll_commands(command_queue) - shared_state.set_datetime( - dt_cls.fromisoformat(hdr["dt"]) - ) - console_queue.put("Telemetry: Replay started") - elif cmd_name == "replay_stop": - logger.info("Exiting replay mode") - replay_mode = False - replay_player = None - if camera_command_queue is not None: - camera_command_queue.put("start") - console_queue.put("Telemetry: Replay stopped") - except queue.Empty: - pass - - # Replay mode: feed recorded data instead of live sources - if replay_mode and replay_player is not None: + # --- Replay mode --- + if telemetry.replaying: state_utils.sleep_for_framerate(shared_state) - # Drain real solver queue to prevent buildup - try: - while True: - solver_queue.get(block=False) - except queue.Empty: - pass - - event, done = replay_player.get_next_event() - if done and event is None: - replay_mode = False - replay_player = None - if camera_command_queue is not None: - camera_command_queue.put("start") - console_queue.put("Telemetry: Replay finished") - logger.info("Replay finished") - continue - + _drain_queue(solver_queue) + event = telemetry.next_replay_event() if event is not None: - _handle_replay_event( + last_image_solve = telemetry.handle_replay_event( event, - shared_state, solved, last_image_solve, imu_dead_reckoning, mount_type, ) - # Update last_image_solve/last_solve_time for solve events - if event["e"] == "solve" and solved["RA"] is not None: - last_image_solve = copy.deepcopy(solved) - last_solve_time = time.time() continue + # --- Normal mode --- state_utils.sleep_for_framerate(shared_state) # Check for new camera solve in queue @@ -176,11 +87,8 @@ def integrator( except queue.Empty: pass - if type(next_image_solve) is dict: - # Record solve with the current IMU-predicted position - # (before it gets overwritten by the new solve). - # This lets us measure drift = predicted vs actual. - solve_record_t = recorder.record_solve( + if isinstance(next_image_solve, dict): + telemetry.record_solve( next_image_solve, predicted_ra=solved.get("RA"), predicted_dec=solved.get("Dec"), @@ -188,12 +96,9 @@ def integrator( # For camera solves, always start from last successful camera solve # NOT from shared_state (which may contain IMU drift) - # This prevents IMU noise accumulation during failed solves if last_image_solve: solved = copy.deepcopy(last_image_solve) - # If no successful solve yet, keep initial solved dict - # TODO: Create a function to update solve? # Update solve metadata (always needed for auto-exposure) for key in [ "Matches", @@ -208,355 +113,41 @@ def integrator( if next_image_solve.get("RA") is not None: solved.update(next_image_solve) - # For failed solves, preserve ALL position data from previous solve - # Don't recalculate from GPS (causes drift from GPS noise) - - # Set solve_source and push camera solves immediately if solved["RA"] is not None: last_image_solve = copy.deepcopy(solved) solved["solve_source"] = "CAM" - # Calculate constellation for successful solve - solved["constellation"] = ( - calc_utils.sf_utils.radec_to_constellation( - solved["RA"], solved["Dec"] - ) - ) shared_state.set_solve_state(True) - # We have a new image solve: Use plate-solving for RA/Dec update_plate_solve_and_imu(imu_dead_reckoning, solved) - - # Save image alongside telemetry if enabled - if ( - recorder.enabled - and recorder.images_enabled - and camera_command_queue is not None - and solve_record_t is not None - ): - session_dir = recorder.get_session_dir() - if session_dir: - img_path = str( - session_dir / f"img_{solve_record_t:.3f}.png" - ) - camera_command_queue.put(f"save_image:{img_path}") + finalize_and_push_solution(shared_state, solved, mount_type) else: - # Failed solve - clear constellation solved["solve_source"] = "CAM_FAILED" solved["constellation"] = "" - - # Push failed solved immediately - # This ensures auto-exposure sees Matches=0 for failed solves shared_state.set_solution(solved) shared_state.set_solve_state(False) elif imu_dead_reckoning.tracking: - # Previous plate-solve exists so use IMU dead-reckoning from - # the last plate solved coordinates. imu = shared_state.imu() if imu: - recorder.record_imu(imu) + telemetry.record_imu(imu) update_imu(imu_dead_reckoning, solved, last_image_solve, imu) # Push IMU updates only if newer than last push - if ( - solved["RA"] and solved["solve_time"] > last_solve_time - # and solved["solve_source"] == "IMU" - ): - last_solve_time = time.time() # TODO: solve_time is ambiguous because it's also used for IMU dead-reckoning - - # Set location for roll and altaz calculations. - # TODO: Is it necessary to set location? - # TODO: Altaz doesn't seem to be required for catalogs when in - # EQ mode? Could be disabled in future when in EQ mode? - location = shared_state.location() - dt = shared_state.datetime() - if location: - calc_utils.sf_utils.set_location( - location.lat, location.lon, location.altitude - ) - - # Set the roll so that the chart is displayed appropriately for the mount type - solved["Roll"] = get_roll_by_mount_type( - solved["RA"], solved["Dec"], location, dt, mount_type - ) + if solved["RA"] and solved["solve_time"] > last_solve_time: + last_solve_time = time.time() + finalize_and_push_solution(shared_state, solved, mount_type) - # Update remaining solved keys - # Calculate constellation for current position - solved["constellation"] = calc_utils.sf_utils.radec_to_constellation( - solved["RA"], solved["Dec"] - ) # TODO: Can the outer brackets be omitted? - - # Set Alt/Az because it's needed for the catalogs for the - # Alt/Az mount type. TODO: Can this be moved to the catalog? - dt = shared_state.datetime() - if location and dt: - solved["Alt"], solved["Az"] = calc_utils.sf_utils.radec_to_altaz( - solved["RA"], solved["Dec"], dt - ) - - # Push IMU update - shared_state.set_solution(solved) - shared_state.set_solve_state(True) - - recorder.flush() + telemetry.flush() except EOFError: logger.error("Main no longer running for integrator") finally: - recorder.stop() - - -# ======== Replay helper ============================================== - - -def _handle_replay_event( - event, shared_state, solved, last_image_solve, imu_dead_reckoning, mount_type -): - """Process a single replayed telemetry event.""" - if event["e"] == "imu": - q = event.get("q") - if q and last_image_solve and imu_dead_reckoning.tracking: - imu = { - "quat": quaternion.quaternion(q[0], q[1], q[2], q[3]), - "moving": event.get("mv", False), - "status": event.get("st", 0), - } - update_imu(imu_dead_reckoning, solved, last_image_solve, imu) - - # Push updated solution - if solved["RA"] is not None: - location = shared_state.location() - dt = shared_state.datetime() - if location: - calc_utils.sf_utils.set_location( - location.lat, location.lon, location.altitude - ) - solved["Roll"] = get_roll_by_mount_type( - solved["RA"], solved["Dec"], location, dt, mount_type - ) - solved["constellation"] = calc_utils.sf_utils.radec_to_constellation( - solved["RA"], solved["Dec"] - ) - if location and dt: - solved["Alt"], solved["Az"] = calc_utils.sf_utils.radec_to_altaz( - solved["RA"], solved["Dec"], dt - ) - shared_state.set_solution(solved) - shared_state.set_solve_state(True) - - elif event["e"] == "solve": - # Reconstruct a solve dict from the recorded event - if event.get("ra") is not None: - solved["RA"] = event["ra"] - solved["Dec"] = event["dec"] - solved["Roll"] = event.get("roll") - solved["camera_center"] = { - "RA": event.get("cam_ra"), - "Dec": event.get("cam_dec"), - "Roll": event.get("cam_roll"), - "Alt": None, - "Az": None, - } - iq = event.get("iq") - if iq: - solved["imu_quat"] = quaternion.quaternion(iq[0], iq[1], iq[2], iq[3]) - solved["Matches"] = event.get("matches") - solved["RMSE"] = event.get("rmse") - solved["solve_source"] = "CAM" - solved["solve_time"] = time.time() - solved["constellation"] = calc_utils.sf_utils.radec_to_constellation( - solved["RA"], solved["Dec"] - ) - shared_state.set_solve_state(True) - update_plate_solve_and_imu(imu_dead_reckoning, solved) - - location = shared_state.location() - dt = shared_state.datetime() - if location: - calc_utils.sf_utils.set_location( - location.lat, location.lon, location.altitude - ) - solved["Roll"] = get_roll_by_mount_type( - solved["RA"], solved["Dec"], location, dt, mount_type - ) - if location and dt: - solved["Alt"], solved["Az"] = calc_utils.sf_utils.radec_to_altaz( - solved["RA"], solved["Dec"], dt - ) - shared_state.set_solution(solved) - - -# ======== Wrapper and helper functions =============================== - - -def update_plate_solve_and_imu(imu_dead_reckoning: ImuDeadReckoning, solved: dict): - """ - Wrapper for ImuDeadReckoning.update_plate_solve_and_imu() to - interface angles in degrees to radians. - - This updates the pointing model with the plate-solved coordinates and the - IMU measurements which are assumed to have been taken at the same time. - """ - if (solved["RA"] is None) or (solved["Dec"] is None): - return # No update - else: - # Successfully plate solved & camera pointing exists - if solved["imu_quat"] is None: - q_x2imu = quaternion.quaternion(np.nan) - else: - q_x2imu = solved["imu_quat"] # IMU measurement at the time of plate solving - - # Update: - solved_cam = RaDecRoll() - solved_cam.set_from_deg( - solved["camera_center"]["RA"], - solved["camera_center"]["Dec"], - solved["camera_center"]["Roll"], - ) - imu_dead_reckoning.update_plate_solve_and_imu(solved_cam, q_x2imu) - - # Set alignment. TODO: Do this once at alignment. Move out of here. - set_cam2scope_alignment(imu_dead_reckoning, solved) - - -def update_imu( - imu_dead_reckoning: ImuDeadReckoning, - solved: dict, - last_image_solve: dict, - imu: dict, -): - """ - Updates the solved dictionary using IMU dead-reckoning from the last - solved pointing. - """ - if not (last_image_solve and imu_dead_reckoning.tracking): - return # Need all of these to do IMU dead-reckoning - - assert isinstance( - imu["quat"], quaternion.quaternion - ), "Expecting quaternion.quaternion type" # TODO: Can be removed later - q_x2imu = imu["quat"] # Current IMU measurement (quaternion) - - # When moving, switch to tracking using the IMU - angle_moved = qt.get_quat_angular_diff(last_image_solve["imu_quat"], q_x2imu) - if angle_moved > IMU_MOVED_ANG_THRESHOLD: - # Estimate camera pointing using IMU dead-reckoning - logger.debug( - "Track using IMU: Angle moved since last_image_solve = " - "{:}(> threshold = {:}) | IMU quat = ({:}, {:}, {:}, {:})".format( - np.rad2deg(angle_moved), - np.rad2deg(IMU_MOVED_ANG_THRESHOLD), - q_x2imu.w, - q_x2imu.x, - q_x2imu.y, - q_x2imu.z, - ) - ) - - # Dead-reckoning using IMU - imu_dead_reckoning.update_imu(q_x2imu) # Latest IMU measurement - - # Store current camera pointing estimate: - cam_eq = imu_dead_reckoning.get_cam_radec() - ( - solved["camera_center"]["RA"], - solved["camera_center"]["Dec"], - solved["camera_center"]["Roll"], - ) = cam_eq.get_deg(use_none=True) + telemetry.stop() - # Store the current scope pointing estimate - scope_eq = imu_dead_reckoning.get_scope_radec() - solved["RA"], solved["Dec"], solved["Roll"] = scope_eq.get_deg(use_none=True) - solved["solve_time"] = time.time() - solved["solve_source"] = "IMU" - - # Logging for states updated in solved: - logger.debug( - "IMU update: scope: RA: {:}, Dec: {:}, Roll: {:}".format( - solved["RA"], solved["Dec"], solved["Roll"] - ) - ) - logger.debug( - "IMU update: camera_center: RA: {:}, Dec: {:}, Roll: {:}".format( - solved["camera_center"]["RA"], - solved["camera_center"]["Dec"], - solved["camera_center"]["Roll"], - ) - ) - - -def set_cam2scope_alignment(imu_dead_reckoning: ImuDeadReckoning, solved: dict): - """ - Set alignment. - TODO: Do this once at alignment - """ - # RA, Dec of camera center:: - solved_cam = RaDecRoll() - solved_cam.set_from_deg( - solved["camera_center"]["RA"], - solved["camera_center"]["Dec"], - solved["camera_center"]["Roll"], - ) - - # RA, Dec of target (where scope is pointing): - solved["Roll"] = 0 # Target roll isn't calculated by Tetra3. Set to zero here - solved_scope = RaDecRoll() - solved_scope.set_from_deg(solved["RA"], solved["Dec"], solved["Roll"]) - - # Set alignment in imu_dead_reckoning - imu_dead_reckoning.set_cam2scope_alignment(solved_cam, solved_scope) - - -def get_roll_by_mount_type( - ra_deg: float, # Right Ascension of the target in degrees - dec_deg: float, # Declination of the target in degrees - location, # astropy EarthLocation object or None - dt: datetime.datetime, # datetime.datetime object or None - mount_type: str, # "Alt/Az" or "EQ" -) -> float: - """ - Returns the roll (in degrees) depending on the mount type so that the chart - is displayed appropriately for the mount type. The RA and Dec of the target - should be provided (in degrees). - - * Alt/Az mount: Display the chart in the horizontal coordinate so that up - in the chart points to the Zenith. - * EQ mount: Display the chart in the equatorial coordinate system with the - NCP up so roll = 0. - - Assumes that location has already been set in calc_utils.sf_utils. - """ - if mount_type == "Alt/Az": - # Altaz mounts: Display chart in horizontal coordinates - if location and dt: - # We have location and time/date (and assume that location has been set) - # Roll at the target RA/Dec in the horizontal frame - roll_deg = calc_utils.sf_utils.radec_to_roll(ra_deg, dec_deg, dt) - - # HACK: - # The IMU direction flips at a certaint point. Could due to a - # an issue in the formula in calc_utils.sf_utils.hadec_to_roll() - # This is a temperary hack for testing. - ha_deg = calc_utils.sf_utils.ra_to_ha(ra_deg, dt) - roll_deg = ( - roll_deg - np.sign(ha_deg) * 180 - ) # In essence, gives: roll_deg = -pa_deg - # End of HACK - else: - # No position or time/date available, so set roll to 0.0 - roll_deg = 0.0 - elif mount_type == "EQ": - # EQ-mounts: Display chart with NCP up so roll = 0.0 - roll_deg = 0.0 - else: - logger.error(f"Unknown mount type: {mount_type}. Cannot set roll.") - roll_deg = 0.0 - - # If location is available, adjust roll for hemisphere: - # Altaz: North up in northern hemisphere, South up in southern hemisphere - # EQ mounts: NCP up in northern hemisphere, SCP up in southern hemisphere - if location: - if location.lat < 0.0: - roll_deg += 180.0 # Southern hemisphere - - return roll_deg +def _drain_queue(q): + """Discard all pending items from a queue.""" + try: + while True: + q.get(block=False) + except queue.Empty: + pass diff --git a/python/PiFinder/pointing.py b/python/PiFinder/pointing.py new file mode 100644 index 000000000..4ac9311b2 --- /dev/null +++ b/python/PiFinder/pointing.py @@ -0,0 +1,191 @@ +""" +Pointing math: IMU dead-reckoning updates, plate-solve integration, +roll/constellation/altaz finalization. + +Pure functions operating on solved dicts and ImuDeadReckoning — no process +state, no queues. Shared by integrator.py and telemetry.py. +""" + +import datetime +import logging +import time + +import numpy as np +import quaternion # numpy-quaternion + +import PiFinder.calc_utils as calc_utils +from PiFinder.pointing_model.astro_coords import RaDecRoll +from PiFinder.pointing_model.imu_dead_reckoning import ImuDeadReckoning +import PiFinder.pointing_model.quaternion_transforms as qt + +logger = logging.getLogger("IMU.Integrator") + +# Use IMU tracking if the angle moved is above this +IMU_MOVED_ANG_THRESHOLD = np.deg2rad(0.06) + + +def finalize_and_push_solution(shared_state, solved, mount_type): + """Compute roll, constellation, altaz and push solution to shared_state.""" + location = shared_state.location() + dt = shared_state.datetime() + if location: + calc_utils.sf_utils.set_location(location.lat, location.lon, location.altitude) + + solved["Roll"] = get_roll_by_mount_type( + solved["RA"], solved["Dec"], location, dt, mount_type + ) + solved["constellation"] = calc_utils.sf_utils.radec_to_constellation( + solved["RA"], solved["Dec"] + ) + if location and dt: + solved["Alt"], solved["Az"] = calc_utils.sf_utils.radec_to_altaz( + solved["RA"], solved["Dec"], dt + ) + + shared_state.set_solution(solved) + shared_state.set_solve_state(True) + + +def update_plate_solve_and_imu(imu_dead_reckoning: ImuDeadReckoning, solved: dict): + """ + Wrapper for ImuDeadReckoning.update_plate_solve_and_imu() to + interface angles in degrees to radians. + + This updates the pointing model with the plate-solved coordinates and the + IMU measurements which are assumed to have been taken at the same time. + """ + if solved["RA"] is None or solved["Dec"] is None: + return + + if solved["imu_quat"] is None: + q_x2imu = quaternion.quaternion(np.nan) + else: + q_x2imu = solved["imu_quat"] + + solved_cam = RaDecRoll() + solved_cam.set_from_deg( + solved["camera_center"]["RA"], + solved["camera_center"]["Dec"], + solved["camera_center"]["Roll"], + ) + imu_dead_reckoning.update_plate_solve_and_imu(solved_cam, q_x2imu) + + set_cam2scope_alignment(imu_dead_reckoning, solved) + + +def update_imu( + imu_dead_reckoning: ImuDeadReckoning, + solved: dict, + last_image_solve: dict, + imu: dict, +): + """ + Updates the solved dictionary using IMU dead-reckoning from the last + solved pointing. + """ + if not (last_image_solve and imu_dead_reckoning.tracking): + return + + assert isinstance( + imu["quat"], quaternion.quaternion + ), "Expecting quaternion.quaternion type" + q_x2imu = imu["quat"] + + angle_moved = qt.get_quat_angular_diff(last_image_solve["imu_quat"], q_x2imu) + if angle_moved > IMU_MOVED_ANG_THRESHOLD: + logger.debug( + "Track using IMU: Angle moved since last_image_solve = " + "{:}(> threshold = {:}) | IMU quat = ({:}, {:}, {:}, {:})".format( + np.rad2deg(angle_moved), + np.rad2deg(IMU_MOVED_ANG_THRESHOLD), + q_x2imu.w, + q_x2imu.x, + q_x2imu.y, + q_x2imu.z, + ) + ) + + imu_dead_reckoning.update_imu(q_x2imu) + + cam_eq = imu_dead_reckoning.get_cam_radec() + ( + solved["camera_center"]["RA"], + solved["camera_center"]["Dec"], + solved["camera_center"]["Roll"], + ) = cam_eq.get_deg(use_none=True) + + scope_eq = imu_dead_reckoning.get_scope_radec() + solved["RA"], solved["Dec"], solved["Roll"] = scope_eq.get_deg(use_none=True) + + solved["solve_time"] = time.time() + solved["solve_source"] = "IMU" + + logger.debug( + "IMU update: scope: RA: {:}, Dec: {:}, Roll: {:}".format( + solved["RA"], solved["Dec"], solved["Roll"] + ) + ) + logger.debug( + "IMU update: camera_center: RA: {:}, Dec: {:}, Roll: {:}".format( + solved["camera_center"]["RA"], + solved["camera_center"]["Dec"], + solved["camera_center"]["Roll"], + ) + ) + + +def set_cam2scope_alignment(imu_dead_reckoning: ImuDeadReckoning, solved: dict): + """Set the camera-to-scope alignment in the dead-reckoning model.""" + solved_cam = RaDecRoll() + solved_cam.set_from_deg( + solved["camera_center"]["RA"], + solved["camera_center"]["Dec"], + solved["camera_center"]["Roll"], + ) + + solved["Roll"] = 0 # Target roll isn't calculated by Tetra3 + solved_scope = RaDecRoll() + solved_scope.set_from_deg(solved["RA"], solved["Dec"], solved["Roll"]) + + imu_dead_reckoning.set_cam2scope_alignment(solved_cam, solved_scope) + + +def get_roll_by_mount_type( + ra_deg: float, + dec_deg: float, + location, + dt: datetime.datetime, + mount_type: str, +) -> float: + """ + Returns the roll (in degrees) depending on the mount type so that the chart + is displayed appropriately for the mount type. + + * Alt/Az mount: Display the chart in the horizontal coordinate so that up + in the chart points to the Zenith. + * EQ mount: Display the chart in the equatorial coordinate system with the + NCP up so roll = 0. + + Assumes that location has already been set in calc_utils.sf_utils. + """ + if mount_type == "Alt/Az": + if location and dt: + roll_deg = calc_utils.sf_utils.radec_to_roll(ra_deg, dec_deg, dt) + + # HACK: The IMU direction flips at a certain point. Could be due to + # an issue in calc_utils.sf_utils.hadec_to_roll(). + ha_deg = calc_utils.sf_utils.ra_to_ha(ra_deg, dt) + roll_deg = roll_deg - np.sign(ha_deg) * 180 + else: + roll_deg = 0.0 + elif mount_type == "EQ": + roll_deg = 0.0 + else: + logger.error(f"Unknown mount type: {mount_type}. Cannot set roll.") + roll_deg = 0.0 + + # Adjust roll for hemisphere + if location and location.lat < 0.0: + roll_deg += 180.0 + + return roll_deg diff --git a/python/PiFinder/telemetry.py b/python/PiFinder/telemetry.py index 0fb145bd8..2c891589c 100644 --- a/python/PiFinder/telemetry.py +++ b/python/PiFinder/telemetry.py @@ -6,6 +6,7 @@ the integrator for bench testing. """ +import copy import json import logging import threading @@ -14,7 +15,14 @@ from datetime import datetime from pathlib import Path +import quaternion as quaternion_module + from PiFinder import utils +from PiFinder.pointing import ( + finalize_and_push_solution, + update_imu, + update_plate_solve_and_imu, +) logger = logging.getLogger("Telemetry") @@ -222,9 +230,7 @@ def _load(self): if self.events: self._base_time = self.events[0]["t"] - logger.info( - "Loaded telemetry: %d events from %s", len(self.events), file_path - ) + logger.info("Loaded telemetry: %d events from %s", len(self.events), file_path) def reset(self): """Reset replay to the beginning.""" @@ -268,3 +274,182 @@ def total_events(self): @property def current_index(self): return self._index + + @staticmethod + def event_to_solve_dict(event): + """Convert a recorded solve event to the fields needed by solved dict.""" + result = { + "RA": event["ra"], + "Dec": event["dec"], + "Roll": event.get("roll"), + "camera_center": { + "RA": event.get("cam_ra"), + "Dec": event.get("cam_dec"), + "Roll": event.get("cam_roll"), + "Alt": None, + "Az": None, + }, + "Matches": event.get("matches"), + "RMSE": event.get("rmse"), + "solve_source": "CAM", + "solve_time": time.time(), + } + iq = event.get("iq") + if iq: + result["imu_quat"] = quaternion_module.quaternion( + iq[0], iq[1], iq[2], iq[3] + ) + return result + + @staticmethod + def event_to_imu_dict(event): + """Convert a recorded IMU event to an imu dict, or None if no quat.""" + q = event.get("q") + if not q: + return None + return { + "quat": quaternion_module.quaternion(q[0], q[1], q[2], q[3]), + "moving": event.get("mv", False), + "status": event.get("st", 0), + } + + +class TelemetryManager: + """ + Facade over TelemetryRecorder and TelemetryPlayer. + + Owns all telemetry I/O: command dispatch, recording, replay state, + image saving, and console/camera queue messaging. The integrator + only needs to call a handful of one-liners. + """ + + def __init__(self, cfg, shared_state, console_queue, camera_command_queue=None): + self._cfg = cfg + self._shared_state = shared_state + self._console_queue = console_queue + self._camera_command_queue = camera_command_queue + self._recorder = TelemetryRecorder() + self._recorder.images_enabled = bool(cfg.get_option("telemetry_images")) + self._player = None + if cfg.get_option("telemetry_record"): + self._recorder.start(cfg, shared_state) + + @property + def replaying(self): + return self._player is not None + + def poll_commands(self, command_queue): + """Check for and dispatch any pending telemetry commands.""" + if command_queue is None: + return + import queue + + try: + cmd = command_queue.get(block=False) + if isinstance(cmd, tuple): + self._handle_command(cmd[0], cmd[1]) + except queue.Empty: + pass + + def _handle_command(self, cmd_name, cmd_arg): + """Dispatch a telemetry command.""" + if cmd_name == "telemetry_record_on": + self._recorder.images_enabled = bool( + self._cfg.get_option("telemetry_images") + ) + self._recorder.start(self._cfg, self._shared_state) + self._console_queue.put("Telemetry: Recording") + + elif cmd_name == "telemetry_record_off": + self._recorder.stop() + self._console_queue.put("Telemetry: Stopped") + + elif cmd_name == "replay": + logger.info("Entering replay mode: %s", cmd_arg) + self._player = TelemetryPlayer(cmd_arg) + if self._player.header: + self._apply_replay_header(self._player.header, self._shared_state) + self._console_queue.put("Telemetry: Replay started") + + elif cmd_name == "replay_stop": + logger.info("Exiting replay mode") + self._player = None + self._restart_camera() + self._console_queue.put("Telemetry: Replay stopped") + + def next_replay_event(self): + """Return the next replay event, or None. + + Automatically clears replay state and restarts camera when done. + """ + if self._player is None: + return None + event, done = self._player.get_next_event() + if done and event is None: + self._player = None + self._restart_camera() + self._console_queue.put("Telemetry: Replay finished") + logger.info("Replay finished") + return None + return event + + def handle_replay_event( + self, event, solved, last_image_solve, imu_dead_reckoning, mount_type + ): + """Process a single replayed event. Returns updated last_image_solve.""" + if event["e"] == "imu": + imu = TelemetryPlayer.event_to_imu_dict(event) + if imu and last_image_solve and imu_dead_reckoning.tracking: + update_imu(imu_dead_reckoning, solved, last_image_solve, imu) + if solved["RA"] is not None: + finalize_and_push_solution(self._shared_state, solved, mount_type) + + elif event["e"] == "solve" and event.get("ra") is not None: + solved.update(TelemetryPlayer.event_to_solve_dict(event)) + self._shared_state.set_solve_state(True) + update_plate_solve_and_imu(imu_dead_reckoning, solved) + finalize_and_push_solution(self._shared_state, solved, mount_type) + return copy.deepcopy(solved) + + return last_image_solve + + def record_solve(self, solve_dict, predicted_ra=None, predicted_dec=None): + """Record a solve event and send save_image command if enabled.""" + t = self._recorder.record_solve(solve_dict, predicted_ra, predicted_dec) + if ( + t is not None + and self._recorder.images_enabled + and self._camera_command_queue is not None + ): + session_dir = self._recorder.get_session_dir() + if session_dir: + self._camera_command_queue.put( + f"save_image:{session_dir / f'img_{t:.3f}.png'}" + ) + + def record_imu(self, imu): + self._recorder.record_imu(imu) + + def flush(self): + self._recorder.flush() + + def stop(self): + self._recorder.stop() + + def _restart_camera(self): + if self._camera_command_queue is not None: + self._camera_command_queue.put("start") + + @staticmethod + def _apply_replay_header(hdr, shared_state): + """Apply location/datetime from a replay session header.""" + if hdr.get("loc"): + loc = shared_state.location() + loc.lat = hdr["loc"][0] + loc.lon = hdr["loc"][1] + loc.altitude = hdr["loc"][2] + loc.lock = True + loc.source = "replay" + shared_state.set_location(loc) + if hdr.get("dt"): + shared_state.set_datetime(datetime.fromisoformat(hdr["dt"])) From 23a9e3de7762f42836d9093eaf6372aca952fc9c Mon Sep 17 00:00:00 2001 From: Mike Rosseel Date: Sun, 8 Mar 2026 22:10:33 +0100 Subject: [PATCH 4/6] test: add telemetry unit tests and fix drift test import - 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 --- python/tests/test_integrator_drift.py | 2 +- python/tests/test_telemetry.py | 627 ++++++++++++++++++++++++++ 2 files changed, 628 insertions(+), 1 deletion(-) create mode 100644 python/tests/test_telemetry.py diff --git a/python/tests/test_integrator_drift.py b/python/tests/test_integrator_drift.py index 86637d400..68cbdaafa 100644 --- a/python/tests/test_integrator_drift.py +++ b/python/tests/test_integrator_drift.py @@ -18,7 +18,7 @@ import pytest import quaternion -from PiFinder.integrator import ( +from PiFinder.pointing import ( update_imu, update_plate_solve_and_imu, ) diff --git a/python/tests/test_telemetry.py b/python/tests/test_telemetry.py new file mode 100644 index 000000000..f9c9c15a7 --- /dev/null +++ b/python/tests/test_telemetry.py @@ -0,0 +1,627 @@ +""" +Unit tests for telemetry recording, replay, and the TelemetryManager facade. +""" + +import json +import queue +import time +from pathlib import Path +from unittest.mock import MagicMock, patch + +import numpy as np +import pytest +import quaternion as quaternion_module + +from PiFinder.telemetry import ( + TelemetryManager, + TelemetryPlayer, + TelemetryRecorder, + _serialize_quat, +) + + +# ── Helpers ────────────────────────────────────────────────────────── + + +def _make_quat(w=1.0, x=0.0, y=0.0, z=0.0): + return quaternion_module.quaternion(w, x, y, z) + + +def _make_location(lat=40.0, lon=-74.0, alt=100.0): + loc = MagicMock() + loc.lat = lat + loc.lon = lon + loc.altitude = alt + loc.lock = False + loc.source = "gps" + return loc + + +def _make_shared_state(location=None, dt=None): + ss = MagicMock() + ss.location.return_value = location or _make_location() + ss.datetime.return_value = dt + return ss + + +def _make_cfg(telemetry_record=False, telemetry_images=False, imu_integrator="flat"): + cfg = MagicMock() + + def get_option(key): + return { + "telemetry_record": telemetry_record, + "telemetry_images": telemetry_images, + "imu_integrator": imu_integrator, + }.get(key) + + cfg.get_option = get_option + return cfg + + +def _write_session_jsonl(path, events, header=None): + """Write a list of event dicts to a JSONL file.""" + path = Path(path) + path.parent.mkdir(parents=True, exist_ok=True) + with open(path, "w") as f: + if header: + f.write(json.dumps(header) + "\n") + for ev in events: + f.write(json.dumps(ev) + "\n") + + +# ── _serialize_quat ────────────────────────────────────────────────── + + +@pytest.mark.unit +class TestSerializeQuat: + def test_none(self): + assert _serialize_quat(None) is None + + def test_valid(self): + q = _make_quat(1.0, 2.0, 3.0, 4.0) + result = _serialize_quat(q) + assert result == [1.0, 2.0, 3.0, 4.0] + + def test_non_quaternion(self): + assert _serialize_quat("not a quat") is None + + def test_identity(self): + q = _make_quat(1.0, 0.0, 0.0, 0.0) + assert _serialize_quat(q) == [1.0, 0.0, 0.0, 0.0] + + +# ── TelemetryRecorder ─────────────────────────────────────────────── + + +@pytest.mark.unit +class TestTelemetryRecorder: + def test_disabled_by_default(self): + rec = TelemetryRecorder() + assert not rec.enabled + + def test_record_imu_noop_when_disabled(self): + rec = TelemetryRecorder() + rec.record_imu({"quat": _make_quat(), "pos": [0, 0, 0]}) + assert len(rec._buffer) == 0 + + def test_record_solve_noop_when_disabled(self): + rec = TelemetryRecorder() + result = rec.record_solve({"RA": 180.0, "Dec": 45.0}) + assert result is None + assert len(rec._buffer) == 0 + + def test_record_solve_noop_for_none(self): + rec = TelemetryRecorder() + rec.enabled = True + result = rec.record_solve(None) + assert result is None + + def test_start_creates_session(self, tmp_path): + with patch("PiFinder.telemetry.TELEMETRY_DIR", tmp_path / "telemetry"): + rec = TelemetryRecorder() + cfg = _make_cfg(imu_integrator="flat") + ss = _make_shared_state() + rec.start(cfg, ss) + try: + assert rec.enabled + assert rec._session_dir is not None + assert rec._session_dir.exists() + assert len(rec._buffer) == 1 # header + finally: + rec.stop() + + def test_stop_flushes_and_closes(self, tmp_path): + with patch("PiFinder.telemetry.TELEMETRY_DIR", tmp_path / "telemetry"): + rec = TelemetryRecorder() + rec.start(_make_cfg(), _make_shared_state()) + session_file = rec._session_dir / "session.jsonl" + rec.stop() + assert not rec.enabled + assert rec._file is None + assert rec._session_dir is None + content = session_file.read_text() + assert '"e": "hdr"' in content + + def test_record_imu_when_enabled(self, tmp_path): + with patch("PiFinder.telemetry.TELEMETRY_DIR", tmp_path / "telemetry"): + rec = TelemetryRecorder() + rec.start(_make_cfg(), _make_shared_state()) + try: + rec.record_imu( + { + "quat": _make_quat(1, 0, 0, 0), + "pos": [1.0, 2.0, 3.0], + "moving": True, + "status": 3, + } + ) + assert len(rec._buffer) == 2 # header + imu + line = json.loads(rec._buffer[-1]) + assert line["e"] == "imu" + assert line["q"] == [1.0, 0.0, 0.0, 0.0] + assert line["mv"] is True + finally: + rec.stop() + + def test_record_solve_when_enabled(self, tmp_path): + with patch("PiFinder.telemetry.TELEMETRY_DIR", tmp_path / "telemetry"): + rec = TelemetryRecorder() + rec.start(_make_cfg(), _make_shared_state()) + try: + t = rec.record_solve( + { + "RA": 180.0, + "Dec": 45.0, + "Roll": 10.0, + "camera_center": {"RA": 180.1, "Dec": 44.9, "Roll": 10.0}, + "imu_quat": _make_quat(1, 0, 0, 0), + }, + predicted_ra=179.5, + predicted_dec=44.8, + ) + assert t is not None + assert len(rec._buffer) == 2 # header + solve + line = json.loads(rec._buffer[-1]) + assert line["e"] == "solve" + assert line["ra"] == 180.0 + assert line["pred_ra"] == 179.5 + assert line["cam_ra"] == 180.1 + finally: + rec.stop() + + def test_flush_time_gated(self, tmp_path): + with patch("PiFinder.telemetry.TELEMETRY_DIR", tmp_path / "telemetry"): + rec = TelemetryRecorder() + rec.start(_make_cfg(), _make_shared_state()) + try: + rec._last_flush = time.time() + rec.flush() + # Buffer should NOT be flushed (< 5s elapsed) + assert len(rec._buffer) == 1 # header still in buffer + finally: + rec.stop() + + def test_do_flush_writes_to_file(self, tmp_path): + with patch("PiFinder.telemetry.TELEMETRY_DIR", tmp_path / "telemetry"): + rec = TelemetryRecorder() + rec.start(_make_cfg(), _make_shared_state()) + try: + rec.record_imu({"quat": _make_quat(), "pos": None}) + rec._do_flush() + assert len(rec._buffer) == 0 + content = (rec._session_dir / "session.jsonl").read_text() + lines = [l for l in content.strip().split("\n") if l] + assert len(lines) == 2 # header + imu + finally: + rec.stop() + + def test_get_session_dir(self, tmp_path): + with patch("PiFinder.telemetry.TELEMETRY_DIR", tmp_path / "telemetry"): + rec = TelemetryRecorder() + assert rec.get_session_dir() is None + rec.start(_make_cfg(), _make_shared_state()) + try: + assert rec.get_session_dir() is not None + finally: + rec.stop() + assert rec.get_session_dir() is None + + def test_stop_idempotent(self): + rec = TelemetryRecorder() + rec.stop() # no-op + rec.stop() # still no-op + + +# ── TelemetryPlayer ───────────────────────────────────────────────── + + +@pytest.mark.unit +class TestTelemetryPlayer: + def test_load_from_file(self, tmp_path): + events = [ + {"t": 1000.0, "e": "imu", "q": [1, 0, 0, 0], "mv": False}, + {"t": 1001.0, "e": "solve", "ra": 180.0, "dec": 45.0}, + ] + hdr = {"t": 999.0, "e": "hdr", "loc": [40.0, -74.0, 100.0]} + session_file = tmp_path / "session.jsonl" + _write_session_jsonl(session_file, events, header=hdr) + + player = TelemetryPlayer(session_file) + assert player.header is not None + assert player.header["e"] == "hdr" + assert len(player.events) == 2 + assert player.total_events == 2 + + def test_load_from_directory(self, tmp_path): + events = [{"t": 1000.0, "e": "imu", "q": [1, 0, 0, 0]}] + _write_session_jsonl(tmp_path / "session.jsonl", events) + player = TelemetryPlayer(tmp_path) + assert len(player.events) == 1 + + def test_progress(self, tmp_path): + events = [ + {"t": 1000.0, "e": "imu", "q": [1, 0, 0, 0]}, + {"t": 1001.0, "e": "imu", "q": [1, 0, 0, 0]}, + ] + _write_session_jsonl(tmp_path / "session.jsonl", events) + player = TelemetryPlayer(tmp_path) + assert player.progress == 0.0 + assert player.current_index == 0 + + def test_progress_empty(self, tmp_path): + _write_session_jsonl(tmp_path / "session.jsonl", []) + player = TelemetryPlayer(tmp_path) + assert player.progress == 1.0 + + def test_get_next_event_timing(self, tmp_path): + now = time.time() + events = [ + {"t": now, "e": "imu", "q": [1, 0, 0, 0]}, + {"t": now + 100.0, "e": "imu", "q": [1, 0, 0, 0]}, + ] + _write_session_jsonl(tmp_path / "session.jsonl", events) + player = TelemetryPlayer(tmp_path) + + event, done = player.get_next_event() + assert event is not None + assert event["e"] == "imu" + assert not done + + # Second event is 100s in the future, should not be ready + event2, done2 = player.get_next_event() + assert event2 is None + assert not done2 + + def test_get_next_event_done(self, tmp_path): + now = time.time() + events = [{"t": now, "e": "imu", "q": [1, 0, 0, 0]}] + _write_session_jsonl(tmp_path / "session.jsonl", events) + player = TelemetryPlayer(tmp_path) + + event, done = player.get_next_event() + assert event is not None + assert done # last event + + event2, done2 = player.get_next_event() + assert event2 is None + assert done2 + + def test_reset(self, tmp_path): + now = time.time() + events = [{"t": now, "e": "imu", "q": [1, 0, 0, 0]}] + _write_session_jsonl(tmp_path / "session.jsonl", events) + player = TelemetryPlayer(tmp_path) + + player.get_next_event() + assert player.current_index == 1 + player.reset() + assert player.current_index == 0 + assert player._replay_start is None + + def test_event_to_solve_dict(self): + event = { + "ra": 180.0, + "dec": 45.0, + "roll": 10.0, + "cam_ra": 180.1, + "cam_dec": 44.9, + "cam_roll": 10.0, + "matches": 15, + "rmse": 0.5, + "iq": [1.0, 0.0, 0.0, 0.0], + } + result = TelemetryPlayer.event_to_solve_dict(event) + assert result["RA"] == 180.0 + assert result["Dec"] == 45.0 + assert result["Roll"] == 10.0 + assert result["camera_center"]["RA"] == 180.1 + assert result["Matches"] == 15 + assert result["solve_source"] == "CAM" + assert isinstance(result["imu_quat"], quaternion_module.quaternion) + assert result["imu_quat"].w == 1.0 + + def test_event_to_solve_dict_no_imu_quat(self): + event = {"ra": 180.0, "dec": 45.0} + result = TelemetryPlayer.event_to_solve_dict(event) + assert result["RA"] == 180.0 + assert "imu_quat" not in result + + def test_event_to_imu_dict(self): + event = {"q": [1.0, 0.0, 0.0, 0.0], "mv": True, "st": 3} + result = TelemetryPlayer.event_to_imu_dict(event) + assert result is not None + assert isinstance(result["quat"], quaternion_module.quaternion) + assert result["moving"] is True + assert result["status"] == 3 + + def test_event_to_imu_dict_no_quat(self): + event = {"mv": False} + assert TelemetryPlayer.event_to_imu_dict(event) is None + + def test_event_to_imu_dict_defaults(self): + event = {"q": [1.0, 0.0, 0.0, 0.0]} + result = TelemetryPlayer.event_to_imu_dict(event) + assert result["moving"] is False + assert result["status"] == 0 + + +# ── TelemetryManager ──────────────────────────────────────────────── + + +@pytest.mark.unit +class TestTelemetryManager: + def test_init_no_auto_record(self): + cfg = _make_cfg(telemetry_record=False) + ss = _make_shared_state() + cq = queue.Queue() + mgr = TelemetryManager(cfg, ss, cq) + assert not mgr.replaying + assert not mgr._recorder.enabled + + def test_init_auto_record(self, tmp_path): + with patch("PiFinder.telemetry.TELEMETRY_DIR", tmp_path / "telemetry"): + cfg = _make_cfg(telemetry_record=True) + ss = _make_shared_state() + cq = queue.Queue() + mgr = TelemetryManager(cfg, ss, cq) + try: + assert mgr._recorder.enabled + finally: + mgr.stop() + + def test_poll_commands_none_queue(self): + mgr = TelemetryManager(_make_cfg(), _make_shared_state(), queue.Queue()) + mgr.poll_commands(None) # no-op + + def test_poll_commands_empty_queue(self): + mgr = TelemetryManager(_make_cfg(), _make_shared_state(), queue.Queue()) + cmd_q = queue.Queue() + mgr.poll_commands(cmd_q) # no-op + + def test_handle_command_record_on(self, tmp_path): + with patch("PiFinder.telemetry.TELEMETRY_DIR", tmp_path / "telemetry"): + cq = queue.Queue() + mgr = TelemetryManager(_make_cfg(), _make_shared_state(), cq) + mgr._handle_command("telemetry_record_on", None) + try: + assert mgr._recorder.enabled + assert cq.get_nowait() == "Telemetry: Recording" + finally: + mgr.stop() + + def test_handle_command_record_off(self, tmp_path): + with patch("PiFinder.telemetry.TELEMETRY_DIR", tmp_path / "telemetry"): + cq = queue.Queue() + mgr = TelemetryManager(_make_cfg(), _make_shared_state(), cq) + mgr._handle_command("telemetry_record_on", None) + cq.get_nowait() # drain "Recording" msg + mgr._handle_command("telemetry_record_off", None) + assert not mgr._recorder.enabled + assert cq.get_nowait() == "Telemetry: Stopped" + + def test_handle_command_replay(self, tmp_path): + events = [{"t": 1000.0, "e": "imu", "q": [1, 0, 0, 0]}] + _write_session_jsonl(tmp_path / "session.jsonl", events) + + cq = queue.Queue() + mgr = TelemetryManager(_make_cfg(), _make_shared_state(), cq) + mgr._handle_command("replay", str(tmp_path)) + assert mgr.replaying + assert cq.get_nowait() == "Telemetry: Replay started" + + def test_handle_command_replay_with_header(self, tmp_path): + hdr = { + "t": 999.0, + "e": "hdr", + "loc": [35.0, -120.0, 200.0], + "dt": "2024-01-15T22:30:00", + } + events = [{"t": 1000.0, "e": "imu", "q": [1, 0, 0, 0]}] + _write_session_jsonl(tmp_path / "session.jsonl", events, header=hdr) + + ss = _make_shared_state() + cq = queue.Queue() + mgr = TelemetryManager(_make_cfg(), ss, cq) + mgr._handle_command("replay", str(tmp_path)) + + ss.set_location.assert_called_once() + ss.set_datetime.assert_called_once() + + def test_handle_command_replay_stop(self, tmp_path): + events = [{"t": 1000.0, "e": "imu", "q": [1, 0, 0, 0]}] + _write_session_jsonl(tmp_path / "session.jsonl", events) + + cq = queue.Queue() + cam_q = queue.Queue() + mgr = TelemetryManager(_make_cfg(), _make_shared_state(), cq, cam_q) + mgr._handle_command("replay", str(tmp_path)) + cq.get_nowait() # drain "Replay started" + + mgr._handle_command("replay_stop", None) + assert not mgr.replaying + assert cq.get_nowait() == "Telemetry: Replay stopped" + assert cam_q.get_nowait() == "start" + + def test_next_replay_event_not_replaying(self): + mgr = TelemetryManager(_make_cfg(), _make_shared_state(), queue.Queue()) + assert mgr.next_replay_event() is None + + def test_next_replay_event_auto_finish(self, tmp_path): + now = time.time() + events = [{"t": now, "e": "imu", "q": [1, 0, 0, 0]}] + _write_session_jsonl(tmp_path / "session.jsonl", events) + + cq = queue.Queue() + cam_q = queue.Queue() + mgr = TelemetryManager(_make_cfg(), _make_shared_state(), cq, cam_q) + mgr._handle_command("replay", str(tmp_path)) + cq.get_nowait() # drain "Replay started" + + # First call returns the event + event = mgr.next_replay_event() + assert event is not None + + # Next call: done → auto-cleanup + event2 = mgr.next_replay_event() + assert event2 is None + assert not mgr.replaying + assert cq.get_nowait() == "Telemetry: Replay finished" + assert cam_q.get_nowait() == "start" + + def test_record_solve_delegates(self): + mgr = TelemetryManager(_make_cfg(), _make_shared_state(), queue.Queue()) + mgr._recorder = MagicMock() + mgr._recorder.record_solve.return_value = None + mgr.record_solve({"RA": 180.0}) + mgr._recorder.record_solve.assert_called_once() + + def test_record_solve_sends_image_command(self, tmp_path): + with patch("PiFinder.telemetry.TELEMETRY_DIR", tmp_path / "telemetry"): + cam_q = queue.Queue() + cfg = _make_cfg(telemetry_images=True) + mgr = TelemetryManager(cfg, _make_shared_state(), queue.Queue(), cam_q) + mgr._recorder.start(_make_cfg(), _make_shared_state()) + mgr._recorder.images_enabled = True + try: + mgr.record_solve({"RA": 180.0, "Dec": 45.0}) + msg = cam_q.get_nowait() + assert msg.startswith("save_image:") + finally: + mgr.stop() + + def test_record_imu_delegates(self): + mgr = TelemetryManager(_make_cfg(), _make_shared_state(), queue.Queue()) + mgr._recorder = MagicMock() + mgr.record_imu({"quat": _make_quat()}) + mgr._recorder.record_imu.assert_called_once() + + def test_flush_delegates(self): + mgr = TelemetryManager(_make_cfg(), _make_shared_state(), queue.Queue()) + mgr._recorder = MagicMock() + mgr.flush() + mgr._recorder.flush.assert_called_once() + + def test_stop_delegates(self): + mgr = TelemetryManager(_make_cfg(), _make_shared_state(), queue.Queue()) + mgr._recorder = MagicMock() + mgr.stop() + mgr._recorder.stop.assert_called_once() + + def test_poll_commands_dispatches_tuple(self, tmp_path): + with patch("PiFinder.telemetry.TELEMETRY_DIR", tmp_path / "telemetry"): + cq = queue.Queue() + mgr = TelemetryManager(_make_cfg(), _make_shared_state(), cq) + cmd_q = queue.Queue() + cmd_q.put(("telemetry_record_on", None)) + mgr.poll_commands(cmd_q) + try: + assert mgr._recorder.enabled + finally: + mgr.stop() + + def test_poll_commands_ignores_non_tuple(self): + cq = queue.Queue() + mgr = TelemetryManager(_make_cfg(), _make_shared_state(), cq) + cmd_q = queue.Queue() + cmd_q.put("not a tuple") + mgr.poll_commands(cmd_q) # should not crash + + def test_restart_camera_no_queue(self): + mgr = TelemetryManager( + _make_cfg(), _make_shared_state(), queue.Queue(), None + ) + mgr._restart_camera() # no-op, no crash + + +# ── pointing.py ────────────────────────────────────────────────────── + + +@pytest.mark.unit +class TestGetRollByMountType: + def test_eq_mount_returns_zero(self): + from PiFinder.pointing import get_roll_by_mount_type + + roll = get_roll_by_mount_type(180.0, 45.0, None, None, "EQ") + assert roll == 0.0 + + def test_eq_mount_southern_hemisphere(self): + from PiFinder.pointing import get_roll_by_mount_type + + loc = _make_location(lat=-35.0) + roll = get_roll_by_mount_type(180.0, 45.0, loc, None, "EQ") + assert roll == 180.0 + + def test_altaz_no_location_returns_zero(self): + from PiFinder.pointing import get_roll_by_mount_type + + roll = get_roll_by_mount_type(180.0, 45.0, None, None, "Alt/Az") + assert roll == 0.0 + + def test_unknown_mount_returns_zero(self): + from PiFinder.pointing import get_roll_by_mount_type + + roll = get_roll_by_mount_type(180.0, 45.0, None, None, "Dobsonian") + assert roll == 0.0 + + +@pytest.mark.unit +class TestUpdatePlateSolveAndImu: + def test_returns_early_on_none_ra(self): + from PiFinder.pointing import update_plate_solve_and_imu + + imu_dr = MagicMock() + solved = {"RA": None, "Dec": 45.0} + update_plate_solve_and_imu(imu_dr, solved) + imu_dr.update_plate_solve_and_imu.assert_not_called() + + def test_returns_early_on_none_dec(self): + from PiFinder.pointing import update_plate_solve_and_imu + + imu_dr = MagicMock() + solved = {"RA": 180.0, "Dec": None} + update_plate_solve_and_imu(imu_dr, solved) + imu_dr.update_plate_solve_and_imu.assert_not_called() + + +@pytest.mark.unit +class TestUpdateImu: + def test_returns_early_no_last_image_solve(self): + from PiFinder.pointing import update_imu + + imu_dr = MagicMock() + imu_dr.tracking = True + solved = {"RA": 180.0} + imu = {"quat": _make_quat()} + update_imu(imu_dr, solved, None, imu) + imu_dr.update_imu.assert_not_called() + + def test_returns_early_not_tracking(self): + from PiFinder.pointing import update_imu + + imu_dr = MagicMock() + imu_dr.tracking = False + solved = {"RA": 180.0} + last = {"imu_quat": _make_quat()} + imu = {"quat": _make_quat()} + update_imu(imu_dr, solved, last, imu) + imu_dr.update_imu.assert_not_called() From ae540a6a29877e4518c076918990b7c6234f7bdf Mon Sep 17 00:00:00 2001 From: Mike Rosseel Date: Tue, 10 Mar 2026 10:07:14 +0100 Subject: [PATCH 5/6] feat: enhance telemetry with raw IMU, target tracking, replay fixes, 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 --- python/PiFinder/imu_pi.py | 10 +- python/PiFinder/integrator.py | 10 + python/PiFinder/telemetry.py | 247 +- python/telemetry_analysis/drift_analysis.py | 277 + python/telemetry_analysis/flex_analysis.py | 213 + python/telemetry_analysis/imu_freerun.py | 259 + .../telemetry_analysis/session_20260309.jsonl | 7702 +++++++++++++++++ python/telemetry_analysis/visualize.py | 300 + python/tests/test_telemetry.py | 303 +- 9 files changed, 9269 insertions(+), 52 deletions(-) create mode 100644 python/telemetry_analysis/drift_analysis.py create mode 100644 python/telemetry_analysis/flex_analysis.py create mode 100644 python/telemetry_analysis/imu_freerun.py create mode 100644 python/telemetry_analysis/session_20260309.jsonl create mode 100644 python/telemetry_analysis/visualize.py diff --git a/python/PiFinder/imu_pi.py b/python/PiFinder/imu_pi.py index 4e00b3165..fbe4d58ce 100644 --- a/python/PiFinder/imu_pi.py +++ b/python/PiFinder/imu_pi.py @@ -171,6 +171,8 @@ def imu_monitor(shared_state, console_queue, log_queue): 0, 0, 0, 0 ), # Scalar-first numpy quaternion(w, x, y, z) - Init to invalid quaternion "status": 0, # IMU Status: 3=Calibrated + "gyro": None, # Raw gyroscope angular velocity (rad/s) + "accel": None, # Raw linear acceleration (m/s², gravity removed) } while True: @@ -178,12 +180,18 @@ def imu_monitor(shared_state, console_queue, log_queue): imu_data["status"] = imu.calibration # TODO: move_start and move_end don't seem to be used? + # Read raw sensor data for telemetry + try: + imu_data["gyro"] = imu.sensor.gyro + imu_data["accel"] = imu.sensor.linear_acceleration + except Exception: + pass + if imu.moving(): if not imu_data["moving"]: logger.debug("IMU: move start") imu_data["moving"] = True imu_data["move_start"] = time.time() - # DISABLE old method imu_data["quat"] = quaternion.from_float_array( imu.avg_quat ) # Scalar-first (w, x, y, z) diff --git a/python/PiFinder/integrator.py b/python/PiFinder/integrator.py index f24ed631c..c8807c25d 100644 --- a/python/PiFinder/integrator.py +++ b/python/PiFinder/integrator.py @@ -54,6 +54,7 @@ def integrator( last_image_solve = None last_solve_time = time.time() + was_replaying = False telemetry = TelemetryManager( cfg, shared_state, console_queue, camera_command_queue @@ -64,6 +65,7 @@ def integrator( # --- Replay mode --- if telemetry.replaying: + was_replaying = True state_utils.sleep_for_framerate(shared_state) _drain_queue(solver_queue) event = telemetry.next_replay_event() @@ -77,6 +79,14 @@ def integrator( ) continue + # Reset integrator state when replay finishes + if was_replaying: + was_replaying = False + last_image_solve = None + solved = get_initialized_solved_dict() + last_solve_time = time.time() + logger.info("Replay ended, integrator state reset") + # --- Normal mode --- state_utils.sleep_for_framerate(shared_state) diff --git a/python/PiFinder/telemetry.py b/python/PiFinder/telemetry.py index 2c891589c..d1293439f 100644 --- a/python/PiFinder/telemetry.py +++ b/python/PiFinder/telemetry.py @@ -18,6 +18,7 @@ import quaternion as quaternion_module from PiFinder import utils +from PiFinder import calc_utils from PiFinder.pointing import ( finalize_and_push_solution, update_imu, @@ -29,16 +30,37 @@ TELEMETRY_DIR = Path(utils.data_dir) / "telemetry" +_R = 5 # decimal places for float rounding (BNO055 is ~14-bit) + +# Stationary IMU downsampling: record every Nth sample when not moving +_STATIONARY_DECIMATION = 10 + + +def _rf(v): + """Round a float for compact serialization.""" + return round(v, _R) + + def _serialize_quat(q): """Serialize a quaternion to a list [w, x, y, z].""" if q is None: return None try: - return [float(q.w), float(q.x), float(q.y), float(q.z)] + return [_rf(q.w), _rf(q.x), _rf(q.y), _rf(q.z)] except (AttributeError, TypeError): return None +def _serialize_vec(v): + """Serialize a 3-tuple/list to rounded list, or None.""" + if v is None: + return None + try: + return [_rf(v[0]), _rf(v[1]), _rf(v[2])] + except (TypeError, IndexError): + return None + + class TelemetryRecorder: """ Records IMU and solve events to a JSONL file. @@ -56,6 +78,8 @@ def __init__(self): self._stop_event = threading.Event() self._session_dir = None self._last_flush = 0.0 + self._imu_skip_count = 0 + self._last_target_id = None def start(self, cfg, shared_state): """Start a new recording session.""" @@ -72,20 +96,30 @@ def start(self, cfg, shared_state): self.enabled = True self._last_flush = time.time() - # Write header - location = shared_state.location() + # Write header (no location — written to separate .location file) dt = shared_state.datetime() header = { "t": time.time(), "e": "hdr", - "loc": [location.lat, location.lon, location.altitude] - if location - else None, "dt": dt.isoformat() if dt else None, - "cfg": {"integrator": cfg.get_option("imu_integrator")}, + "cfg": { + "integrator": cfg.get_option("imu_integrator"), + "mount_type": cfg.get_option("mount_type"), + }, } self._buffer.append(json.dumps(header) + "\n") + # Write location to a separate file to avoid leaking it in shared recordings + location = shared_state.location() + if location: + loc_file = self._session_dir / "session.location" + loc_data = { + "lat": location.lat, + "lon": location.lon, + "altitude": location.altitude, + } + loc_file.write_text(json.dumps(loc_data)) + # Start flush thread self._stop_event.clear() self._flush_thread = threading.Thread( @@ -111,16 +145,30 @@ def stop(self): logger.info("Telemetry recording stopped") def record_imu(self, imu): - """Record an IMU reading. No-op if disabled.""" + """Record an IMU reading. No-op if disabled. + + When stationary, only records every _STATIONARY_DECIMATION-th sample + to reduce file size during long sessions. + """ if not self.enabled or imu is None: return + moving = imu.get("moving", False) + if not moving: + self._imu_skip_count += 1 + if self._imu_skip_count < _STATIONARY_DECIMATION: + return + self._imu_skip_count = 0 + else: + self._imu_skip_count = 0 record = { - "t": time.time(), + "t": _rf(time.time()), "e": "imu", "q": _serialize_quat(imu.get("quat")), - "pos": list(imu["pos"]) if imu.get("pos") is not None else None, - "mv": imu.get("moving", False), + "pos": _serialize_vec(imu.get("pos")), + "mv": moving, "st": imu.get("status", 0), + "gyro": _serialize_vec(imu.get("gyro")), + "accel": _serialize_vec(imu.get("accel")), } self._buffer.append(json.dumps(record) + "\n") @@ -135,34 +183,77 @@ def record_solve(self, solve_dict, predicted_ra=None, predicted_dec=None): if not self.enabled or solve_dict is None: return None t = time.time() + cam = solve_dict.get("camera_center", {}) + cam_is_dict = isinstance(cam, dict) record = { - "t": t, + "t": _rf(t), "e": "solve", - "ra": solve_dict.get("RA"), - "dec": solve_dict.get("Dec"), - "roll": solve_dict.get("Roll"), - "pred_ra": predicted_ra, - "pred_dec": predicted_dec, - "cam_ra": solve_dict.get("camera_center", {}).get("RA") - if isinstance(solve_dict.get("camera_center"), dict) + "ra": _rf(solve_dict["RA"]) if solve_dict.get("RA") is not None else None, + "dec": _rf(solve_dict["Dec"]) + if solve_dict.get("Dec") is not None else None, - "cam_dec": solve_dict.get("camera_center", {}).get("Dec") - if isinstance(solve_dict.get("camera_center"), dict) + "roll": _rf(solve_dict["Roll"]) + if solve_dict.get("Roll") is not None else None, - "cam_roll": solve_dict.get("camera_center", {}).get("Roll") - if isinstance(solve_dict.get("camera_center"), dict) + "pred_ra": _rf(predicted_ra) if predicted_ra is not None else None, + "pred_dec": _rf(predicted_dec) if predicted_dec is not None else None, + "cam_ra": _rf(cam["RA"]) + if cam_is_dict and cam.get("RA") is not None else None, - "iq": _serialize_quat(solve_dict.get("imu_quat")), - "ip": list(solve_dict["imu_pos"]) - if solve_dict.get("imu_pos") is not None + "cam_dec": _rf(cam["Dec"]) + if cam_is_dict and cam.get("Dec") is not None else None, + "cam_roll": _rf(cam["Roll"]) + if cam_is_dict and cam.get("Roll") is not None + else None, + "iq": _serialize_quat(solve_dict.get("imu_quat")), + "ip": _serialize_vec(solve_dict.get("imu_pos")), "matches": solve_dict.get("Matches"), - "rmse": solve_dict.get("RMSE"), + "rmse": _rf(solve_dict["RMSE"]) + if solve_dict.get("RMSE") is not None + else None, + "lsa": solve_dict.get("last_solve_attempt"), + "lss": solve_dict.get("last_solve_success"), "src": solve_dict.get("solve_source"), } self._buffer.append(json.dumps(record) + "\n") return t + def record_target(self, target, alt=None, az=None): + """Record a target change event. Pass None when target is cleared.""" + if not self.enabled: + return + if target is None: + target_id = None + else: + target_id = getattr(target, "object_id", None) + + if target_id == self._last_target_id: + return + self._last_target_id = target_id + + if target is None: + record = { + "t": _rf(time.time()), + "e": "tgt", + "name": None, + "ra": None, + "dec": None, + "alt": None, + "az": None, + } + else: + record = { + "t": _rf(time.time()), + "e": "tgt", + "name": getattr(target, "display_name", None), + "ra": _rf(target.ra) if target.ra is not None else None, + "dec": _rf(target.dec) if target.dec is not None else None, + "alt": _rf(alt) if alt is not None else None, + "az": _rf(az) if az is not None else None, + } + self._buffer.append(json.dumps(record) + "\n") + def get_session_dir(self): """Return current session directory path, or None.""" return self._session_dir @@ -291,8 +382,11 @@ def event_to_solve_dict(event): }, "Matches": event.get("matches"), "RMSE": event.get("rmse"), - "solve_source": "CAM", - "solve_time": time.time(), + "last_solve_attempt": event.get("lsa"), + "last_solve_success": event.get("lss"), + "solve_source": event.get("src", "CAM"), + "solve_time": event["t"], + "imu_pos": event.get("ip"), } iq = event.get("iq") if iq: @@ -404,12 +498,32 @@ def handle_replay_event( if solved["RA"] is not None: finalize_and_push_solution(self._shared_state, solved, mount_type) - elif event["e"] == "solve" and event.get("ra") is not None: - solved.update(TelemetryPlayer.event_to_solve_dict(event)) - self._shared_state.set_solve_state(True) - update_plate_solve_and_imu(imu_dead_reckoning, solved) - finalize_and_push_solution(self._shared_state, solved, mount_type) - return copy.deepcopy(solved) + elif event["e"] == "solve": + replay_dict = TelemetryPlayer.event_to_solve_dict(event) + + # Always update metadata (needed for auto-exposure) + for key in [ + "Matches", + "RMSE", + "last_solve_attempt", + "last_solve_success", + ]: + if replay_dict.get(key) is not None: + solved[key] = replay_dict[key] + + if event.get("ra") is not None: + # Successful solve — update position and push + solved.update(replay_dict) + self._shared_state.set_solve_state(True) + update_plate_solve_and_imu(imu_dead_reckoning, solved) + finalize_and_push_solution(self._shared_state, solved, mount_type) + return copy.deepcopy(solved) + else: + # Failed solve — mirror normal-mode behavior + solved["solve_source"] = "CAM_FAILED" + solved["constellation"] = "" + self._shared_state.set_solution(solved) + self._shared_state.set_solve_state(False) return last_image_solve @@ -431,8 +545,33 @@ def record_imu(self, imu): self._recorder.record_imu(imu) def flush(self): + self._poll_target() self._recorder.flush() + def _poll_target(self): + """Check if the user's target changed and record it.""" + if not self._recorder.enabled: + return + try: + target = self._shared_state.ui_state().target() + except Exception: + return + alt, az = None, None + if target is not None and target.ra is not None: + try: + location = self._shared_state.location() + dt = self._shared_state.datetime() + if location and dt: + calc_utils.sf_utils.set_location( + location.lat, location.lon, location.altitude + ) + alt, az = calc_utils.sf_utils.radec_to_altaz( + target.ra, target.dec, dt + ) + except Exception: + pass + self._recorder.record_target(target, alt=alt, az=az) + def stop(self): self._recorder.stop() @@ -440,16 +579,42 @@ def _restart_camera(self): if self._camera_command_queue is not None: self._camera_command_queue.put("start") - @staticmethod - def _apply_replay_header(hdr, shared_state): + def _apply_replay_header(self, hdr, shared_state): """Apply location/datetime from a replay session header.""" - if hdr.get("loc"): + loc_data = self._load_replay_location() + if loc_data: loc = shared_state.location() - loc.lat = hdr["loc"][0] - loc.lon = hdr["loc"][1] - loc.altitude = hdr["loc"][2] + loc.lat = loc_data["lat"] + loc.lon = loc_data["lon"] + loc.altitude = loc_data["altitude"] loc.lock = True loc.source = "replay" shared_state.set_location(loc) if hdr.get("dt"): shared_state.set_datetime(datetime.fromisoformat(hdr["dt"])) + + cfg = hdr.get("cfg", {}) + recorded_mount = cfg.get("mount_type") + current_mount = self._cfg.get_option("mount_type") + if recorded_mount and current_mount and recorded_mount != current_mount: + logger.warning( + "Replay mount_type '%s' differs from current config '%s'", + recorded_mount, + current_mount, + ) + + def _load_replay_location(self): + """Load location from the .location sidecar file, or None.""" + if self._player is None: + return None + loc_file = self._player.path + if loc_file.is_file(): + loc_file = loc_file.parent / "session.location" + else: + loc_file = loc_file / "session.location" + if loc_file.exists(): + try: + return json.loads(loc_file.read_text()) + except (json.JSONDecodeError, OSError): + return None + return None diff --git a/python/telemetry_analysis/drift_analysis.py b/python/telemetry_analysis/drift_analysis.py new file mode 100644 index 000000000..91b3a736f --- /dev/null +++ b/python/telemetry_analysis/drift_analysis.py @@ -0,0 +1,277 @@ +""" +Analyze IMU drift characteristics to determine if a Kalman filter would help. + +Key questions: +1. How does drift grow with time since last solve? (linear = bias, sqrt = random walk) +2. How does drift correlate with slew magnitude? +3. Is there a systematic bias direction? +4. What's the error structure — does it look filterable? +""" + +import json +import sys +from pathlib import Path + +import matplotlib.pyplot as plt +import numpy as np +from datetime import datetime, timezone, timedelta + + +def load_session(path): + path = Path(path) + header = None + events = [] + with open(path) as f: + for line in f: + line = line.strip() + if not line: + continue + obj = json.loads(line) + if obj.get("e") == "hdr": + header = obj + else: + events.append(obj) + return header, events + + +def angular_separation(ra1, dec1, ra2, dec2): + ra1, dec1, ra2, dec2 = map(np.radians, [ra1, dec1, ra2, dec2]) + cos_sep = np.sin(dec1) * np.sin(dec2) + np.cos(dec1) * np.cos(dec2) * np.cos( + ra1 - ra2 + ) + return np.degrees(np.arccos(np.clip(cos_sep, -1, 1))) * 60 # arcmin + + +def quat_angular_diff(q1, q2): + """Angular difference between two quaternions [w,x,y,z] in degrees.""" + q1 = np.array(q1) / np.linalg.norm(q1) + q2 = np.array(q2) / np.linalg.norm(q2) + dot = abs(np.dot(q1, q2)) + dot = min(dot, 1.0) + return np.degrees(2 * np.arccos(dot)) + + +def main(session_path): + header, events = load_session(session_path) + t0 = events[0]["t"] + + solves = [e for e in events if e["e"] == "solve"] + imus = [e for e in events if e["e"] == "imu"] + successful = [s for s in solves if s.get("ra") is not None] + with_pred = [s for s in successful if s.get("pred_ra") is not None] + + # --- Build solve pairs: consecutive successful solves --- + # For each solve with prediction, compute: + # - time since previous successful solve + # - IMU quaternion change since previous solve + # - prediction error (drift) + # - slew magnitude (how far the scope actually moved) + + solve_pairs = [] + for i in range(1, len(with_pred)): + prev = with_pred[i - 1] + curr = with_pred[i] + + dt = curr["t"] - prev["t"] + if dt <= 0 or dt > 30: # skip gaps > 30s + continue + + drift = angular_separation( + curr["ra"], curr["dec"], curr["pred_ra"], curr["pred_dec"] + ) + slew = angular_separation( + curr["ra"], curr["dec"], prev["ra"], prev["dec"] + ) + + # Signed errors in RA and Dec (for bias detection) + ra_err = curr["pred_ra"] - curr["ra"] # positive = predicted too far east + dec_err = curr["pred_dec"] - curr["dec"] + + # IMU quaternion change + quat_change = None + if prev.get("iq") and curr.get("iq"): + quat_change = quat_angular_diff(prev["iq"], curr["iq"]) + + solve_pairs.append({ + "dt": dt, + "drift": drift, + "slew": slew, + "ra_err": ra_err, + "dec_err": dec_err, + "quat_change": quat_change, + "t": curr["t"] - t0, + }) + + # --- Also look at IMU rate during slews vs stationary --- + imu_ts = np.array([i["t"] for i in imus]) + imu_moving = np.array([i.get("mv", False) for i in imus]) + + # --- Plot --- + fig, axes = plt.subplots(3, 2, figsize=(14, 14), constrained_layout=True) + fig.suptitle("IMU Drift Analysis: Is a Kalman Filter the Right Tool?", fontsize=13, fontweight="bold") + + dts = [p["dt"] for p in solve_pairs] + drifts = [p["drift"] for p in solve_pairs] + slews = [p["slew"] for p in solve_pairs] + ra_errs = [p["ra_err"] for p in solve_pairs] + dec_errs = [p["dec_err"] for p in solve_pairs] + quat_changes = [p["quat_change"] for p in solve_pairs if p["quat_change"] is not None] + quat_drifts = [p["drift"] for p in solve_pairs if p["quat_change"] is not None] + quat_slews = [p["slew"] for p in solve_pairs if p["quat_change"] is not None] + + # Panel 1: Drift vs time since last solve + ax = axes[0, 0] + ax.scatter(dts, drifts, c="orangered", s=15, alpha=0.7) + # Fit: does drift grow linearly (bias) or sqrt (random walk)? + dt_arr = np.array(dts) + drift_arr = np.array(drifts) + mask = dt_arr > 0.5 # ignore very short intervals + if mask.sum() > 5: + # Linear fit + coeffs_lin = np.polyfit(dt_arr[mask], drift_arr[mask], 1) + dt_fit = np.linspace(dt_arr[mask].min(), dt_arr[mask].max(), 50) + ax.plot(dt_fit, np.polyval(coeffs_lin, dt_fit), "--", color="blue", + label=f"Linear: {coeffs_lin[0]:.1f}'/s + {coeffs_lin[1]:.1f}'") + # Sqrt fit + coeffs_sqrt = np.polyfit(np.sqrt(dt_arr[mask]), drift_arr[mask], 1) + ax.plot(dt_fit, np.polyval(coeffs_sqrt, np.sqrt(dt_fit)), ":", color="green", + label=f"Sqrt: {coeffs_sqrt[0]:.1f}'/sqrt(s)") + ax.legend(fontsize=8) + ax.set_xlabel("Time since last solve (s)") + ax.set_ylabel("Drift (arcmin)") + ax.set_title("Drift vs Time Gap\n(linear = bias, sqrt = random walk)") + ax.grid(True, alpha=0.3) + + # Panel 2: Drift vs slew magnitude + ax = axes[0, 1] + ax.scatter(slews, drifts, c="steelblue", s=15, alpha=0.7) + if len(slews) > 5: + coeffs = np.polyfit(slews, drifts, 1) + slew_fit = np.linspace(0, max(slews), 50) + ax.plot(slew_fit, np.polyval(coeffs, slew_fit), "--", color="red", + label=f"Slope: {coeffs[0]:.2f} (drift per arcmin slew)") + ax.legend(fontsize=8) + ax.set_xlabel("Slew magnitude (arcmin)") + ax.set_ylabel("Drift (arcmin)") + ax.set_title("Drift vs Slew Size\n(strong correlation → geometric/alignment issue)") + ax.grid(True, alpha=0.3) + + # Panel 3: Signed RA/Dec errors — bias detection + ax = axes[1, 0] + ax.scatter(ra_errs, dec_errs, c="purple", s=15, alpha=0.5) + ax.axhline(0, color="gray", alpha=0.3) + ax.axvline(0, color="gray", alpha=0.3) + mean_ra = np.mean(ra_errs) + mean_dec = np.mean(dec_errs) + ax.plot(mean_ra, mean_dec, "r*", markersize=15, label=f"Mean: ({mean_ra:.2f}, {mean_dec:.2f}) deg") + # Draw 1-sigma ellipse + from matplotlib.patches import Ellipse + std_ra = np.std(ra_errs) + std_dec = np.std(dec_errs) + ell = Ellipse((mean_ra, mean_dec), 2*std_ra, 2*std_dec, fill=False, color="red", linestyle="--", alpha=0.5) + ax.add_patch(ell) + ax.set_xlabel("RA error (pred - actual, deg)") + ax.set_ylabel("Dec error (pred - actual, deg)") + ax.set_title("Error Direction & Bias\n(centered = no bias, offset = systematic)") + ax.legend(fontsize=8) + ax.set_aspect("equal") + ax.grid(True, alpha=0.3) + + # Panel 4: Drift vs quaternion change + ax = axes[1, 1] + if quat_changes: + ax.scatter(quat_changes, quat_drifts, c="teal", s=15, alpha=0.7) + if len(quat_changes) > 5: + coeffs = np.polyfit(quat_changes, quat_drifts, 1) + q_fit = np.linspace(0, max(quat_changes), 50) + ax.plot(q_fit, np.polyval(coeffs, q_fit), "--", color="red", + label=f"Slope: {coeffs[0]:.2f}") + ax.legend(fontsize=8) + ax.set_xlabel("IMU quaternion change (deg)") + ax.set_ylabel("Drift (arcmin)") + ax.set_title("Drift vs IMU Rotation\n(proportional → quat-to-radec mapping error)") + ax.grid(True, alpha=0.3) + + # Panel 5: Error over session time (is there a trend?) + ax = axes[2, 0] + times_min = [p["t"] / 60 for p in solve_pairs] + ax.scatter(times_min, drifts, c="orangered", s=15, alpha=0.7) + # Sliding median + if len(times_min) > 10: + window = 10 + t_med = [np.mean(times_min[i:i+window]) for i in range(len(times_min) - window)] + d_med = [np.median(drifts[i:i+window]) for i in range(len(drifts) - window)] + ax.plot(t_med, d_med, "-", color="blue", linewidth=2, alpha=0.7, label="Sliding median (10)") + ax.legend(fontsize=8) + ax.set_xlabel("Session time (min)") + ax.set_ylabel("Drift (arcmin)") + ax.set_title("Drift Over Session\n(trend = thermal/calibration drift)") + ax.grid(True, alpha=0.3) + + # Panel 6: Histogram of drift — what distribution? + ax = axes[2, 1] + ax.hist(drifts, bins=30, color="steelblue", alpha=0.7, edgecolor="white") + ax.axvline(np.median(drifts), color="red", linestyle="--", label=f"Median: {np.median(drifts):.1f}'") + ax.axvline(np.percentile(drifts, 90), color="orange", linestyle=":", label=f"P90: {np.percentile(drifts, 90):.1f}'") + ax.set_xlabel("Drift (arcmin)") + ax.set_ylabel("Count") + ax.set_title("Drift Distribution\n(heavy tail → outlier problem, not filter problem)") + ax.legend(fontsize=8) + ax.grid(True, alpha=0.3) + + out_path = Path(session_path).parent / "drift_analysis.png" + fig.savefig(out_path, dpi=150, bbox_inches="tight") + print(f"Saved: {out_path}") + + # --- Print analysis --- + print("\n=== Drift Analysis ===") + print(f"Solve pairs analyzed: {len(solve_pairs)}") + print(f"Drift: median {np.median(drifts):.1f}', mean {np.mean(drifts):.1f}', P90 {np.percentile(drifts, 90):.1f}'") + print(f"Mean signed error: RA {mean_ra:.3f} deg, Dec {mean_dec:.3f} deg") + print(f" → {'Significant RA bias' if abs(mean_ra) > 0.05 else 'No significant RA bias'}") + print(f" → {'Significant Dec bias' if abs(mean_dec) > 0.05 else 'No significant Dec bias'}") + + # Correlation analysis + corr_dt = np.corrcoef(dts, drifts)[0, 1] + corr_slew = np.corrcoef(slews, drifts)[0, 1] + print(f"\nCorrelations with drift:") + print(f" Time gap: r = {corr_dt:.3f} {'(strong)' if abs(corr_dt) > 0.5 else '(weak)'}") + print(f" Slew size: r = {corr_slew:.3f} {'(strong)' if abs(corr_slew) > 0.5 else '(weak)'}") + if quat_changes: + corr_quat = np.corrcoef(quat_changes, quat_drifts)[0, 1] + print(f" Quat change: r = {corr_quat:.3f} {'(strong)' if abs(corr_quat) > 0.5 else '(weak)'}") + + # Stationary vs moving drift + stationary = [p for p in solve_pairs if p["slew"] < 5] # < 5 arcmin + moving = [p for p in solve_pairs if p["slew"] >= 5] + if stationary: + print(f"\nStationary (slew < 5'): median drift {np.median([p['drift'] for p in stationary]):.1f}', n={len(stationary)}") + if moving: + print(f"Moving (slew >= 5'): median drift {np.median([p['drift'] for p in moving]):.1f}', n={len(moving)}") + + print("\n=== Verdict ===") + if corr_slew > 0.7: + print("Drift is strongly correlated with slew magnitude.") + print("This suggests a geometric/alignment issue in the quat→RA/Dec mapping,") + print("not IMU noise. A Kalman filter won't fix a systematic mapping error.") + print("→ Investigate the dead-reckoning coordinate transform.") + elif corr_dt > 0.7: + print("Drift grows strongly with time — consistent with IMU bias.") + print("A Kalman filter COULD help by estimating and compensating the bias.") + print("→ Consider an EKF with bias state.") + elif abs(mean_ra) > 0.1 or abs(mean_dec) > 0.1: + print("Systematic bias detected in prediction errors.") + print("A simple bias correction might be more effective than a full KF.") + else: + print("Drift appears to be dominated by large outliers during slews,") + print("with low stationary drift. A Kalman filter would help marginally") + print("at best — the real issue is that solves fail during slews,") + print("leaving the IMU to dead-reckon over large rotations.") + print("→ Better fix: faster solve cadence or shorter exposure during slews.") + + +if __name__ == "__main__": + if len(sys.argv) > 1: + main(sys.argv[1]) + else: + main(Path(__file__).parent / "session_20260309.jsonl") diff --git a/python/telemetry_analysis/flex_analysis.py b/python/telemetry_analysis/flex_analysis.py new file mode 100644 index 000000000..81d627ece --- /dev/null +++ b/python/telemetry_analysis/flex_analysis.py @@ -0,0 +1,213 @@ +""" +Truss flex analysis. + +Hypothesis: when pushing the telescope, truss tubes flex, causing the IMU +(mounted on one end) to overshoot relative to the optical axis. The error +should be in the direction of the slew — the IMU "leads" the optics. + +If confirmed, a simple proportional correction during movement would work: + corrected_pos = imu_pos - k * slew_direction +""" + +import json +import sys +from pathlib import Path + +import matplotlib.pyplot as plt +import numpy as np +from datetime import datetime, timezone, timedelta + + +def load_session(path): + path = Path(path) + header = None + events = [] + with open(path) as f: + for line in f: + line = line.strip() + if not line: + continue + obj = json.loads(line) + if obj.get("e") == "hdr": + header = obj + else: + events.append(obj) + return header, events + + +def angular_separation(ra1, dec1, ra2, dec2): + ra1, dec1, ra2, dec2 = map(np.radians, [ra1, dec1, ra2, dec2]) + cos_sep = np.sin(dec1) * np.sin(dec2) + np.cos(dec1) * np.cos(dec2) * np.cos( + ra1 - ra2 + ) + return np.degrees(np.arccos(np.clip(cos_sep, -1, 1))) * 60 + + +def main(session_path): + header, events = load_session(session_path) + t0 = events[0]["t"] + + successful = [ + e for e in events + if e["e"] == "solve" and e.get("ra") is not None and e.get("pred_ra") is not None + ] + + # Build pairs of consecutive solves + pairs = [] + for i in range(1, len(successful)): + prev = successful[i - 1] + curr = successful[i] + dt = curr["t"] - prev["t"] + if dt <= 0 or dt > 30: + continue + + # Slew direction (where the scope actually moved) + slew_ra = curr["ra"] - prev["ra"] + slew_dec = curr["dec"] - prev["dec"] + slew_mag = np.sqrt(slew_ra**2 + slew_dec**2) + + # Error vector (predicted - actual): where the IMU overshot + err_ra = curr["pred_ra"] - curr["ra"] + err_dec = curr["pred_dec"] - curr["dec"] + err_mag = np.sqrt(err_ra**2 + err_dec**2) + + if slew_mag < 0.01: # skip near-zero slews + continue + + # Angle between error vector and slew direction + # If flex hypothesis is correct, these should be aligned (cos ~ 1) + dot = (slew_ra * err_ra + slew_dec * err_dec) / (slew_mag * err_mag) if err_mag > 0.001 else 0 + dot = np.clip(dot, -1, 1) + angle = np.degrees(np.arccos(abs(dot))) # 0 = aligned, 90 = perpendicular + + # Signed projection: positive = error in slew direction (overshoot) + projection = (slew_ra * err_ra + slew_dec * err_dec) / slew_mag + + pairs.append({ + "dt": dt, + "slew_ra": slew_ra, + "slew_dec": slew_dec, + "slew_mag": slew_mag, + "err_ra": err_ra, + "err_dec": err_dec, + "err_mag": err_mag, + "alignment_angle": angle, + "projection": projection, # positive = overshoot in slew dir + "t": curr["t"] - t0, + }) + + # Split by slew size + stationary = [p for p in pairs if p["slew_mag"] < 0.05] # < 3 arcmin + moving = [p for p in pairs if p["slew_mag"] >= 0.05] + + fig, axes = plt.subplots(2, 2, figsize=(14, 11), constrained_layout=True) + fig.suptitle("Truss Flex Analysis: Does IMU Overshoot in Slew Direction?", fontsize=13, fontweight="bold") + + # Panel 1: Error vs slew vectors (quiver plot) + ax = axes[0, 0] + for p in moving: + # Slew vector (blue) + scale = 1.0 + ax.annotate("", xy=(p["slew_ra"] * scale, p["slew_dec"] * scale), + xytext=(0, 0), + arrowprops=dict(arrowstyle="->", color="steelblue", alpha=0.3, lw=1)) + # Error vector (red) + ax.annotate("", xy=(p["err_ra"] * scale * 5, p["err_dec"] * scale * 5), + xytext=(0, 0), + arrowprops=dict(arrowstyle="->", color="orangered", alpha=0.3, lw=1)) + ax.set_xlabel("RA component (deg)") + ax.set_ylabel("Dec component (deg)") + ax.set_title("Slew (blue) vs Error (red, 5x) Vectors\n(aligned = flex)") + ax.set_aspect("equal") + ax.grid(True, alpha=0.3) + ax.axhline(0, color="gray", alpha=0.2) + ax.axvline(0, color="gray", alpha=0.2) + + # Panel 2: Alignment angle histogram (moving only) + ax = axes[0, 1] + if moving: + angles = [p["alignment_angle"] for p in moving] + ax.hist(angles, bins=18, range=(0, 90), color="steelblue", alpha=0.7, edgecolor="white") + ax.axvline(np.median(angles), color="red", linestyle="--", + label=f"Median: {np.median(angles):.0f}°") + ax.axvline(45, color="gray", linestyle=":", alpha=0.5, label="Random (45°)") + ax.legend(fontsize=9) + ax.set_xlabel("Angle between error and slew direction (deg)") + ax.set_ylabel("Count") + ax.set_title("Error-Slew Alignment (moving only)\n(peaked at 0° = flex confirmed)") + ax.grid(True, alpha=0.3) + + # Panel 3: Signed projection vs slew magnitude + ax = axes[1, 0] + if moving: + slew_mags = [p["slew_mag"] * 60 for p in moving] # to arcmin + projs = [p["projection"] * 60 for p in moving] # to arcmin + colors = ["orangered" if p > 0 else "steelblue" for p in projs] + ax.scatter(slew_mags, projs, c=colors, s=20, alpha=0.6) + ax.axhline(0, color="gray", alpha=0.3) + + # Fit line through moving data + if len(slew_mags) > 5: + coeffs = np.polyfit(slew_mags, projs, 1) + fit_x = np.linspace(0, max(slew_mags), 50) + ax.plot(fit_x, np.polyval(coeffs, fit_x), "--", color="black", + label=f"Slope: {coeffs[0]:.3f} (flex fraction)\nIntercept: {coeffs[1]:.1f}'") + ax.legend(fontsize=9) + + overshoot_pct = 100 * sum(1 for p in projs if p > 0) / len(projs) if projs else 0 + ax.set_title(f"Error Projected onto Slew Direction\n(+ve = overshoot, {overshoot_pct:.0f}% positive)") + ax.set_xlabel("Slew magnitude (arcmin)") + ax.set_ylabel("Projected error (arcmin, +ve = overshoot)") + ax.grid(True, alpha=0.3) + + # Panel 4: What correction factor would minimize error? + ax = axes[1, 1] + if moving: + # For each moving solve, what fraction of the slew is the overshoot? + fractions = [p["projection"] / p["slew_mag"] for p in moving if p["slew_mag"] > 0.02] + if fractions: + ax.hist(fractions, bins=30, color="teal", alpha=0.7, edgecolor="white") + median_frac = np.median(fractions) + ax.axvline(median_frac, color="red", linestyle="--", + label=f"Median: {median_frac:.3f}") + mean_frac = np.mean([f for f in fractions if abs(f) < 1]) # trim outliers + ax.axvline(mean_frac, color="orange", linestyle=":", + label=f"Trimmed mean: {mean_frac:.3f}") + ax.legend(fontsize=9) + ax.set_xlabel("Overshoot as fraction of slew") + ax.set_ylabel("Count") + ax.set_title("Flex Correction Factor\n(consistent value = modelable)") + ax.grid(True, alpha=0.3) + + out_path = Path(session_path).parent / "flex_analysis.png" + fig.savefig(out_path, dpi=150, bbox_inches="tight") + print(f"Saved: {out_path}") + + # Stats + if moving: + angles = [p["alignment_angle"] for p in moving] + projs = [p["projection"] * 60 for p in moving] + fractions = [p["projection"] / p["slew_mag"] for p in moving if p["slew_mag"] > 0.02] + overshoot_count = sum(1 for p in projs if p > 0) + + print(f"\n=== Flex Analysis ({len(moving)} moving solves) ===") + print(f"Error-slew alignment: median {np.median(angles):.0f}° (0° = perfect flex, 45° = random)") + print(f"Overshoot direction: {overshoot_count}/{len(projs)} positive ({100*overshoot_count/len(projs):.0f}%)") + print(f"Projection: median {np.median(projs):.1f}', mean {np.mean(projs):.1f}'") + if fractions: + print(f"Flex fraction: median {np.median(fractions):.4f}, trimmed mean {np.mean([f for f in fractions if abs(f) < 1]):.4f}") + + if np.median(angles) < 30 and overshoot_count / len(projs) > 0.6: + print("\n→ FLEX CONFIRMED: errors are aligned with slew direction and consistently overshoot.") + print(f"→ A correction of ~{abs(np.median(fractions))*100:.1f}% of slew magnitude would reduce mid-slew error.") + elif np.median(angles) < 45: + print("\n→ PARTIAL: some alignment but noisy. More data needed.") + else: + print("\n→ NOT CONFIRMED: errors appear random relative to slew direction.") + + +if __name__ == "__main__": + if len(sys.argv) > 1: + main(sys.argv[1]) + else: + main(Path(__file__).parent / "session_20260309.jsonl") diff --git a/python/telemetry_analysis/imu_freerun.py b/python/telemetry_analysis/imu_freerun.py new file mode 100644 index 000000000..fb5e91c81 --- /dev/null +++ b/python/telemetry_analysis/imu_freerun.py @@ -0,0 +1,259 @@ +""" +IMU Free-Running Drift Analysis. + +Dead-reckon forward from the first successful plate solve using only IMU +quaternion deltas — never reset from subsequent plate solves. Compare the +free-running trajectory against actual plate-solved positions to show how +much the IMU drifts when "left to its own devices." +""" + +import json +import sys +from pathlib import Path + +import matplotlib.pyplot as plt +import numpy as np +import quaternion as quat + +# Add parent so we can import PiFinder modules +sys.path.insert(0, str(Path(__file__).resolve().parent.parent)) +from PiFinder.pointing_model.imu_dead_reckoning import ImuDeadReckoning +from PiFinder.pointing_model.astro_coords import RaDecRoll +import PiFinder.pointing_model.quaternion_transforms as qt + + +def load_session(path): + path = Path(path) + header = None + events = [] + with open(path) as f: + for line in f: + line = line.strip() + if not line: + continue + obj = json.loads(line) + if obj.get("e") == "hdr": + header = obj + else: + events.append(obj) + return header, events + + +def angular_separation_arcmin(ra1, dec1, ra2, dec2): + """Angular separation in arcminutes (inputs in degrees).""" + ra1, dec1, ra2, dec2 = map(np.radians, [ra1, dec1, ra2, dec2]) + cos_sep = np.sin(dec1) * np.sin(dec2) + np.cos(dec1) * np.cos(dec2) * np.cos( + ra1 - ra2 + ) + return np.degrees(np.arccos(np.clip(cos_sep, -1, 1))) * 60 + + +def main(session_path): + header, events = load_session(session_path) + t0 = events[0]["t"] + + solves = [e for e in events if e["e"] == "solve"] + imus = [e for e in events if e["e"] == "imu"] + successful = [s for s in solves if s.get("ra") is not None and s.get("iq") is not None] + + if len(successful) < 2: + print("Need at least 2 successful solves with IMU quaternions") + return + + # --- Set up dead-reckoning from first solve, never correct again --- + first = successful[0] + screen_direction = "flat" # PiFinder v2 default + + dr = ImuDeadReckoning(screen_direction) + + # Set camera-to-scope alignment + cam = RaDecRoll() + cam.set_from_deg(first["cam_ra"], first["cam_dec"], first["cam_roll"]) + scope = RaDecRoll() + scope.set_from_deg(first["ra"], first["dec"], first.get("roll", 0)) + dr.set_cam2scope_alignment(cam, scope) + + # Initialize with first plate solve + IMU quaternion + q_first = quat.from_float_array(first["iq"]) + dr.update_plate_solve_and_imu(cam, q_first) + + # --- Process all IMU events: dead-reckon without correction --- + freerun_times = [] + freerun_ra = [] + freerun_dec = [] + + for imu_evt in imus: + if imu_evt["t"] < first["t"]: + continue + q_imu = quat.from_float_array(imu_evt["q"]) + dr.update_imu(q_imu) + radec = dr.get_scope_radec() + ra_deg, dec_deg, _ = radec.get_deg(use_none=True) + if ra_deg is not None: + freerun_times.append(imu_evt["t"] - t0) + freerun_ra.append(ra_deg) + freerun_dec.append(dec_deg) + + # --- Actual plate-solved positions --- + solve_times = [(s["t"] - t0) for s in successful] + solve_ra = [s["ra"] for s in successful] + solve_dec = [s["dec"] for s in successful] + + # --- Compute drift at each plate-solve time --- + # For each solve, find the closest free-run sample + freerun_t_arr = np.array(freerun_times) + drift_times = [] + drift_arcmin = [] + drift_ra_deg = [] + drift_dec_deg = [] + + for s in successful[1:]: # skip first (zero drift by definition) + st = s["t"] - t0 + idx = np.argmin(np.abs(freerun_t_arr - st)) + fr_ra = freerun_ra[idx] + fr_dec = freerun_dec[idx] + sep = angular_separation_arcmin(fr_ra, fr_dec, s["ra"], s["dec"]) + drift_times.append(st) + drift_arcmin.append(sep) + drift_ra_deg.append(fr_ra - s["ra"]) + drift_dec_deg.append(fr_dec - s["dec"]) + + # --- Also compute "normal mode" drift (corrected each solve) --- + dr_corrected = ImuDeadReckoning(screen_direction) + dr_corrected.set_cam2scope_alignment(cam, scope) + dr_corrected.update_plate_solve_and_imu(cam, q_first) + + corrected_drift = [] + last_solve_idx = 0 + for i, s in enumerate(successful[1:], 1): + # Feed IMU events between this solve and the previous one + q_imu = quat.from_float_array(s["iq"]) + dr_corrected.update_imu(q_imu) + radec = dr_corrected.get_scope_radec() + ra_deg, dec_deg, _ = radec.get_deg(use_none=True) + if ra_deg is not None: + sep = angular_separation_arcmin(ra_deg, dec_deg, s["ra"], s["dec"]) + corrected_drift.append(sep) + else: + corrected_drift.append(0) + # Now correct with this plate solve + cam_s = RaDecRoll() + cam_s.set_from_deg(s["cam_ra"], s["cam_dec"], s["cam_roll"]) + dr_corrected.update_plate_solve_and_imu(cam_s, q_imu) + + # --- Plot --- + fig, axes = plt.subplots(2, 2, figsize=(14, 11), constrained_layout=True) + fig.suptitle( + "IMU Free-Running Drift: What Happens Without Plate Solve Correction?", + fontsize=13, + fontweight="bold", + ) + + # Convert to minutes + fr_t_min = [t / 60 for t in freerun_times] + s_t_min = [t / 60 for t in solve_times] + d_t_min = [t / 60 for t in drift_times] + + # Panel 1: Sky track — free-run vs actual + ax = axes[0, 0] + ax.plot(freerun_ra, freerun_dec, "-", color="orangered", alpha=0.5, linewidth=0.5, + label="IMU free-run (no correction)") + ax.plot(solve_ra, solve_dec, "o", color="steelblue", markersize=4, alpha=0.8, + label="Plate solves (truth)") + ax.plot(solve_ra[0], solve_dec[0], "*", color="green", markersize=12, + label="Start (shared)", zorder=5) + ax.set_xlabel("RA (deg)") + ax.set_ylabel("Dec (deg)") + ax.set_title("Sky Track: Free-Running IMU vs Plate Solves") + ax.legend(fontsize=8) + ax.set_aspect("equal") + ax.grid(True, alpha=0.3) + ax.invert_xaxis() + + # Panel 2: Drift over time + ax = axes[0, 1] + ax.plot(d_t_min, drift_arcmin, "o-", color="orangered", markersize=3, alpha=0.7, + label="Free-run drift") + if corrected_drift: + cd_t_min = d_t_min[:len(corrected_drift)] + ax.plot(cd_t_min, corrected_drift, "s-", color="steelblue", markersize=3, + alpha=0.7, label="Corrected-each-solve drift") + ax.set_xlabel("Session time (min)") + ax.set_ylabel("Drift from truth (arcmin)") + ax.set_title("Drift Accumulation Over Time") + ax.legend(fontsize=8) + ax.grid(True, alpha=0.3) + + # Panel 3: Drift direction (RA vs Dec error) + ax = axes[1, 0] + # Convert to arcmin for readability + drift_ra_am = [d * 60 for d in drift_ra_deg] + drift_dec_am = [d * 60 for d in drift_dec_deg] + scatter = ax.scatter(drift_ra_am, drift_dec_am, + c=d_t_min, cmap="viridis", s=20, alpha=0.7) + ax.axhline(0, color="gray", alpha=0.3) + ax.axvline(0, color="gray", alpha=0.3) + ax.plot(0, 0, "+", color="red", markersize=15, markeredgewidth=2) + cb = plt.colorbar(scatter, ax=ax) + cb.set_label("Time (min)", fontsize=8) + ax.set_xlabel("RA drift (arcmin, free-run - truth)") + ax.set_ylabel("Dec drift (arcmin, free-run - truth)") + ax.set_title("Drift Direction Over Session\n(color = time)") + ax.set_aspect("equal") + ax.grid(True, alpha=0.3) + + # Panel 4: Drift rate (arcmin per minute) + ax = axes[1, 1] + if len(drift_times) > 1: + # Cumulative drift divided by elapsed time since start + elapsed = [(t - drift_times[0]) / 60 for t in drift_times] + rates = [] + for i, (e, d) in enumerate(zip(elapsed, drift_arcmin)): + if e > 0: + rates.append(d / e) + else: + rates.append(0) + ax.plot(d_t_min[1:], rates[1:], "o-", color="teal", markersize=3, alpha=0.7) + if len(rates) > 2: + median_rate = np.median(rates[1:]) + ax.axhline(median_rate, color="red", linestyle="--", + label=f"Median: {median_rate:.1f}'/min") + ax.legend(fontsize=8) + ax.set_xlabel("Session time (min)") + ax.set_ylabel("Avg drift rate (arcmin/min)") + ax.set_title("Free-Run Drift Rate\n(flat = constant bias, rising = accelerating)") + ax.grid(True, alpha=0.3) + + out_path = Path(session_path).parent / "imu_freerun.png" + fig.savefig(out_path, dpi=150, bbox_inches="tight") + print(f"Saved: {out_path}") + + # --- Stats --- + print(f"\n=== IMU Free-Running Drift Analysis ===") + print(f"Session duration: {(events[-1]['t'] - events[0]['t']) / 60:.1f} min") + print(f"Successful solves: {len(successful)}") + print(f"Free-run IMU samples: {len(freerun_times)}") + + if drift_arcmin: + print(f"\nDrift from truth at plate-solve times:") + print(f" Final: {drift_arcmin[-1]:.1f}' (after {drift_times[-1]/60:.1f} min)") + print(f" Max: {max(drift_arcmin):.1f}'") + print(f" Mean: {np.mean(drift_arcmin):.1f}'") + + if corrected_drift: + print(f"\nFor comparison, corrected-each-solve drift:") + print(f" Median: {np.median(corrected_drift):.1f}'") + print(f" P90: {np.percentile(corrected_drift, 90):.1f}'") + + if drift_arcmin and drift_times[-1] > 60: + rate = drift_arcmin[-1] / (drift_times[-1] / 60) + print(f"\nOverall drift rate: {rate:.1f}'/min") + print(f" → At this rate, after 1 hour without correction: ~{rate * 60:.0f}'") + print(f" → After 5 min without correction: ~{rate * 5:.0f}'") + + +if __name__ == "__main__": + if len(sys.argv) > 1: + main(sys.argv[1]) + else: + main(Path(__file__).parent / "session_20260309.jsonl") diff --git a/python/telemetry_analysis/session_20260309.jsonl b/python/telemetry_analysis/session_20260309.jsonl new file mode 100644 index 000000000..b3c510f62 --- /dev/null +++ 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Sky track (RA/Dec) with solve vs IMU-predicted positions + 2. IMU drift: angular error between predicted and solved positions + 3. Solve success/failure timeline + 4. IMU free-run drift vs corrected (what happens without plate-solve correction) + 5. Solve cadence and RMSE over time +""" + +import json +import sys +from pathlib import Path + +import matplotlib.pyplot as plt +import matplotlib.dates as mdates +import numpy as np +import quaternion as npquat +from datetime import datetime, timezone, timedelta + +# Add parent so we can import PiFinder modules +sys.path.insert(0, str(Path(__file__).resolve().parent.parent)) +from PiFinder.pointing_model.imu_dead_reckoning import ImuDeadReckoning +from PiFinder.pointing_model.astro_coords import RaDecRoll + + +def load_session(path): + path = Path(path) + header = None + events = [] + with open(path) as f: + for line in f: + line = line.strip() + if not line: + continue + obj = json.loads(line) + if obj.get("e") == "hdr": + header = obj + else: + events.append(obj) + return header, events + + +def angular_separation(ra1, dec1, ra2, dec2): + """Angular separation in arcminutes between two RA/Dec positions (degrees).""" + ra1, dec1, ra2, dec2 = map(np.radians, [ra1, dec1, ra2, dec2]) + cos_sep = np.sin(dec1) * np.sin(dec2) + np.cos(dec1) * np.cos(dec2) * np.cos( + ra1 - ra2 + ) + cos_sep = np.clip(cos_sep, -1, 1) + return np.degrees(np.arccos(cos_sep)) * 60 # arcminutes + + +def events_to_times(events, t0, dt_start): + """Convert event timestamps to datetime objects.""" + return [dt_start + timedelta(seconds=e["t"] - t0) for e in events] + + +def main(session_path): + header, events = load_session(session_path) + + t0 = events[0]["t"] + dt_start = datetime.fromisoformat(header["dt"]) if header and header.get("dt") else datetime.fromtimestamp(t0, tz=timezone.utc) + + solves = [e for e in events if e["e"] == "solve"] + imus = [e for e in events if e["e"] == "imu"] + successful = [s for s in solves if s.get("ra") is not None] + failed = [s for s in solves if s.get("ra") is None] + + # --- Compute derived data --- + + # Solve times and positions + solve_times = events_to_times(successful, t0, dt_start) + solve_ras = [s["ra"] for s in successful] + solve_decs = [s["dec"] for s in successful] + + # Failed solve times + fail_times = events_to_times(failed, t0, dt_start) + + # IMU predictions vs actual solves (drift measurement) + drift_solves = [s for s in successful if s.get("pred_ra") is not None] + drift_times = events_to_times(drift_solves, t0, dt_start) + drift_arcmin = [ + angular_separation(s["ra"], s["dec"], s["pred_ra"], s["pred_dec"]) + for s in drift_solves + ] + + # RMSE values + rmse_solves = [s for s in successful if s.get("rmse") is not None] + rmse_times = events_to_times(rmse_solves, t0, dt_start) + rmse_vals = [s["rmse"] for s in rmse_solves] + + # Match counts + match_solves = [s for s in successful if s.get("matches") is not None] + match_times = events_to_times(match_solves, t0, dt_start) + match_vals = [s["matches"] for s in match_solves] + + # IMU quaternion norms (should be ~1.0) + imu_with_q = [i for i in imus if i.get("q") is not None] + imu_times = events_to_times(imu_with_q, t0, dt_start) + quat_norms = [np.linalg.norm(i["q"]) for i in imu_with_q] + + # IMU movement detection + imu_moving = [i.get("mv", False) for i in imu_with_q] + + # IMU rate (samples per second) - sliding window + imu_ts = np.array([i["t"] for i in imu_with_q]) + window = 50 + imu_rates = [] + imu_rate_times = [] + for i in range(window, len(imu_ts)): + dt_window = imu_ts[i] - imu_ts[i - window] + if dt_window > 0: + imu_rates.append(window / dt_window) + imu_rate_times.append( + dt_start + timedelta(seconds=imu_ts[i] - t0) + ) + + # --- Plot --- + fig, axes = plt.subplots(5, 1, figsize=(14, 18), constrained_layout=True) + + duration_min = (events[-1]["t"] - t0) / 60 + fig.suptitle( + f"Telemetry Session: {dt_start.strftime('%Y-%m-%d %H:%M:%S UTC')}" + f" | {duration_min:.1f} min" + f" | {len(successful)}/{len(solves)} solves", + fontsize=13, + fontweight="bold", + ) + + # Panel 1: Sky track + ax = axes[0] + ax.plot(solve_ras, solve_decs, ".-", color="steelblue", markersize=4, alpha=0.7, label="Plate solves") + if drift_solves: + pred_ras = [s["pred_ra"] for s in drift_solves] + pred_decs = [s["pred_dec"] for s in drift_solves] + ax.scatter(pred_ras, pred_decs, c="orangered", s=12, alpha=0.5, zorder=5, label="IMU predicted") + # Draw lines connecting prediction to actual + for s in drift_solves: + ax.plot( + [s["pred_ra"], s["ra"]], + [s["pred_dec"], s["dec"]], + "-", + color="orangered", + alpha=0.15, + linewidth=0.8, + ) + ax.set_xlabel("RA (deg)") + ax.set_ylabel("Dec (deg)") + ax.set_title("Sky Track: Solved vs IMU-Predicted Positions") + ax.legend(loc="best", fontsize=9) + ax.invert_xaxis() + ax.grid(True, alpha=0.3) + + # Panel 2: IMU drift + ax = axes[1] + if drift_arcmin: + ax.plot(drift_times, drift_arcmin, ".-", color="orangered", markersize=4, alpha=0.8) + ax.axhline(y=np.median(drift_arcmin), color="gray", linestyle="--", alpha=0.5, label=f"Median: {np.median(drift_arcmin):.1f}'") + p90 = np.percentile(drift_arcmin, 90) + ax.axhline(y=p90, color="gray", linestyle=":", alpha=0.4, label=f"P90: {p90:.1f}'") + ax.legend(loc="best", fontsize=9) + ax.set_ylabel("Drift (arcmin)") + ax.set_title("IMU Prediction Error (angular separation from plate solve)") + ax.xaxis.set_major_formatter(mdates.DateFormatter("%H:%M:%S")) + ax.grid(True, alpha=0.3) + + # Panel 3: Solve timeline - success/fail + matches + ax = axes[2] + ax2 = ax.twinx() + if solve_times: + ax.scatter(solve_times, [1] * len(solve_times), c="limegreen", s=20, marker="|", linewidths=2, label=f"Success ({len(successful)})", zorder=5) + if fail_times: + ax.scatter(fail_times, [0] * len(fail_times), c="red", s=20, marker="|", linewidths=2, label=f"Failed ({len(failed)})", zorder=5) + if match_vals: + ax2.plot(match_times, match_vals, "-", color="steelblue", alpha=0.6, label="Matches") + ax2.set_ylabel("Star matches", color="steelblue") + ax2.tick_params(axis="y", labelcolor="steelblue") + ax.set_yticks([0, 1]) + ax.set_yticklabels(["Failed", "Success"]) + ax.set_title("Solve Timeline") + ax.xaxis.set_major_formatter(mdates.DateFormatter("%H:%M:%S")) + ax.legend(loc="upper left", fontsize=9) + if match_vals: + ax2.legend(loc="upper right", fontsize=9) + ax.grid(True, alpha=0.3) + + # Panel 4: IMU free-run drift (what happens without plate-solve correction) + ax = axes[3] + ax_mv = ax.twinx() + + # Movement as background shading + moving_arr = np.array(imu_moving, dtype=float) + ax_mv.fill_between(imu_times, 0, moving_arr, color="orange", alpha=0.15, step="mid", label="Moving") + ax_mv.set_ylabel("Moving", color="orange") + ax_mv.set_yticks([0, 1]) + ax_mv.set_yticklabels(["Still", "Moving"]) + ax_mv.tick_params(axis="y", labelcolor="orange") + + # Compute free-run drift using ImuDeadReckoning + solves_with_iq = [s for s in successful if s.get("iq") is not None and s.get("cam_ra") is not None] + if len(solves_with_iq) >= 2: + first = solves_with_iq[0] + dr = ImuDeadReckoning("flat") + cam0 = RaDecRoll() + cam0.set_from_deg(first["cam_ra"], first["cam_dec"], first["cam_roll"]) + scope0 = RaDecRoll() + scope0.set_from_deg(first["ra"], first["dec"], first.get("roll", 0)) + dr.set_cam2scope_alignment(cam0, scope0) + q_first = npquat.from_float_array(first["iq"]) + dr.update_plate_solve_and_imu(cam0, q_first) + # Initialize scope quaternion so get_scope_radec() works immediately + dr.update_imu(q_first) + + # Dead-reckon through all IMU events, measure drift at each solve + imu_iter = iter(i for i in imu_with_q if i["t"] > first["t"]) + freerun_drift_times = [] + freerun_drift_vals = [] + for s in solves_with_iq[1:]: + # Feed IMU events up to this solve's time + for imu_evt in imu_iter: + if imu_evt["t"] > s["t"]: + break + dr.update_imu(npquat.from_float_array(imu_evt["q"])) + radec = dr.get_scope_radec() + ra_deg, dec_deg, _ = radec.get_deg(use_none=True) + if ra_deg is not None: + sep = angular_separation(ra_deg, dec_deg, s["ra"], s["dec"]) + freerun_drift_times.append( + dt_start + timedelta(seconds=s["t"] - t0) + ) + freerun_drift_vals.append(sep) + + if freerun_drift_vals: + ax.plot(freerun_drift_times, freerun_drift_vals, ".-", color="orangered", + markersize=3, alpha=0.8, label="Free-run (no correction)") + # Also show corrected drift for comparison + if drift_arcmin: + ax.plot(drift_times, drift_arcmin, ".-", color="steelblue", + markersize=3, alpha=0.6, label="Corrected each solve") + ax.set_ylabel("Drift from truth (arcmin)") + median_fr = np.median(freerun_drift_vals) + max_fr = max(freerun_drift_vals) + ax.set_title( + f"IMU Free-Run Drift vs Corrected" + f" | Free-run: median {median_fr:.0f}', max {max_fr:.0f}'" + ) + ax.legend(loc="upper left", fontsize=9) + else: + ax.set_title("IMU Free-Run Drift (insufficient data)") + + ax.xaxis.set_major_formatter(mdates.DateFormatter("%H:%M:%S")) + ax_mv.legend(loc="upper right", fontsize=9) + ax.grid(True, alpha=0.3) + + # Panel 5: RMSE + IMU sample rate + ax = axes[4] + ax_rate = ax.twinx() + if rmse_vals: + ax.plot(rmse_times, rmse_vals, ".-", color="purple", markersize=3, alpha=0.7, label="RMSE") + ax.set_ylabel("Solve RMSE", color="purple") + ax.tick_params(axis="y", labelcolor="purple") + if imu_rates: + ax_rate.plot(imu_rate_times, imu_rates, "-", color="teal", alpha=0.4, linewidth=0.8, label="IMU rate") + ax_rate.set_ylabel("IMU sample rate (Hz)", color="teal") + ax_rate.tick_params(axis="y", labelcolor="teal") + ax_rate.legend(loc="upper right", fontsize=9) + ax.set_xlabel("Time (UTC)") + ax.set_title("Solve RMSE & IMU Sample Rate") + ax.xaxis.set_major_formatter(mdates.DateFormatter("%H:%M:%S")) + ax.legend(loc="upper left", fontsize=9) + ax.grid(True, alpha=0.3) + + # Save + out_path = Path(session_path).parent / "telemetry_viz.png" + fig.savefig(out_path, dpi=150, bbox_inches="tight") + print(f"Saved: {out_path}") + + # Print stats + print(f"\n--- Session Stats ---") + print(f"Duration: {duration_min:.1f} min") + print(f"Solves: {len(successful)}/{len(solves)} ({100*len(successful)/len(solves):.0f}% success rate)") + print(f"IMU events: {len(imus)} ({len(imus)/(events[-1]['t']-t0):.1f} Hz avg)") + print(f"Moving events: {sum(imu_moving)}/{len(imu_with_q)} ({100*sum(imu_moving)/len(imu_with_q):.1f}%)") + if drift_arcmin: + print(f"IMU drift: median {np.median(drift_arcmin):.1f}', mean {np.mean(drift_arcmin):.1f}', P90 {np.percentile(drift_arcmin, 90):.1f}', max {max(drift_arcmin):.1f}'") + if rmse_vals: + print(f"Solve RMSE: median {np.median(rmse_vals):.3f}, mean {np.mean(rmse_vals):.3f}") + if quat_norms: + print(f"Quat norm: mean {np.mean(quat_norms):.6f}, std {np.std(quat_norms):.6f}") + if match_vals: + print(f"Star matches: median {np.median(match_vals):.0f}, min {min(match_vals)}, max {max(match_vals)}") + + +if __name__ == "__main__": + if len(sys.argv) > 1: + main(sys.argv[1]) + else: + main(Path(__file__).parent / "session_20260309.jsonl") diff --git a/python/tests/test_telemetry.py b/python/tests/test_telemetry.py index f9c9c15a7..546e7ff99 100644 --- a/python/tests/test_telemetry.py +++ b/python/tests/test_telemetry.py @@ -44,7 +44,12 @@ def _make_shared_state(location=None, dt=None): return ss -def _make_cfg(telemetry_record=False, telemetry_images=False, imu_integrator="flat"): +def _make_cfg( + telemetry_record=False, + telemetry_images=False, + imu_integrator="flat", + mount_type="Alt/Az", +): cfg = MagicMock() def get_option(key): @@ -52,6 +57,7 @@ def get_option(key): "telemetry_record": telemetry_record, "telemetry_images": telemetry_images, "imu_integrator": imu_integrator, + "mount_type": mount_type, }.get(key) cfg.get_option = get_option @@ -134,13 +140,20 @@ def test_stop_flushes_and_closes(self, tmp_path): with patch("PiFinder.telemetry.TELEMETRY_DIR", tmp_path / "telemetry"): rec = TelemetryRecorder() rec.start(_make_cfg(), _make_shared_state()) - session_file = rec._session_dir / "session.jsonl" + session_dir = rec._session_dir + session_file = session_dir / "session.jsonl" rec.stop() assert not rec.enabled assert rec._file is None assert rec._session_dir is None content = session_file.read_text() assert '"e": "hdr"' in content + # Location should be in separate file, not in header + assert '"loc"' not in content + loc_file = session_dir / "session.location" + assert loc_file.exists() + loc_data = json.loads(loc_file.read_text()) + assert loc_data["lat"] == 40.0 def test_record_imu_when_enabled(self, tmp_path): with patch("PiFinder.telemetry.TELEMETRY_DIR", tmp_path / "telemetry"): @@ -153,6 +166,8 @@ def test_record_imu_when_enabled(self, tmp_path): "pos": [1.0, 2.0, 3.0], "moving": True, "status": 3, + "gyro": (0.01, -0.02, 0.03), + "accel": (0.1, 0.2, -0.3), } ) assert len(rec._buffer) == 2 # header + imu @@ -160,6 +175,8 @@ def test_record_imu_when_enabled(self, tmp_path): assert line["e"] == "imu" assert line["q"] == [1.0, 0.0, 0.0, 0.0] assert line["mv"] is True + assert line["gyro"] == [0.01, -0.02, 0.03] + assert line["accel"] == [0.1, 0.2, -0.3] finally: rec.stop() @@ -175,6 +192,8 @@ def test_record_solve_when_enabled(self, tmp_path): "Roll": 10.0, "camera_center": {"RA": 180.1, "Dec": 44.9, "Roll": 10.0}, "imu_quat": _make_quat(1, 0, 0, 0), + "last_solve_attempt": 1000.4, + "last_solve_success": 1000.5, }, predicted_ra=179.5, predicted_dec=44.8, @@ -186,6 +205,8 @@ def test_record_solve_when_enabled(self, tmp_path): assert line["ra"] == 180.0 assert line["pred_ra"] == 179.5 assert line["cam_ra"] == 180.1 + assert line["lsa"] == 1000.4 + assert line["lss"] == 1000.5 finally: rec.stop() @@ -206,7 +227,7 @@ def test_do_flush_writes_to_file(self, tmp_path): rec = TelemetryRecorder() rec.start(_make_cfg(), _make_shared_state()) try: - rec.record_imu({"quat": _make_quat(), "pos": None}) + rec.record_imu({"quat": _make_quat(), "pos": None, "moving": True}) rec._do_flush() assert len(rec._buffer) == 0 content = (rec._session_dir / "session.jsonl").read_text() @@ -231,6 +252,87 @@ def test_stop_idempotent(self): rec.stop() # no-op rec.stop() # still no-op + def test_record_target(self, tmp_path): + with patch("PiFinder.telemetry.TELEMETRY_DIR", tmp_path / "telemetry"): + rec = TelemetryRecorder() + rec.start(_make_cfg(), _make_shared_state()) + try: + target = MagicMock() + target.object_id = 42 + target.display_name = "NGC 7331" + target.ra = 339.267 + target.dec = 34.416 + rec.record_target(target) + assert len(rec._buffer) == 2 # header + target + line = json.loads(rec._buffer[-1]) + assert line["e"] == "tgt" + assert line["name"] == "NGC 7331" + assert line["ra"] == 339.267 + assert line["dec"] == 34.416 + assert "alt" in line + assert "az" in line + finally: + rec.stop() + + def test_record_target_dedup(self, tmp_path): + with patch("PiFinder.telemetry.TELEMETRY_DIR", tmp_path / "telemetry"): + rec = TelemetryRecorder() + rec.start(_make_cfg(), _make_shared_state()) + try: + target = MagicMock() + target.object_id = 42 + target.display_name = "NGC 7331" + target.ra = 339.267 + target.dec = 34.416 + rec.record_target(target) + rec.record_target(target) # same target, should be deduped + assert len(rec._buffer) == 2 # header + one target + finally: + rec.stop() + + def test_record_target_change(self, tmp_path): + with patch("PiFinder.telemetry.TELEMETRY_DIR", tmp_path / "telemetry"): + rec = TelemetryRecorder() + rec.start(_make_cfg(), _make_shared_state()) + try: + t1 = MagicMock() + t1.object_id = 42 + t1.display_name = "NGC 7331" + t1.ra = 339.267 + t1.dec = 34.416 + t2 = MagicMock() + t2.object_id = 99 + t2.display_name = "M 31" + t2.ra = 10.684 + t2.dec = 41.269 + rec.record_target(t1) + rec.record_target(t2) + assert len(rec._buffer) == 3 # header + 2 targets + finally: + rec.stop() + + def test_record_target_cleared(self, tmp_path): + with patch("PiFinder.telemetry.TELEMETRY_DIR", tmp_path / "telemetry"): + rec = TelemetryRecorder() + rec.start(_make_cfg(), _make_shared_state()) + try: + target = MagicMock() + target.object_id = 42 + target.display_name = "NGC 7331" + target.ra = 339.267 + target.dec = 34.416 + rec.record_target(target) + rec.record_target(None) + assert len(rec._buffer) == 3 # header + target + clear + line = json.loads(rec._buffer[-1]) + assert line["e"] == "tgt" + assert line["name"] is None + assert line["ra"] is None + assert line["alt"] is None + assert line["az"] is None + finally: + rec.stop() + # ── TelemetryPlayer ───────────────────────────────────────────────── @@ -320,6 +422,7 @@ def test_reset(self, tmp_path): def test_event_to_solve_dict(self): event = { + "t": 1000.5, "ra": 180.0, "dec": 45.0, "roll": 10.0, @@ -329,6 +432,10 @@ def test_event_to_solve_dict(self): "matches": 15, "rmse": 0.5, "iq": [1.0, 0.0, 0.0, 0.0], + "ip": [0.1, 0.2, 0.3], + "lsa": 1000.4, + "lss": 1000.5, + "src": "CAM", } result = TelemetryPlayer.event_to_solve_dict(event) assert result["RA"] == 180.0 @@ -337,15 +444,27 @@ def test_event_to_solve_dict(self): assert result["camera_center"]["RA"] == 180.1 assert result["Matches"] == 15 assert result["solve_source"] == "CAM" + assert result["solve_time"] == 1000.5 + assert result["imu_pos"] == [0.1, 0.2, 0.3] + assert result["last_solve_attempt"] == 1000.4 + assert result["last_solve_success"] == 1000.5 assert isinstance(result["imu_quat"], quaternion_module.quaternion) assert result["imu_quat"].w == 1.0 def test_event_to_solve_dict_no_imu_quat(self): - event = {"ra": 180.0, "dec": 45.0} + event = {"t": 1000.0, "ra": 180.0, "dec": 45.0} result = TelemetryPlayer.event_to_solve_dict(event) assert result["RA"] == 180.0 + assert result["solve_time"] == 1000.0 + assert result["solve_source"] == "CAM" + assert result["imu_pos"] is None assert "imu_quat" not in result + def test_event_to_solve_dict_uses_recorded_source(self): + event = {"t": 1000.0, "ra": 180.0, "dec": 45.0, "src": "CAM_FAILED"} + result = TelemetryPlayer.event_to_solve_dict(event) + assert result["solve_source"] == "CAM_FAILED" + def test_event_to_imu_dict(self): event = {"q": [1.0, 0.0, 0.0, 0.0], "mv": True, "st": 3} result = TelemetryPlayer.event_to_imu_dict(event) @@ -430,14 +549,11 @@ def test_handle_command_replay(self, tmp_path): assert cq.get_nowait() == "Telemetry: Replay started" def test_handle_command_replay_with_header(self, tmp_path): - hdr = { - "t": 999.0, - "e": "hdr", - "loc": [35.0, -120.0, 200.0], - "dt": "2024-01-15T22:30:00", - } + hdr = {"t": 999.0, "e": "hdr", "dt": "2024-01-15T22:30:00"} events = [{"t": 1000.0, "e": "imu", "q": [1, 0, 0, 0]}] _write_session_jsonl(tmp_path / "session.jsonl", events, header=hdr) + loc_file = tmp_path / "session.location" + loc_file.write_text(json.dumps({"lat": 35.0, "lon": -120.0, "altitude": 200.0})) ss = _make_shared_state() cq = queue.Queue() @@ -445,6 +561,9 @@ def test_handle_command_replay_with_header(self, tmp_path): mgr._handle_command("replay", str(tmp_path)) ss.set_location.assert_called_once() + loc_arg = ss.set_location.call_args[0][0] + assert loc_arg.lat == 35.0 + assert loc_arg.source == "replay" ss.set_datetime.assert_called_once() def test_handle_command_replay_stop(self, tmp_path): @@ -518,6 +637,7 @@ def test_record_imu_delegates(self): def test_flush_delegates(self): mgr = TelemetryManager(_make_cfg(), _make_shared_state(), queue.Queue()) mgr._recorder = MagicMock() + mgr._recorder.enabled = False mgr.flush() mgr._recorder.flush.assert_called_once() @@ -552,6 +672,169 @@ def test_restart_camera_no_queue(self): ) mgr._restart_camera() # no-op, no crash + def test_handle_replay_event_failed_solve(self): + """Failed solves during replay should set solve_state(False) and CAM_FAILED.""" + ss = _make_shared_state() + mgr = TelemetryManager(_make_cfg(), ss, queue.Queue()) + imu_dr = MagicMock() + + solved = { + "RA": 180.0, + "Dec": 45.0, + "Matches": 15, + "RMSE": 0.5, + "solve_source": "CAM", + "constellation": "Vir", + } + last_image_solve = {"RA": 180.0, "Dec": 45.0} + + failed_event = { + "t": 1000.0, + "e": "solve", + "ra": None, + "dec": None, + "matches": 0, + "rmse": None, + "lsa": 1000.0, + } + + result = mgr.handle_replay_event( + failed_event, solved, last_image_solve, imu_dr, "Alt/Az" + ) + + # last_image_solve should be unchanged (returned as-is) + assert result is last_image_solve + # Metadata updated + assert solved["Matches"] == 0 + assert solved["last_solve_attempt"] == 1000.0 + # Failed solve behavior + assert solved["solve_source"] == "CAM_FAILED" + assert solved["constellation"] == "" + ss.set_solve_state.assert_called_with(False) + ss.set_solution.assert_called_once() + + def test_handle_replay_event_successful_solve(self): + """Successful solves during replay should update position and metadata.""" + ss = _make_shared_state() + mgr = TelemetryManager(_make_cfg(), ss, queue.Queue()) + imu_dr = MagicMock() + + solved = {"RA": None, "Dec": None, "Matches": None, "imu_quat": None} + + event = { + "t": 1000.0, + "e": "solve", + "ra": 180.0, + "dec": 45.0, + "cam_ra": 180.1, + "cam_dec": 44.9, + "cam_roll": 10.0, + "matches": 15, + "rmse": 0.5, + "lsa": 1000.0, + "lss": 1000.0, + "iq": [1.0, 0.0, 0.0, 0.0], + "src": "CAM", + } + + with patch("PiFinder.telemetry.update_plate_solve_and_imu"), patch( + "PiFinder.telemetry.finalize_and_push_solution" + ): + result = mgr.handle_replay_event( + event, solved, None, imu_dr, "Alt/Az" + ) + + assert result is not None + assert result["RA"] == 180.0 + assert result["Matches"] == 15 + assert result["last_solve_attempt"] == 1000.0 + ss.set_solve_state.assert_called_with(True) + + def test_replay_header_mount_type_mismatch_warns(self, tmp_path): + """Replay should warn when header mount_type differs from config.""" + hdr = { + "t": 999.0, + "e": "hdr", + "dt": "2024-01-15T22:30:00", + "cfg": {"integrator": "flat", "mount_type": "EQ"}, + } + events = [{"t": 1000.0, "e": "imu", "q": [1, 0, 0, 0]}] + _write_session_jsonl(tmp_path / "session.jsonl", events, header=hdr) + + ss = _make_shared_state() + cq = queue.Queue() + cfg = _make_cfg(mount_type="Alt/Az") + mgr = TelemetryManager(cfg, ss, cq) + + with patch("PiFinder.telemetry.logger") as mock_logger: + mgr._handle_command("replay", str(tmp_path)) + mock_logger.warning.assert_called_once() + assert "EQ" in mock_logger.warning.call_args[0][1] + assert "Alt/Az" in mock_logger.warning.call_args[0][2] + + def test_replay_header_mount_type_match_no_warn(self, tmp_path): + """No warning when header mount_type matches config.""" + hdr = { + "t": 999.0, + "e": "hdr", + "cfg": {"integrator": "flat", "mount_type": "Alt/Az"}, + } + events = [{"t": 1000.0, "e": "imu", "q": [1, 0, 0, 0]}] + _write_session_jsonl(tmp_path / "session.jsonl", events, header=hdr) + + cfg = _make_cfg(mount_type="Alt/Az") + mgr = TelemetryManager(cfg, _make_shared_state(), queue.Queue()) + + with patch("PiFinder.telemetry.logger") as mock_logger: + mgr._handle_command("replay", str(tmp_path)) + mock_logger.warning.assert_not_called() + + def test_flush_polls_target(self, tmp_path): + with patch("PiFinder.telemetry.TELEMETRY_DIR", tmp_path / "telemetry"): + ss = _make_shared_state() + target = MagicMock() + target.object_id = 42 + target.display_name = "M 31" + target.ra = 10.684 + target.dec = 41.269 + ui_state = MagicMock() + ui_state.target.return_value = target + ss.ui_state.return_value = ui_state + + mgr = TelemetryManager(_make_cfg(telemetry_record=True), ss, queue.Queue()) + try: + mgr.flush() + assert mgr._recorder._last_target_id == 42 + # Check a target event was buffered (header + target) + assert len(mgr._recorder._buffer) >= 2 + lines = [json.loads(l) for l in mgr._recorder._buffer] + tgt_lines = [l for l in lines if l.get("e") == "tgt"] + assert len(tgt_lines) == 1 + assert tgt_lines[0]["name"] == "M 31" + finally: + mgr.stop() + + def test_poll_target_no_ui_state(self): + """_poll_target should not crash if ui_state() raises.""" + ss = _make_shared_state() + ss.ui_state.side_effect = Exception("no ui state") + mgr = TelemetryManager(_make_cfg(), ss, queue.Queue()) + mgr._recorder.enabled = True + mgr._poll_target() # should not raise + + def test_header_includes_mount_type(self, tmp_path): + """Recording header should include mount_type from config.""" + with patch("PiFinder.telemetry.TELEMETRY_DIR", tmp_path / "telemetry"): + rec = TelemetryRecorder() + cfg = _make_cfg(mount_type="EQ") + ss = _make_shared_state() + rec.start(cfg, ss) + try: + line = json.loads(rec._buffer[0]) + assert line["cfg"]["mount_type"] == "EQ" + finally: + rec.stop() + # ── pointing.py ────────────────────────────────────────────────────── From 9b80fa5bb888f0e522b51c8ae6e2542f01fd56b1 Mon Sep 17 00:00:00 2001 From: Mike Rosseel Date: Tue, 10 Mar 2026 23:07:56 +0100 Subject: [PATCH 6/6] chore: remove analysis tools from tracking, keep local only Co-Authored-By: Claude Opus 4.6 --- .gitignore | 1 + python/telemetry_analysis/drift_analysis.py | 277 - python/telemetry_analysis/flex_analysis.py | 213 - python/telemetry_analysis/imu_freerun.py | 259 - .../telemetry_analysis/session_20260309.jsonl | 7702 ----------------- python/telemetry_analysis/visualize.py | 300 - 6 files changed, 1 insertion(+), 8751 deletions(-) delete mode 100644 python/telemetry_analysis/drift_analysis.py delete mode 100644 python/telemetry_analysis/flex_analysis.py delete mode 100644 python/telemetry_analysis/imu_freerun.py delete mode 100644 python/telemetry_analysis/session_20260309.jsonl delete mode 100644 python/telemetry_analysis/visualize.py diff --git a/.gitignore b/.gitignore index 8c26256e2..5e2c5c37b 100644 --- a/.gitignore +++ b/.gitignore @@ -157,3 +157,4 @@ python/tetra3 # users GPS data test_ubx test_ubx/* +python/telemetry_analysis/ diff --git a/python/telemetry_analysis/drift_analysis.py b/python/telemetry_analysis/drift_analysis.py deleted file mode 100644 index 91b3a736f..000000000 --- a/python/telemetry_analysis/drift_analysis.py +++ /dev/null @@ -1,277 +0,0 @@ -""" -Analyze IMU drift characteristics to determine if a Kalman filter would help. - -Key questions: -1. How does drift grow with time since last solve? (linear = bias, sqrt = random walk) -2. How does drift correlate with slew magnitude? -3. Is there a systematic bias direction? -4. What's the error structure — does it look filterable? -""" - -import json -import sys -from pathlib import Path - -import matplotlib.pyplot as plt -import numpy as np -from datetime import datetime, timezone, timedelta - - -def load_session(path): - path = Path(path) - header = None - events = [] - with open(path) as f: - for line in f: - line = line.strip() - if not line: - continue - obj = json.loads(line) - if obj.get("e") == "hdr": - header = obj - else: - events.append(obj) - return header, events - - -def angular_separation(ra1, dec1, ra2, dec2): - ra1, dec1, ra2, dec2 = map(np.radians, [ra1, dec1, ra2, dec2]) - cos_sep = np.sin(dec1) * np.sin(dec2) + np.cos(dec1) * np.cos(dec2) * np.cos( - ra1 - ra2 - ) - return np.degrees(np.arccos(np.clip(cos_sep, -1, 1))) * 60 # arcmin - - -def quat_angular_diff(q1, q2): - """Angular difference between two quaternions [w,x,y,z] in degrees.""" - q1 = np.array(q1) / np.linalg.norm(q1) - q2 = np.array(q2) / np.linalg.norm(q2) - dot = abs(np.dot(q1, q2)) - dot = min(dot, 1.0) - return np.degrees(2 * np.arccos(dot)) - - -def main(session_path): - header, events = load_session(session_path) - t0 = events[0]["t"] - - solves = [e for e in events if e["e"] == "solve"] - imus = [e for e in events if e["e"] == "imu"] - successful = [s for s in solves if s.get("ra") is not None] - with_pred = [s for s in successful if s.get("pred_ra") is not None] - - # --- Build solve pairs: consecutive successful solves --- - # For each solve with prediction, compute: - # - time since previous successful solve - # - IMU quaternion change since previous solve - # - prediction error (drift) - # - slew magnitude (how far the scope actually moved) - - solve_pairs = [] - for i in range(1, len(with_pred)): - prev = with_pred[i - 1] - curr = with_pred[i] - - dt = curr["t"] - prev["t"] - if dt <= 0 or dt > 30: # skip gaps > 30s - continue - - drift = angular_separation( - curr["ra"], curr["dec"], curr["pred_ra"], curr["pred_dec"] - ) - slew = angular_separation( - curr["ra"], curr["dec"], prev["ra"], prev["dec"] - ) - - # Signed errors in RA and Dec (for bias detection) - ra_err = curr["pred_ra"] - curr["ra"] # positive = predicted too far east - dec_err = curr["pred_dec"] - curr["dec"] - - # IMU quaternion change - quat_change = None - if prev.get("iq") and curr.get("iq"): - quat_change = quat_angular_diff(prev["iq"], curr["iq"]) - - solve_pairs.append({ - "dt": dt, - "drift": drift, - "slew": slew, - "ra_err": ra_err, - "dec_err": dec_err, - "quat_change": quat_change, - "t": curr["t"] - t0, - }) - - # --- Also look at IMU rate during slews vs stationary --- - imu_ts = np.array([i["t"] for i in imus]) - imu_moving = np.array([i.get("mv", False) for i in imus]) - - # --- Plot --- - fig, axes = plt.subplots(3, 2, figsize=(14, 14), constrained_layout=True) - fig.suptitle("IMU Drift Analysis: Is a Kalman Filter the Right Tool?", fontsize=13, fontweight="bold") - - dts = [p["dt"] for p in solve_pairs] - drifts = [p["drift"] for p in solve_pairs] - slews = [p["slew"] for p in solve_pairs] - ra_errs = [p["ra_err"] for p in solve_pairs] - dec_errs = [p["dec_err"] for p in solve_pairs] - quat_changes = [p["quat_change"] for p in solve_pairs if p["quat_change"] is not None] - quat_drifts = [p["drift"] for p in solve_pairs if p["quat_change"] is not None] - quat_slews = [p["slew"] for p in solve_pairs if p["quat_change"] is not None] - - # Panel 1: Drift vs time since last solve - ax = axes[0, 0] - ax.scatter(dts, drifts, c="orangered", s=15, alpha=0.7) - # Fit: does drift grow linearly (bias) or sqrt (random walk)? - dt_arr = np.array(dts) - drift_arr = np.array(drifts) - mask = dt_arr > 0.5 # ignore very short intervals - if mask.sum() > 5: - # Linear fit - coeffs_lin = np.polyfit(dt_arr[mask], drift_arr[mask], 1) - dt_fit = np.linspace(dt_arr[mask].min(), dt_arr[mask].max(), 50) - ax.plot(dt_fit, np.polyval(coeffs_lin, dt_fit), "--", color="blue", - label=f"Linear: {coeffs_lin[0]:.1f}'/s + {coeffs_lin[1]:.1f}'") - # Sqrt fit - coeffs_sqrt = np.polyfit(np.sqrt(dt_arr[mask]), drift_arr[mask], 1) - ax.plot(dt_fit, np.polyval(coeffs_sqrt, np.sqrt(dt_fit)), ":", color="green", - label=f"Sqrt: {coeffs_sqrt[0]:.1f}'/sqrt(s)") - ax.legend(fontsize=8) - ax.set_xlabel("Time since last solve (s)") - ax.set_ylabel("Drift (arcmin)") - ax.set_title("Drift vs Time Gap\n(linear = bias, sqrt = random walk)") - ax.grid(True, alpha=0.3) - - # Panel 2: Drift vs slew magnitude - ax = axes[0, 1] - ax.scatter(slews, drifts, c="steelblue", s=15, alpha=0.7) - if len(slews) > 5: - coeffs = np.polyfit(slews, drifts, 1) - slew_fit = np.linspace(0, max(slews), 50) - ax.plot(slew_fit, np.polyval(coeffs, slew_fit), "--", color="red", - label=f"Slope: {coeffs[0]:.2f} (drift per arcmin slew)") - ax.legend(fontsize=8) - ax.set_xlabel("Slew magnitude (arcmin)") - ax.set_ylabel("Drift (arcmin)") - ax.set_title("Drift vs Slew Size\n(strong correlation → geometric/alignment issue)") - ax.grid(True, alpha=0.3) - - # Panel 3: Signed RA/Dec errors — bias detection - ax = axes[1, 0] - ax.scatter(ra_errs, dec_errs, c="purple", s=15, alpha=0.5) - ax.axhline(0, color="gray", alpha=0.3) - ax.axvline(0, color="gray", alpha=0.3) - mean_ra = np.mean(ra_errs) - mean_dec = np.mean(dec_errs) - ax.plot(mean_ra, mean_dec, "r*", markersize=15, label=f"Mean: ({mean_ra:.2f}, {mean_dec:.2f}) deg") - # Draw 1-sigma ellipse - from matplotlib.patches import Ellipse - std_ra = np.std(ra_errs) - std_dec = np.std(dec_errs) - ell = Ellipse((mean_ra, mean_dec), 2*std_ra, 2*std_dec, fill=False, color="red", linestyle="--", alpha=0.5) - ax.add_patch(ell) - ax.set_xlabel("RA error (pred - actual, deg)") - ax.set_ylabel("Dec error (pred - actual, deg)") - ax.set_title("Error Direction & Bias\n(centered = no bias, offset = systematic)") - ax.legend(fontsize=8) - ax.set_aspect("equal") - ax.grid(True, alpha=0.3) - - # Panel 4: Drift vs quaternion change - ax = axes[1, 1] - if quat_changes: - ax.scatter(quat_changes, quat_drifts, c="teal", s=15, alpha=0.7) - if len(quat_changes) > 5: - coeffs = np.polyfit(quat_changes, quat_drifts, 1) - q_fit = np.linspace(0, max(quat_changes), 50) - ax.plot(q_fit, np.polyval(coeffs, q_fit), "--", color="red", - label=f"Slope: {coeffs[0]:.2f}") - ax.legend(fontsize=8) - ax.set_xlabel("IMU quaternion change (deg)") - ax.set_ylabel("Drift (arcmin)") - ax.set_title("Drift vs IMU Rotation\n(proportional → quat-to-radec mapping error)") - ax.grid(True, alpha=0.3) - - # Panel 5: Error over session time (is there a trend?) - ax = axes[2, 0] - times_min = [p["t"] / 60 for p in solve_pairs] - ax.scatter(times_min, drifts, c="orangered", s=15, alpha=0.7) - # Sliding median - if len(times_min) > 10: - window = 10 - t_med = [np.mean(times_min[i:i+window]) for i in range(len(times_min) - window)] - d_med = [np.median(drifts[i:i+window]) for i in range(len(drifts) - window)] - ax.plot(t_med, d_med, "-", color="blue", linewidth=2, alpha=0.7, label="Sliding median (10)") - ax.legend(fontsize=8) - ax.set_xlabel("Session time (min)") - ax.set_ylabel("Drift (arcmin)") - ax.set_title("Drift Over Session\n(trend = thermal/calibration drift)") - ax.grid(True, alpha=0.3) - - # Panel 6: Histogram of drift — what distribution? - ax = axes[2, 1] - ax.hist(drifts, bins=30, color="steelblue", alpha=0.7, edgecolor="white") - ax.axvline(np.median(drifts), color="red", linestyle="--", label=f"Median: {np.median(drifts):.1f}'") - ax.axvline(np.percentile(drifts, 90), color="orange", linestyle=":", label=f"P90: {np.percentile(drifts, 90):.1f}'") - ax.set_xlabel("Drift (arcmin)") - ax.set_ylabel("Count") - ax.set_title("Drift Distribution\n(heavy tail → outlier problem, not filter problem)") - ax.legend(fontsize=8) - ax.grid(True, alpha=0.3) - - out_path = Path(session_path).parent / "drift_analysis.png" - fig.savefig(out_path, dpi=150, bbox_inches="tight") - print(f"Saved: {out_path}") - - # --- Print analysis --- - print("\n=== Drift Analysis ===") - print(f"Solve pairs analyzed: {len(solve_pairs)}") - print(f"Drift: median {np.median(drifts):.1f}', mean {np.mean(drifts):.1f}', P90 {np.percentile(drifts, 90):.1f}'") - print(f"Mean signed error: RA {mean_ra:.3f} deg, Dec {mean_dec:.3f} deg") - print(f" → {'Significant RA bias' if abs(mean_ra) > 0.05 else 'No significant RA bias'}") - print(f" → {'Significant Dec bias' if abs(mean_dec) > 0.05 else 'No significant Dec bias'}") - - # Correlation analysis - corr_dt = np.corrcoef(dts, drifts)[0, 1] - corr_slew = np.corrcoef(slews, drifts)[0, 1] - print(f"\nCorrelations with drift:") - print(f" Time gap: r = {corr_dt:.3f} {'(strong)' if abs(corr_dt) > 0.5 else '(weak)'}") - print(f" Slew size: r = {corr_slew:.3f} {'(strong)' if abs(corr_slew) > 0.5 else '(weak)'}") - if quat_changes: - corr_quat = np.corrcoef(quat_changes, quat_drifts)[0, 1] - print(f" Quat change: r = {corr_quat:.3f} {'(strong)' if abs(corr_quat) > 0.5 else '(weak)'}") - - # Stationary vs moving drift - stationary = [p for p in solve_pairs if p["slew"] < 5] # < 5 arcmin - moving = [p for p in solve_pairs if p["slew"] >= 5] - if stationary: - print(f"\nStationary (slew < 5'): median drift {np.median([p['drift'] for p in stationary]):.1f}', n={len(stationary)}") - if moving: - print(f"Moving (slew >= 5'): median drift {np.median([p['drift'] for p in moving]):.1f}', n={len(moving)}") - - print("\n=== Verdict ===") - if corr_slew > 0.7: - print("Drift is strongly correlated with slew magnitude.") - print("This suggests a geometric/alignment issue in the quat→RA/Dec mapping,") - print("not IMU noise. A Kalman filter won't fix a systematic mapping error.") - print("→ Investigate the dead-reckoning coordinate transform.") - elif corr_dt > 0.7: - print("Drift grows strongly with time — consistent with IMU bias.") - print("A Kalman filter COULD help by estimating and compensating the bias.") - print("→ Consider an EKF with bias state.") - elif abs(mean_ra) > 0.1 or abs(mean_dec) > 0.1: - print("Systematic bias detected in prediction errors.") - print("A simple bias correction might be more effective than a full KF.") - else: - print("Drift appears to be dominated by large outliers during slews,") - print("with low stationary drift. A Kalman filter would help marginally") - print("at best — the real issue is that solves fail during slews,") - print("leaving the IMU to dead-reckon over large rotations.") - print("→ Better fix: faster solve cadence or shorter exposure during slews.") - - -if __name__ == "__main__": - if len(sys.argv) > 1: - main(sys.argv[1]) - else: - main(Path(__file__).parent / "session_20260309.jsonl") diff --git a/python/telemetry_analysis/flex_analysis.py b/python/telemetry_analysis/flex_analysis.py deleted file mode 100644 index 81d627ece..000000000 --- a/python/telemetry_analysis/flex_analysis.py +++ /dev/null @@ -1,213 +0,0 @@ -""" -Truss flex analysis. - -Hypothesis: when pushing the telescope, truss tubes flex, causing the IMU -(mounted on one end) to overshoot relative to the optical axis. The error -should be in the direction of the slew — the IMU "leads" the optics. - -If confirmed, a simple proportional correction during movement would work: - corrected_pos = imu_pos - k * slew_direction -""" - -import json -import sys -from pathlib import Path - -import matplotlib.pyplot as plt -import numpy as np -from datetime import datetime, timezone, timedelta - - -def load_session(path): - path = Path(path) - header = None - events = [] - with open(path) as f: - for line in f: - line = line.strip() - if not line: - continue - obj = json.loads(line) - if obj.get("e") == "hdr": - header = obj - else: - events.append(obj) - return header, events - - -def angular_separation(ra1, dec1, ra2, dec2): - ra1, dec1, ra2, dec2 = map(np.radians, [ra1, dec1, ra2, dec2]) - cos_sep = np.sin(dec1) * np.sin(dec2) + np.cos(dec1) * np.cos(dec2) * np.cos( - ra1 - ra2 - ) - return np.degrees(np.arccos(np.clip(cos_sep, -1, 1))) * 60 - - -def main(session_path): - header, events = load_session(session_path) - t0 = events[0]["t"] - - successful = [ - e for e in events - if e["e"] == "solve" and e.get("ra") is not None and e.get("pred_ra") is not None - ] - - # Build pairs of consecutive solves - pairs = [] - for i in range(1, len(successful)): - prev = successful[i - 1] - curr = successful[i] - dt = curr["t"] - prev["t"] - if dt <= 0 or dt > 30: - continue - - # Slew direction (where the scope actually moved) - slew_ra = curr["ra"] - prev["ra"] - slew_dec = curr["dec"] - prev["dec"] - slew_mag = np.sqrt(slew_ra**2 + slew_dec**2) - - # Error vector (predicted - actual): where the IMU overshot - err_ra = curr["pred_ra"] - curr["ra"] - err_dec = curr["pred_dec"] - curr["dec"] - err_mag = np.sqrt(err_ra**2 + err_dec**2) - - if slew_mag < 0.01: # skip near-zero slews - continue - - # Angle between error vector and slew direction - # If flex hypothesis is correct, these should be aligned (cos ~ 1) - dot = (slew_ra * err_ra + slew_dec * err_dec) / (slew_mag * err_mag) if err_mag > 0.001 else 0 - dot = np.clip(dot, -1, 1) - angle = np.degrees(np.arccos(abs(dot))) # 0 = aligned, 90 = perpendicular - - # Signed projection: positive = error in slew direction (overshoot) - projection = (slew_ra * err_ra + slew_dec * err_dec) / slew_mag - - pairs.append({ - "dt": dt, - "slew_ra": slew_ra, - "slew_dec": slew_dec, - "slew_mag": slew_mag, - "err_ra": err_ra, - "err_dec": err_dec, - "err_mag": err_mag, - "alignment_angle": angle, - "projection": projection, # positive = overshoot in slew dir - "t": curr["t"] - t0, - }) - - # Split by slew size - stationary = [p for p in pairs if p["slew_mag"] < 0.05] # < 3 arcmin - moving = [p for p in pairs if p["slew_mag"] >= 0.05] - - fig, axes = plt.subplots(2, 2, figsize=(14, 11), constrained_layout=True) - fig.suptitle("Truss Flex Analysis: Does IMU Overshoot in Slew Direction?", fontsize=13, fontweight="bold") - - # Panel 1: Error vs slew vectors (quiver plot) - ax = axes[0, 0] - for p in moving: - # Slew vector (blue) - scale = 1.0 - ax.annotate("", xy=(p["slew_ra"] * scale, p["slew_dec"] * scale), - xytext=(0, 0), - arrowprops=dict(arrowstyle="->", color="steelblue", alpha=0.3, lw=1)) - # Error vector (red) - ax.annotate("", xy=(p["err_ra"] * scale * 5, p["err_dec"] * scale * 5), - xytext=(0, 0), - arrowprops=dict(arrowstyle="->", color="orangered", alpha=0.3, lw=1)) - ax.set_xlabel("RA component (deg)") - ax.set_ylabel("Dec component (deg)") - ax.set_title("Slew (blue) vs Error (red, 5x) Vectors\n(aligned = flex)") - ax.set_aspect("equal") - ax.grid(True, alpha=0.3) - ax.axhline(0, color="gray", alpha=0.2) - ax.axvline(0, color="gray", alpha=0.2) - - # Panel 2: Alignment angle histogram (moving only) - ax = axes[0, 1] - if moving: - angles = [p["alignment_angle"] for p in moving] - ax.hist(angles, bins=18, range=(0, 90), color="steelblue", alpha=0.7, edgecolor="white") - ax.axvline(np.median(angles), color="red", linestyle="--", - label=f"Median: {np.median(angles):.0f}°") - ax.axvline(45, color="gray", linestyle=":", alpha=0.5, label="Random (45°)") - ax.legend(fontsize=9) - ax.set_xlabel("Angle between error and slew direction (deg)") - ax.set_ylabel("Count") - ax.set_title("Error-Slew Alignment (moving only)\n(peaked at 0° = flex confirmed)") - ax.grid(True, alpha=0.3) - - # Panel 3: Signed projection vs slew magnitude - ax = axes[1, 0] - if moving: - slew_mags = [p["slew_mag"] * 60 for p in moving] # to arcmin - projs = [p["projection"] * 60 for p in moving] # to arcmin - colors = ["orangered" if p > 0 else "steelblue" for p in projs] - ax.scatter(slew_mags, projs, c=colors, s=20, alpha=0.6) - ax.axhline(0, color="gray", alpha=0.3) - - # Fit line through moving data - if len(slew_mags) > 5: - coeffs = np.polyfit(slew_mags, projs, 1) - fit_x = np.linspace(0, max(slew_mags), 50) - ax.plot(fit_x, np.polyval(coeffs, fit_x), "--", color="black", - label=f"Slope: {coeffs[0]:.3f} (flex fraction)\nIntercept: {coeffs[1]:.1f}'") - ax.legend(fontsize=9) - - overshoot_pct = 100 * sum(1 for p in projs if p > 0) / len(projs) if projs else 0 - ax.set_title(f"Error Projected onto Slew Direction\n(+ve = overshoot, {overshoot_pct:.0f}% positive)") - ax.set_xlabel("Slew magnitude (arcmin)") - ax.set_ylabel("Projected error (arcmin, +ve = overshoot)") - ax.grid(True, alpha=0.3) - - # Panel 4: What correction factor would minimize error? - ax = axes[1, 1] - if moving: - # For each moving solve, what fraction of the slew is the overshoot? - fractions = [p["projection"] / p["slew_mag"] for p in moving if p["slew_mag"] > 0.02] - if fractions: - ax.hist(fractions, bins=30, color="teal", alpha=0.7, edgecolor="white") - median_frac = np.median(fractions) - ax.axvline(median_frac, color="red", linestyle="--", - label=f"Median: {median_frac:.3f}") - mean_frac = np.mean([f for f in fractions if abs(f) < 1]) # trim outliers - ax.axvline(mean_frac, color="orange", linestyle=":", - label=f"Trimmed mean: {mean_frac:.3f}") - ax.legend(fontsize=9) - ax.set_xlabel("Overshoot as fraction of slew") - ax.set_ylabel("Count") - ax.set_title("Flex Correction Factor\n(consistent value = modelable)") - ax.grid(True, alpha=0.3) - - out_path = Path(session_path).parent / "flex_analysis.png" - fig.savefig(out_path, dpi=150, bbox_inches="tight") - print(f"Saved: {out_path}") - - # Stats - if moving: - angles = [p["alignment_angle"] for p in moving] - projs = [p["projection"] * 60 for p in moving] - fractions = [p["projection"] / p["slew_mag"] for p in moving if p["slew_mag"] > 0.02] - overshoot_count = sum(1 for p in projs if p > 0) - - print(f"\n=== Flex Analysis ({len(moving)} moving solves) ===") - print(f"Error-slew alignment: median {np.median(angles):.0f}° (0° = perfect flex, 45° = random)") - print(f"Overshoot direction: {overshoot_count}/{len(projs)} positive ({100*overshoot_count/len(projs):.0f}%)") - print(f"Projection: median {np.median(projs):.1f}', mean {np.mean(projs):.1f}'") - if fractions: - print(f"Flex fraction: median {np.median(fractions):.4f}, trimmed mean {np.mean([f for f in fractions if abs(f) < 1]):.4f}") - - if np.median(angles) < 30 and overshoot_count / len(projs) > 0.6: - print("\n→ FLEX CONFIRMED: errors are aligned with slew direction and consistently overshoot.") - print(f"→ A correction of ~{abs(np.median(fractions))*100:.1f}% of slew magnitude would reduce mid-slew error.") - elif np.median(angles) < 45: - print("\n→ PARTIAL: some alignment but noisy. More data needed.") - else: - print("\n→ NOT CONFIRMED: errors appear random relative to slew direction.") - - -if __name__ == "__main__": - if len(sys.argv) > 1: - main(sys.argv[1]) - else: - main(Path(__file__).parent / "session_20260309.jsonl") diff --git a/python/telemetry_analysis/imu_freerun.py b/python/telemetry_analysis/imu_freerun.py deleted file mode 100644 index fb5e91c81..000000000 --- a/python/telemetry_analysis/imu_freerun.py +++ /dev/null @@ -1,259 +0,0 @@ -""" -IMU Free-Running Drift Analysis. - -Dead-reckon forward from the first successful plate solve using only IMU -quaternion deltas — never reset from subsequent plate solves. Compare the -free-running trajectory against actual plate-solved positions to show how -much the IMU drifts when "left to its own devices." -""" - -import json -import sys -from pathlib import Path - -import matplotlib.pyplot as plt -import numpy as np -import quaternion as quat - -# Add parent so we can import PiFinder modules -sys.path.insert(0, str(Path(__file__).resolve().parent.parent)) -from PiFinder.pointing_model.imu_dead_reckoning import ImuDeadReckoning -from PiFinder.pointing_model.astro_coords import RaDecRoll -import PiFinder.pointing_model.quaternion_transforms as qt - - -def load_session(path): - path = Path(path) - header = None - events = [] - with open(path) as f: - for line in f: - line = line.strip() - if not line: - continue - obj = json.loads(line) - if obj.get("e") == "hdr": - header = obj - else: - events.append(obj) - return header, events - - -def angular_separation_arcmin(ra1, dec1, ra2, dec2): - """Angular separation in arcminutes (inputs in degrees).""" - ra1, dec1, ra2, dec2 = map(np.radians, [ra1, dec1, ra2, dec2]) - cos_sep = np.sin(dec1) * np.sin(dec2) + np.cos(dec1) * np.cos(dec2) * np.cos( - ra1 - ra2 - ) - return np.degrees(np.arccos(np.clip(cos_sep, -1, 1))) * 60 - - -def main(session_path): - header, events = load_session(session_path) - t0 = events[0]["t"] - - solves = [e for e in events if e["e"] == "solve"] - imus = [e for e in events if e["e"] == "imu"] - successful = [s for s in solves if s.get("ra") is not None and s.get("iq") is not None] - - if len(successful) < 2: - print("Need at least 2 successful solves with IMU quaternions") - return - - # --- Set up dead-reckoning from first solve, never correct again --- - first = successful[0] - screen_direction = "flat" # PiFinder v2 default - - dr = ImuDeadReckoning(screen_direction) - - # Set camera-to-scope alignment - cam = RaDecRoll() - cam.set_from_deg(first["cam_ra"], first["cam_dec"], first["cam_roll"]) - scope = RaDecRoll() - scope.set_from_deg(first["ra"], first["dec"], first.get("roll", 0)) - dr.set_cam2scope_alignment(cam, scope) - - # Initialize with first plate solve + IMU quaternion - q_first = quat.from_float_array(first["iq"]) - dr.update_plate_solve_and_imu(cam, q_first) - - # --- Process all IMU events: dead-reckon without correction --- - freerun_times = [] - freerun_ra = [] - freerun_dec = [] - - for imu_evt in imus: - if imu_evt["t"] < first["t"]: - continue - q_imu = quat.from_float_array(imu_evt["q"]) - dr.update_imu(q_imu) - radec = dr.get_scope_radec() - ra_deg, dec_deg, _ = radec.get_deg(use_none=True) - if ra_deg is not None: - freerun_times.append(imu_evt["t"] - t0) - freerun_ra.append(ra_deg) - freerun_dec.append(dec_deg) - - # --- Actual plate-solved positions --- - solve_times = [(s["t"] - t0) for s in successful] - solve_ra = [s["ra"] for s in successful] - solve_dec = [s["dec"] for s in successful] - - # --- Compute drift at each plate-solve time --- - # For each solve, find the closest free-run sample - freerun_t_arr = np.array(freerun_times) - drift_times = [] - drift_arcmin = [] - drift_ra_deg = [] - drift_dec_deg = [] - - for s in successful[1:]: # skip first (zero drift by definition) - st = s["t"] - t0 - idx = np.argmin(np.abs(freerun_t_arr - st)) - fr_ra = freerun_ra[idx] - fr_dec = freerun_dec[idx] - sep = angular_separation_arcmin(fr_ra, fr_dec, s["ra"], s["dec"]) - drift_times.append(st) - drift_arcmin.append(sep) - drift_ra_deg.append(fr_ra - s["ra"]) - drift_dec_deg.append(fr_dec - s["dec"]) - - # --- Also compute "normal mode" drift (corrected each solve) --- - dr_corrected = ImuDeadReckoning(screen_direction) - dr_corrected.set_cam2scope_alignment(cam, scope) - dr_corrected.update_plate_solve_and_imu(cam, q_first) - - corrected_drift = [] - last_solve_idx = 0 - for i, s in enumerate(successful[1:], 1): - # Feed IMU events between this solve and the previous one - q_imu = quat.from_float_array(s["iq"]) - dr_corrected.update_imu(q_imu) - radec = dr_corrected.get_scope_radec() - ra_deg, dec_deg, _ = radec.get_deg(use_none=True) - if ra_deg is not None: - sep = angular_separation_arcmin(ra_deg, dec_deg, s["ra"], s["dec"]) - corrected_drift.append(sep) - else: - corrected_drift.append(0) - # Now correct with this plate solve - cam_s = RaDecRoll() - cam_s.set_from_deg(s["cam_ra"], s["cam_dec"], s["cam_roll"]) - dr_corrected.update_plate_solve_and_imu(cam_s, q_imu) - - # --- Plot --- - fig, axes = plt.subplots(2, 2, figsize=(14, 11), constrained_layout=True) - fig.suptitle( - "IMU Free-Running Drift: What Happens Without Plate Solve Correction?", - fontsize=13, - fontweight="bold", - ) - - # Convert to minutes - fr_t_min = [t / 60 for t in freerun_times] - s_t_min = [t / 60 for t in solve_times] - d_t_min = [t / 60 for t in drift_times] - - # Panel 1: Sky track — free-run vs actual - ax = axes[0, 0] - ax.plot(freerun_ra, freerun_dec, "-", color="orangered", alpha=0.5, linewidth=0.5, - label="IMU free-run (no correction)") - ax.plot(solve_ra, solve_dec, "o", color="steelblue", markersize=4, alpha=0.8, - label="Plate solves (truth)") - ax.plot(solve_ra[0], solve_dec[0], "*", color="green", markersize=12, - label="Start (shared)", zorder=5) - ax.set_xlabel("RA (deg)") - ax.set_ylabel("Dec (deg)") - ax.set_title("Sky Track: Free-Running IMU vs Plate Solves") - ax.legend(fontsize=8) - ax.set_aspect("equal") - ax.grid(True, alpha=0.3) - ax.invert_xaxis() - - # Panel 2: Drift over time - ax = axes[0, 1] - ax.plot(d_t_min, drift_arcmin, "o-", color="orangered", markersize=3, alpha=0.7, - label="Free-run drift") - if corrected_drift: - cd_t_min = d_t_min[:len(corrected_drift)] - ax.plot(cd_t_min, corrected_drift, "s-", color="steelblue", markersize=3, - alpha=0.7, label="Corrected-each-solve drift") - ax.set_xlabel("Session time (min)") - ax.set_ylabel("Drift from truth (arcmin)") - ax.set_title("Drift Accumulation Over Time") - ax.legend(fontsize=8) - ax.grid(True, alpha=0.3) - - # Panel 3: Drift direction (RA vs Dec error) - ax = axes[1, 0] - # Convert to arcmin for readability - drift_ra_am = [d * 60 for d in drift_ra_deg] - drift_dec_am = [d * 60 for d in drift_dec_deg] - scatter = ax.scatter(drift_ra_am, drift_dec_am, - c=d_t_min, cmap="viridis", s=20, alpha=0.7) - ax.axhline(0, color="gray", alpha=0.3) - ax.axvline(0, color="gray", alpha=0.3) - ax.plot(0, 0, "+", color="red", markersize=15, markeredgewidth=2) - cb = plt.colorbar(scatter, ax=ax) - cb.set_label("Time (min)", fontsize=8) - ax.set_xlabel("RA drift (arcmin, free-run - truth)") - ax.set_ylabel("Dec drift (arcmin, free-run - truth)") - ax.set_title("Drift Direction Over Session\n(color = time)") - ax.set_aspect("equal") - ax.grid(True, alpha=0.3) - - # Panel 4: Drift rate (arcmin per minute) - ax = axes[1, 1] - if len(drift_times) > 1: - # Cumulative drift divided by elapsed time since start - elapsed = [(t - drift_times[0]) / 60 for t in drift_times] - rates = [] - for i, (e, d) in enumerate(zip(elapsed, drift_arcmin)): - if e > 0: - rates.append(d / e) - else: - rates.append(0) - ax.plot(d_t_min[1:], rates[1:], "o-", color="teal", markersize=3, alpha=0.7) - if len(rates) > 2: - median_rate = np.median(rates[1:]) - ax.axhline(median_rate, color="red", linestyle="--", - label=f"Median: {median_rate:.1f}'/min") - ax.legend(fontsize=8) - ax.set_xlabel("Session time (min)") - ax.set_ylabel("Avg drift rate (arcmin/min)") - ax.set_title("Free-Run Drift Rate\n(flat = constant bias, rising = accelerating)") - ax.grid(True, alpha=0.3) - - out_path = Path(session_path).parent / "imu_freerun.png" - fig.savefig(out_path, dpi=150, bbox_inches="tight") - print(f"Saved: {out_path}") - - # --- Stats --- - print(f"\n=== IMU Free-Running Drift Analysis ===") - print(f"Session duration: {(events[-1]['t'] - events[0]['t']) / 60:.1f} min") - print(f"Successful solves: {len(successful)}") - print(f"Free-run IMU samples: {len(freerun_times)}") - - if drift_arcmin: - print(f"\nDrift from truth at plate-solve times:") - print(f" Final: {drift_arcmin[-1]:.1f}' (after {drift_times[-1]/60:.1f} min)") - print(f" Max: {max(drift_arcmin):.1f}'") - print(f" Mean: {np.mean(drift_arcmin):.1f}'") - - if corrected_drift: - print(f"\nFor comparison, corrected-each-solve drift:") - print(f" Median: {np.median(corrected_drift):.1f}'") - print(f" P90: {np.percentile(corrected_drift, 90):.1f}'") - - if drift_arcmin and drift_times[-1] > 60: - rate = drift_arcmin[-1] / (drift_times[-1] / 60) - print(f"\nOverall drift rate: {rate:.1f}'/min") - print(f" → At this rate, after 1 hour without correction: ~{rate * 60:.0f}'") - print(f" → After 5 min without correction: ~{rate * 5:.0f}'") - - -if __name__ == "__main__": - if len(sys.argv) > 1: - main(sys.argv[1]) - else: - main(Path(__file__).parent / "session_20260309.jsonl") diff --git a/python/telemetry_analysis/session_20260309.jsonl b/python/telemetry_analysis/session_20260309.jsonl deleted file mode 100644 index b3c510f62..000000000 --- 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0.42218017578125, -0.0103759765625], "pos": null, "mv": true, "st": 3} -{"t": 1773093674.2396603, "e": "imu", "q": [0.7015380859375, -0.5736083984375, 0.4227294921875, -0.0108642578125], "pos": null, "mv": true, "st": 3} diff --git a/python/telemetry_analysis/visualize.py b/python/telemetry_analysis/visualize.py deleted file mode 100644 index 3addd37c9..000000000 --- a/python/telemetry_analysis/visualize.py +++ /dev/null @@ -1,300 +0,0 @@ -""" -Telemetry session visualizer. - -Generates a multi-panel figure from a PiFinder telemetry JSONL session: - 1. Sky track (RA/Dec) with solve vs IMU-predicted positions - 2. IMU drift: angular error between predicted and solved positions - 3. Solve success/failure timeline - 4. IMU free-run drift vs corrected (what happens without plate-solve correction) - 5. Solve cadence and RMSE over time -""" - -import json -import sys -from pathlib import Path - -import matplotlib.pyplot as plt -import matplotlib.dates as mdates -import numpy as np -import quaternion as npquat -from datetime import datetime, timezone, timedelta - -# Add parent so we can import PiFinder modules -sys.path.insert(0, str(Path(__file__).resolve().parent.parent)) -from PiFinder.pointing_model.imu_dead_reckoning import ImuDeadReckoning -from PiFinder.pointing_model.astro_coords import RaDecRoll - - -def load_session(path): - path = Path(path) - header = None - events = [] - with open(path) as f: - for line in f: - line = line.strip() - if not line: - continue - obj = json.loads(line) - if obj.get("e") == "hdr": - header = obj - else: - events.append(obj) - return header, events - - -def angular_separation(ra1, dec1, ra2, dec2): - """Angular separation in arcminutes between two RA/Dec positions (degrees).""" - ra1, dec1, ra2, dec2 = map(np.radians, [ra1, dec1, ra2, dec2]) - cos_sep = np.sin(dec1) * np.sin(dec2) + np.cos(dec1) * np.cos(dec2) * np.cos( - ra1 - ra2 - ) - cos_sep = np.clip(cos_sep, -1, 1) - return np.degrees(np.arccos(cos_sep)) * 60 # arcminutes - - -def events_to_times(events, t0, dt_start): - """Convert event timestamps to datetime objects.""" - return [dt_start + timedelta(seconds=e["t"] - t0) for e in events] - - -def main(session_path): - header, events = load_session(session_path) - - t0 = events[0]["t"] - dt_start = datetime.fromisoformat(header["dt"]) if header and header.get("dt") else datetime.fromtimestamp(t0, tz=timezone.utc) - - solves = [e for e in events if e["e"] == "solve"] - imus = [e for e in events if e["e"] == "imu"] - successful = [s for s in solves if s.get("ra") is not None] - failed = [s for s in solves if s.get("ra") is None] - - # --- Compute derived data --- - - # Solve times and positions - solve_times = events_to_times(successful, t0, dt_start) - solve_ras = [s["ra"] for s in successful] - solve_decs = [s["dec"] for s in successful] - - # Failed solve times - fail_times = events_to_times(failed, t0, dt_start) - - # IMU predictions vs actual solves (drift measurement) - drift_solves = [s for s in successful if s.get("pred_ra") is not None] - drift_times = events_to_times(drift_solves, t0, dt_start) - drift_arcmin = [ - angular_separation(s["ra"], s["dec"], s["pred_ra"], s["pred_dec"]) - for s in drift_solves - ] - - # RMSE values - rmse_solves = [s for s in successful if s.get("rmse") is not None] - rmse_times = events_to_times(rmse_solves, t0, dt_start) - rmse_vals = [s["rmse"] for s in rmse_solves] - - # Match counts - match_solves = [s for s in successful if s.get("matches") is not None] - match_times = events_to_times(match_solves, t0, dt_start) - match_vals = [s["matches"] for s in match_solves] - - # IMU quaternion norms (should be ~1.0) - imu_with_q = [i for i in imus if i.get("q") is not None] - imu_times = events_to_times(imu_with_q, t0, dt_start) - quat_norms = [np.linalg.norm(i["q"]) for i in imu_with_q] - - # IMU movement detection - imu_moving = [i.get("mv", False) for i in imu_with_q] - - # IMU rate (samples per second) - sliding window - imu_ts = np.array([i["t"] for i in imu_with_q]) - window = 50 - imu_rates = [] - imu_rate_times = [] - for i in range(window, len(imu_ts)): - dt_window = imu_ts[i] - imu_ts[i - window] - if dt_window > 0: - imu_rates.append(window / dt_window) - imu_rate_times.append( - dt_start + timedelta(seconds=imu_ts[i] - t0) - ) - - # --- Plot --- - fig, axes = plt.subplots(5, 1, figsize=(14, 18), constrained_layout=True) - - duration_min = (events[-1]["t"] - t0) / 60 - fig.suptitle( - f"Telemetry Session: {dt_start.strftime('%Y-%m-%d %H:%M:%S UTC')}" - f" | {duration_min:.1f} min" - f" | {len(successful)}/{len(solves)} solves", - fontsize=13, - fontweight="bold", - ) - - # Panel 1: Sky track - ax = axes[0] - ax.plot(solve_ras, solve_decs, ".-", color="steelblue", markersize=4, alpha=0.7, label="Plate solves") - if drift_solves: - pred_ras = [s["pred_ra"] for s in drift_solves] - pred_decs = [s["pred_dec"] for s in drift_solves] - ax.scatter(pred_ras, pred_decs, c="orangered", s=12, alpha=0.5, zorder=5, label="IMU predicted") - # Draw lines connecting prediction to actual - for s in drift_solves: - ax.plot( - [s["pred_ra"], s["ra"]], - [s["pred_dec"], s["dec"]], - "-", - color="orangered", - alpha=0.15, - linewidth=0.8, - ) - ax.set_xlabel("RA (deg)") - ax.set_ylabel("Dec (deg)") - ax.set_title("Sky Track: Solved vs IMU-Predicted Positions") - ax.legend(loc="best", fontsize=9) - ax.invert_xaxis() - ax.grid(True, alpha=0.3) - - # Panel 2: IMU drift - ax = axes[1] - if drift_arcmin: - ax.plot(drift_times, drift_arcmin, ".-", color="orangered", markersize=4, alpha=0.8) - ax.axhline(y=np.median(drift_arcmin), color="gray", linestyle="--", alpha=0.5, label=f"Median: {np.median(drift_arcmin):.1f}'") - p90 = np.percentile(drift_arcmin, 90) - ax.axhline(y=p90, color="gray", linestyle=":", alpha=0.4, label=f"P90: {p90:.1f}'") - ax.legend(loc="best", fontsize=9) - ax.set_ylabel("Drift (arcmin)") - ax.set_title("IMU Prediction Error (angular separation from plate solve)") - ax.xaxis.set_major_formatter(mdates.DateFormatter("%H:%M:%S")) - ax.grid(True, alpha=0.3) - - # Panel 3: Solve timeline - success/fail + matches - ax = axes[2] - ax2 = ax.twinx() - if solve_times: - ax.scatter(solve_times, [1] * len(solve_times), c="limegreen", s=20, marker="|", linewidths=2, label=f"Success ({len(successful)})", zorder=5) - if fail_times: - ax.scatter(fail_times, [0] * len(fail_times), c="red", s=20, marker="|", linewidths=2, label=f"Failed ({len(failed)})", zorder=5) - if match_vals: - ax2.plot(match_times, match_vals, "-", color="steelblue", alpha=0.6, label="Matches") - ax2.set_ylabel("Star matches", color="steelblue") - ax2.tick_params(axis="y", labelcolor="steelblue") - ax.set_yticks([0, 1]) - ax.set_yticklabels(["Failed", "Success"]) - ax.set_title("Solve Timeline") - ax.xaxis.set_major_formatter(mdates.DateFormatter("%H:%M:%S")) - ax.legend(loc="upper left", fontsize=9) - if match_vals: - ax2.legend(loc="upper right", fontsize=9) - ax.grid(True, alpha=0.3) - - # Panel 4: IMU free-run drift (what happens without plate-solve correction) - ax = axes[3] - ax_mv = ax.twinx() - - # Movement as background shading - moving_arr = np.array(imu_moving, dtype=float) - ax_mv.fill_between(imu_times, 0, moving_arr, color="orange", alpha=0.15, step="mid", label="Moving") - ax_mv.set_ylabel("Moving", color="orange") - ax_mv.set_yticks([0, 1]) - ax_mv.set_yticklabels(["Still", "Moving"]) - ax_mv.tick_params(axis="y", labelcolor="orange") - - # Compute free-run drift using ImuDeadReckoning - solves_with_iq = [s for s in successful if s.get("iq") is not None and s.get("cam_ra") is not None] - if len(solves_with_iq) >= 2: - first = solves_with_iq[0] - dr = ImuDeadReckoning("flat") - cam0 = RaDecRoll() - cam0.set_from_deg(first["cam_ra"], first["cam_dec"], first["cam_roll"]) - scope0 = RaDecRoll() - scope0.set_from_deg(first["ra"], first["dec"], first.get("roll", 0)) - dr.set_cam2scope_alignment(cam0, scope0) - q_first = npquat.from_float_array(first["iq"]) - dr.update_plate_solve_and_imu(cam0, q_first) - # Initialize scope quaternion so get_scope_radec() works immediately - dr.update_imu(q_first) - - # Dead-reckon through all IMU events, measure drift at each solve - imu_iter = iter(i for i in imu_with_q if i["t"] > first["t"]) - freerun_drift_times = [] - freerun_drift_vals = [] - for s in solves_with_iq[1:]: - # Feed IMU events up to this solve's time - for imu_evt in imu_iter: - if imu_evt["t"] > s["t"]: - break - dr.update_imu(npquat.from_float_array(imu_evt["q"])) - radec = dr.get_scope_radec() - ra_deg, dec_deg, _ = radec.get_deg(use_none=True) - if ra_deg is not None: - sep = angular_separation(ra_deg, dec_deg, s["ra"], s["dec"]) - freerun_drift_times.append( - dt_start + timedelta(seconds=s["t"] - t0) - ) - freerun_drift_vals.append(sep) - - if freerun_drift_vals: - ax.plot(freerun_drift_times, freerun_drift_vals, ".-", color="orangered", - markersize=3, alpha=0.8, label="Free-run (no correction)") - # Also show corrected drift for comparison - if drift_arcmin: - ax.plot(drift_times, drift_arcmin, ".-", color="steelblue", - markersize=3, alpha=0.6, label="Corrected each solve") - ax.set_ylabel("Drift from truth (arcmin)") - median_fr = np.median(freerun_drift_vals) - max_fr = max(freerun_drift_vals) - ax.set_title( - f"IMU Free-Run Drift vs Corrected" - f" | Free-run: median {median_fr:.0f}', max {max_fr:.0f}'" - ) - ax.legend(loc="upper left", fontsize=9) - else: - ax.set_title("IMU Free-Run Drift (insufficient data)") - - ax.xaxis.set_major_formatter(mdates.DateFormatter("%H:%M:%S")) - ax_mv.legend(loc="upper right", fontsize=9) - ax.grid(True, alpha=0.3) - - # Panel 5: RMSE + IMU sample rate - ax = axes[4] - ax_rate = ax.twinx() - if rmse_vals: - ax.plot(rmse_times, rmse_vals, ".-", color="purple", markersize=3, alpha=0.7, label="RMSE") - ax.set_ylabel("Solve RMSE", color="purple") - ax.tick_params(axis="y", labelcolor="purple") - if imu_rates: - ax_rate.plot(imu_rate_times, imu_rates, "-", color="teal", alpha=0.4, linewidth=0.8, label="IMU rate") - ax_rate.set_ylabel("IMU sample rate (Hz)", color="teal") - ax_rate.tick_params(axis="y", labelcolor="teal") - ax_rate.legend(loc="upper right", fontsize=9) - ax.set_xlabel("Time (UTC)") - ax.set_title("Solve RMSE & IMU Sample Rate") - ax.xaxis.set_major_formatter(mdates.DateFormatter("%H:%M:%S")) - ax.legend(loc="upper left", fontsize=9) - ax.grid(True, alpha=0.3) - - # Save - out_path = Path(session_path).parent / "telemetry_viz.png" - fig.savefig(out_path, dpi=150, bbox_inches="tight") - print(f"Saved: {out_path}") - - # Print stats - print(f"\n--- Session Stats ---") - print(f"Duration: {duration_min:.1f} min") - print(f"Solves: {len(successful)}/{len(solves)} ({100*len(successful)/len(solves):.0f}% success rate)") - print(f"IMU events: {len(imus)} ({len(imus)/(events[-1]['t']-t0):.1f} Hz avg)") - print(f"Moving events: {sum(imu_moving)}/{len(imu_with_q)} ({100*sum(imu_moving)/len(imu_with_q):.1f}%)") - if drift_arcmin: - print(f"IMU drift: median {np.median(drift_arcmin):.1f}', mean {np.mean(drift_arcmin):.1f}', P90 {np.percentile(drift_arcmin, 90):.1f}', max {max(drift_arcmin):.1f}'") - if rmse_vals: - print(f"Solve RMSE: median {np.median(rmse_vals):.3f}, mean {np.mean(rmse_vals):.3f}") - if quat_norms: - print(f"Quat norm: mean {np.mean(quat_norms):.6f}, std {np.std(quat_norms):.6f}") - if match_vals: - print(f"Star matches: median {np.median(match_vals):.0f}, min {min(match_vals)}, max {max(match_vals)}") - - -if __name__ == "__main__": - if len(sys.argv) > 1: - main(sys.argv[1]) - else: - main(Path(__file__).parent / "session_20260309.jsonl")