Telemetry recording and replay with pointing math refactor

.gitignore

@@ -161,3 +161,4 @@ python/tetra3
 # users GPS data
 test_ubx
 test_ubx/*
+python/telemetry_analysis/

default_config.json

@@ -177,5 +177,7 @@
         "active_telescope_index": 0,
         "active_eyepiece_index": 0
     },
-    "imu_threshold_scale": 1
+    "imu_threshold_scale": 1,
+    "telemetry_record": false,
+    "telemetry_images": false
 }

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")

python/PiFinder/imu_pi.py

@@ -171,19 +171,27 @@ 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:
         imu.update()
         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)