Telemetry recording and replay with pointing math refactor#411
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mrosseel wants to merge 18 commits into
Open
Telemetry recording and replay with pointing math refactor#411mrosseel wants to merge 18 commits into
mrosseel wants to merge 18 commits into
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Replays synthetic telemetry through real ImuDeadReckoning and integrator wrapper functions, measuring dead-reckoning error vs ground truth. Three tests: stationary drift, slew tracking, and solve correction reset. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
- Telemetry recorder captures solve and IMU events with timestamps - Menu entries for telemetry start/stop/replay - Integrator wired to record solves and IMU readings - UI list screen for telemetry sessions Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Split integrator.py into three focused modules: - pointing.py: coordinate math (IMU dead-reckoning, plate-solve integration, roll/constellation/altaz finalization) - telemetry.py: TelemetryManager facade (recording, replay, command dispatch, image saving, replay event handling) - integrator.py: main loop and queue plumbing only Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
- 55 unit tests covering TelemetryRecorder, TelemetryPlayer, TelemetryManager, and pointing.py functions - Fix test_integrator_drift.py import from PiFinder.integrator to PiFinder.pointing after refactor Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
…and analysis tools - Record raw gyro and accelerometer readings in IMU events - Record target changes (name, RA/Dec, Alt/Az) for time-to-target analysis - Fix replay: solve_time, solve_source, imu_pos, failed solves, mount_type header - Reset integrator state after replay ends - Move location to separate .location sidecar file for privacy - Reduce file size with stationary IMU decimation (10x) and float rounding - Add telemetry analysis scripts: session visualizer, drift analysis, truss flex analysis, IMU free-run drift visualization - Include sample recording (session_20260309.jsonl, location scrubbed) - 67 unit tests covering all new functionality Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Single conflict in python/PiFinder/integrator.py: telemetry already refactored the helper functions (update_plate_solve_and_imu, update_imu, set_cam2scope_alignment, get_roll_by_mount_type) into pointing.py. Kept telemetry's refactor; dropped the duplicate helpers that upstream modified in place. Upstream-only additions (get_alt_az, get_constellation, pointing_updated flag) and the imu_time tweak in update_imu are NOT incorporated here — apply them to pointing.py as a follow-up if wanted.
Upstream's astro_coords refactor (brickbots#420) moved RaDecRoll from pointing_model/astro_coords.py to types/coordinates.py and reworked the API: constructor now takes (ra, dec, roll, deg=...) and replaces set_from_deg/get_deg with set(...) and get(deg=True). Resolution: - integrator.py: kept HEAD; dropped duplicate helpers (now in pointing.py) - pointing.py: updated import path and ported all RaDecRoll calls to the new API (set_from_deg/get_deg → constructor / get(deg=True)) - integrator_classic.py: accepted upstream deletion (brickbots#421 dropped classic integrator); telemetry's only change was a trivial **kwargs signature
The clear-on-failure block in solver() reset solved["RA"]/Dec/Matches but left camera_center and camera_solve pinned to the last successful solve across every failure path. Integrator-side downstream is unaffected (integrator.py:96 only merges new position data when RA is not None), but stale camera_center leaks into anything reading 'solved' from the solver's perspective. Completes the existing 'otherwise old values persist' clearing block.
solver.py imports tetra3 at module scope, which transitively pulled the submodule into any caller of get_initialized_solved_dict — including integrator.py and the integration-drift tests. CI's checkout step does not init submodules, so tests/test_integrator_drift.py failed to collect: PiFinder/solver.py:28: ModuleNotFoundError: No module named 'tetra3' Move the pure-data dict factory to a tiny new module PiFinder/solved.py. Update solver.py, integrator.py, and test_integrator_drift.py to import from there. No runtime behavior change.
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TakKanekoGit
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Hi! I just reviewed the part I'm familiar with (imu_pi.py). I use telemetry a lot so it'll be great to have it in main.
| imu_data["status"] = imu.calibration | ||
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| # TODO: move_start and move_end don't seem to be used? | ||
| # Read raw sensor data for telemetry |
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Wouldn't it make more sense to do this in imu.update() when the quaternions are read out?
| # 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 |
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The current version doesn't read gyro and accelerometer so we might get different behaviour, what with read/write, if we also start sampling additional data from the IMU.
When I previously analysed the gyro recorded with an earlier version of telemetry, it wasn't very usable. That might be due to the BNO055 IMU because I also got poor performance in GYRONLY mode.
Would it be an idea to make the default just to read in the quaternions and to have a configuration somewhere to enable reading in gyro and acceleration as an option?
Port telemetry record/replay onto the refactored Solver/Integrator flow (upstream brickbots#429): SolveResult DTOs on solver_queue, integrator-owned PointingEstimate, ImuSample on shared_state. - integrator.py: take upstream's dataclass integrator, re-add telemetry hooks. Replay now converts recorded events back into SolveResult / ImuSample messages and feeds them through the same _apply_successful_solve / _apply_failed_solve / _advance_with_imu paths as live data (the old branch duplicated integrator logic inside TelemetryManager). - telemetry.py: recorder consumes SolveResult/ImuSample; player produces them. JSONL field names unchanged, so existing recordings stay replayable. - types/positioning.py: ImuSample gains gyro/accel fields for raw-sensor telemetry; imu_pi.py populates them. - Drop pointing.py and solved.py: superseded by types/positioning.py and the upstream integrator (incl. the legacy roll-by-mount-type logic that upstream replaced with chart-side handling). - solver.py: take upstream as-is (get_initialized_solved_dict is gone). - Tests ported to the new types; drift tests now exercise the real integrator apply/advance functions.
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Summary
telemetry.py,telemetry_list.pyUI, menu entries)integrator.py(slims integrator from ~600 lines to ~335)Test plan
nox -s unit_testspasses (includes newtest_telemetry.pyandtest_integrator_drift.py)nox -s lintpassesnox -s type_hintspasses🤖 Generated with Claude Code