diff --git a/.envrc b/.envrc
new file mode 100644
index 000000000..3550a30f2
--- /dev/null
+++ b/.envrc
@@ -0,0 +1 @@
+use flake
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
new file mode 100644
index 000000000..8ddbef712
--- /dev/null
+++ b/.github/workflows/build.yml
@@ -0,0 +1,330 @@
+name: Build PiFinder NixOS
+
+on:
+  push:
+    branches: [main, nixos]
+  pull_request:
+    types: [labeled, synchronize, opened]
+  workflow_dispatch:
+    inputs:
+      migration_version:
+        description: "Migration tarball version tag (e.g. 2.5.0)"
+        required: false
+        default: "2.5.0"
+        type: string
+
+concurrency:
+  group: build-${{ github.head_ref || github.ref_name }}
+  cancel-in-progress: true
+
+jobs:
+  # Try Pi5 native build first (fast)
+  build-native:
+    if: |
+      github.event_name == 'push' ||
+      github.event_name == 'workflow_dispatch' ||
+      contains(github.event.pull_request.labels.*.name, 'preview') ||
+      contains(github.event.pull_request.labels.*.name, 'testable')
+    runs-on: [self-hosted, aarch64]
+    timeout-minutes: 30
+    outputs:
+      success: ${{ steps.build.outcome == 'success' }}
+      store_path: ${{ steps.push.outputs.store_path }}
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: cachix/cachix-action@v15
+        with:
+          name: pifinder
+          authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+
+      - name: Build NixOS system closure
+        id: build
+        run: |
+          nix build .#nixosConfigurations.pifinder.config.system.build.toplevel \
+            -L --no-link
+
+      - name: Push to Cachix
+        id: push
+        run: |
+          STORE_PATH=$(nix build .#nixosConfigurations.pifinder.config.system.build.toplevel \
+            --json | jq -r '.[].outputs.out')
+          echo "$STORE_PATH" | cachix push pifinder
+          echo "store_path=$STORE_PATH" >> "$GITHUB_OUTPUT"
+
+  # Wait up to 15 min for native builder, then decide on fallback
+  native-wait:
+    if: |
+      github.event_name == 'push' ||
+      github.event_name == 'workflow_dispatch' ||
+      contains(github.event.pull_request.labels.*.name, 'preview') ||
+      contains(github.event.pull_request.labels.*.name, 'testable')
+    runs-on: ubuntu-latest
+    timeout-minutes: 20
+    outputs:
+      need_emulated: ${{ steps.wait.outputs.need_emulated }}
+    steps:
+      - name: Wait for native build
+        id: wait
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: |
+          for i in $(seq 1 30); do
+            sleep 30
+            RESULT=$(gh api "repos/${{ github.repository }}/actions/runs/${{ github.run_id }}/jobs" \
+              --jq '.jobs[] | select(.name == "build-native") | .conclusion // "pending"' 2>/dev/null || echo "pending")
+            echo "Check $i/30: build-native=$RESULT"
+            if [ "$RESULT" = "success" ]; then
+              echo "need_emulated=false" >> "$GITHUB_OUTPUT"
+              exit 0
+            elif [ "$RESULT" = "failure" ] || [ "$RESULT" = "cancelled" ]; then
+              echo "need_emulated=true" >> "$GITHUB_OUTPUT"
+              exit 0
+            fi
+          done
+          echo "Native build not done after 15 min, falling back to emulated"
+          echo "need_emulated=true" >> "$GITHUB_OUTPUT"
+
+  # Fallback to QEMU emulation if Pi5 unavailable or slow
+  build-emulated:
+    needs: native-wait
+    if: needs.native-wait.outputs.need_emulated == 'true'
+    runs-on: ubuntu-latest
+    timeout-minutes: 360
+    outputs:
+      store_path: ${{ steps.push.outputs.store_path }}
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: cachix/install-nix-action@v27
+        with:
+          extra_nix_config: |
+            extra-platforms = aarch64-linux
+            extra-system-features = big-parallel
+
+      - uses: cachix/cachix-action@v15
+        with:
+          name: pifinder
+          authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+
+      - name: Register QEMU binfmt for aarch64
+        run: sudo apt-get update && sudo apt-get install -y qemu-user-static
+
+      - name: Build NixOS system closure
+        run: |
+          nix build .#nixosConfigurations.pifinder.config.system.build.toplevel \
+            --system aarch64-linux \
+            -L --no-link
+
+      - name: Push to Cachix
+        id: push
+        run: |
+          STORE_PATH=$(nix build .#nixosConfigurations.pifinder.config.system.build.toplevel \
+            --system aarch64-linux \
+            --json | jq -r '.[].outputs.out')
+          echo "$STORE_PATH" | cachix push pifinder
+          echo "store_path=$STORE_PATH" >> "$GITHUB_OUTPUT"
+
+  # Commit pifinder-build.json with store path to the same branch
+  stamp-build:
+    needs: [build-native, build-emulated]
+    if: always() && (needs.build-native.result == 'success' || needs.build-emulated.result == 'success')
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          ref: ${{ github.head_ref || github.ref_name }}
+          token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Write pifinder-build.json
+        run: |
+          STORE_PATH="${{ needs.build-native.outputs.store_path || needs.build-emulated.outputs.store_path }}"
+          BRANCH="${{ github.head_ref || github.ref_name }}"
+          SHORT_SHA=$(git rev-parse --short HEAD)
+          PR_NUMBER="${{ github.event.pull_request.number }}"
+          if [ -n "$PR_NUMBER" ]; then
+            VERSION="PR#${PR_NUMBER}-${SHORT_SHA}"
+          else
+            VERSION="${BRANCH}-${SHORT_SHA}"
+          fi
+          jq -n --arg sp "$STORE_PATH" --arg v "$VERSION" \
+            '{store_path: $sp, version: $v}' > pifinder-build.json
+
+      - name: Commit pifinder-build.json
+        run: |
+          git config user.name "github-actions[bot]"
+          git config user.email "github-actions[bot]@users.noreply.github.com"
+          git add pifinder-build.json
+          git diff --staged --quiet || git commit -m "chore: stamp build [skip ci]"
+          git push
+
+  # Build migration tarball — only on nixos branch pushes
+  build-migration-tarball:
+    needs: [build-native, build-emulated]
+    if: |
+      always() &&
+      github.ref == 'refs/heads/nixos' &&
+      (needs.build-native.result == 'success' || needs.build-emulated.result == 'success')
+    runs-on: [self-hosted, aarch64]
+    permissions:
+      contents: write
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: cachix/cachix-action@v15
+        with:
+          name: pifinder
+          authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+
+      - name: Set version
+        run: |
+          if [ -n "${{ inputs.migration_version }}" ]; then
+            echo "VERSION=${{ inputs.migration_version }}" >> "$GITHUB_ENV"
+          else
+            echo "VERSION=2.5.0" >> "$GITHUB_ENV"
+          fi
+
+      - name: Resolve full system store path
+        run: |
+          FULL_PATH="${{ needs.build-native.outputs.store_path || needs.build-emulated.outputs.store_path }}"
+          echo "FULL_PATH=$FULL_PATH" >> "$GITHUB_ENV"
+          echo "Full system toplevel: $FULL_PATH"
+
+      - name: Build migration toplevel and boot firmware
+        run: |
+          MIGRATION_PATH=$(nix build \
+            .#nixosConfigurations.pifinder-migration.config.system.build.toplevel \
+            --json | jq -r '.[].outputs.out')
+          echo "MIGRATION_PATH=$MIGRATION_PATH" >> "$GITHUB_ENV"
+          echo "Migration toplevel: $MIGRATION_PATH"
+
+          BOOT_FW=$(nix build .#packages.aarch64-linux.migration-boot-firmware \
+            --json | jq -r '.[].outputs.out')
+          echo "BOOT_FW=$BOOT_FW" >> "$GITHUB_ENV"
+          echo "Boot firmware: $BOOT_FW"
+
+      - name: Clean up previous runs
+        run: |
+          sudo rm -rf /tmp/tarball-staging
+          rm -f /tmp/pifinder-nixos-*.tar.zst /tmp/pifinder-nixos-*.tar.zst.sha256
+
+      - name: Assemble boot partition
+        run: |
+          set -euo pipefail
+          mkdir -p /tmp/tarball-staging/boot/{nixos,extlinux}
+
+          # RPi firmware, u-boot, config.txt, firmware DTBs
+          cp "$BOOT_FW"/* /tmp/tarball-staging/boot/
+
+          # Kernel, initrd, dtbs from migration toplevel
+          KERNEL=$(readlink -f "$MIGRATION_PATH/kernel")
+          INITRD=$(readlink -f "$MIGRATION_PATH/initrd")
+          DTBS=$(readlink -f "$MIGRATION_PATH/dtbs")
+
+          KERNEL_NAME=$(basename "$KERNEL")
+          INITRD_NAME=$(basename "$INITRD")
+          DTBS_NAME=$(basename "$DTBS")
+
+          cp "$KERNEL" "/tmp/tarball-staging/boot/nixos/$KERNEL_NAME"
+          cp "$INITRD" "/tmp/tarball-staging/boot/nixos/$INITRD_NAME"
+          cp -r "$DTBS" "/tmp/tarball-staging/boot/nixos/$DTBS_NAME"
+
+          # Generate extlinux.conf
+          KERNEL_PARAMS=$(cat "$MIGRATION_PATH/kernel-params")
+          cat > /tmp/tarball-staging/boot/extlinux/extlinux.conf <<EXTEOF
+          TIMEOUT 0
+          DEFAULT nixos-default
+
+          LABEL nixos-default
+            MENU LABEL NixOS - Default
+            LINUX ../nixos/$KERNEL_NAME
+            INITRD ../nixos/$INITRD_NAME
+            APPEND init=$MIGRATION_PATH/init $KERNEL_PARAMS
+            FDT ../nixos/$DTBS_NAME/broadcom/bcm2711-rpi-4-b.dtb
+          EXTEOF
+
+          echo "Boot partition assembled"
+          du -sh /tmp/tarball-staging/boot/
+
+      - name: Assemble rootfs from closure
+        run: |
+          set -euo pipefail
+          mkdir -p /tmp/tarball-staging/rootfs/nix/var/nix/{db,gcroots,profiles}
+
+          # Copy nix store closure via tar (faster than per-path cp)
+          echo "Copying nix store closure..."
+          CLOSURE_COUNT=$(nix-store -qR "$MIGRATION_PATH" | wc -l)
+          echo "Closure contains $CLOSURE_COUNT store paths"
+          nix-store -qR "$MIGRATION_PATH" \
+            | tar -cf - -T - \
+            | tar -xf - -C /tmp/tarball-staging/rootfs
+
+          # System profile symlink
+          ln -s "$MIGRATION_PATH" /tmp/tarball-staging/rootfs/nix/var/nix/profiles/system
+
+          # Nix DB registration (loaded by nix-path-registration service on first boot)
+          echo "Generating Nix DB registration..."
+          nix-store --dump-db $(nix-store -qR "$MIGRATION_PATH") \
+            > /tmp/tarball-staging/rootfs/nix-path-registration
+
+          # First-boot target: full system to download from cachix
+          mkdir -p /tmp/tarball-staging/rootfs/var/lib/pifinder
+          echo "$FULL_PATH" > /tmp/tarball-staging/rootfs/var/lib/pifinder/first-boot-target
+
+          # PiFinder data directory
+          mkdir -p /tmp/tarball-staging/rootfs/home/pifinder/PiFinder_data
+
+          echo "Rootfs assembled"
+          du -sh /tmp/tarball-staging/rootfs/
+
+      - name: Create migration tarball
+        run: |
+          TARBALL="pifinder-nixos-v${VERSION}.tar.zst"
+
+          UNCOMPRESSED_MB=$(du -sm /tmp/tarball-staging | awk '{print $1}')
+          echo "Uncompressed staging: ${UNCOMPRESSED_MB} MB"
+
+          tar -C /tmp/tarball-staging -cf - boot rootfs \
+            | zstd -T0 -19 -o "/tmp/${TARBALL}"
+          sudo rm -rf /tmp/tarball-staging
+
+          echo "TARBALL=/tmp/${TARBALL}" >> "$GITHUB_ENV"
+          echo "TARBALL_NAME=${TARBALL}" >> "$GITHUB_ENV"
+
+          sha256sum "/tmp/${TARBALL}" | awk '{print $1}' > "/tmp/${TARBALL}.sha256"
+          echo "SHA256=$(cat /tmp/${TARBALL}.sha256)" >> "$GITHUB_ENV"
+
+          SIZE_MB=$(( $(stat -c%s "/tmp/${TARBALL}") / 1048576 ))
+          echo "SIZE_MB=${SIZE_MB}" >> "$GITHUB_ENV"
+
+          echo "### Migration Tarball Built" >> "$GITHUB_STEP_SUMMARY"
+          echo "- **File:** ${TARBALL}" >> "$GITHUB_STEP_SUMMARY"
+          echo "- **Uncompressed:** ${UNCOMPRESSED_MB} MB" >> "$GITHUB_STEP_SUMMARY"
+          echo "- **Compressed:** ${SIZE_MB} MB" >> "$GITHUB_STEP_SUMMARY"
+          echo "- **SHA256:** \`$(cat /tmp/${TARBALL}.sha256)\`" >> "$GITHUB_STEP_SUMMARY"
+          echo "- **Method:** direct closure assembly (no SD image)" >> "$GITHUB_STEP_SUMMARY"
+
+      - name: Upload artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: ${{ env.TARBALL_NAME }}
+          path: |
+            ${{ env.TARBALL }}
+            ${{ env.TARBALL }}.sha256
+
+      - name: Create release
+        uses: softprops/action-gh-release@v2
+        with:
+          tag_name: v${{ env.VERSION }}-migration
+          name: PiFinder NixOS Migration v${{ env.VERSION }}
+          body: |
+            NixOS migration tarball (boot + rootfs, no catalog images).
+            Assembled from nix store closure with first-boot deferred download.
+
+            **Size:** ${{ env.SIZE_MB }} MB
+            **SHA256:** `${{ env.SHA256 }}`
+          files: |
+            ${{ env.TARBALL }}
+            ${{ env.TARBALL }}.sha256
diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml
new file mode 100644
index 000000000..37e24bfbc
--- /dev/null
+++ b/.github/workflows/lint.yml
@@ -0,0 +1,56 @@
+name: Lint & Test
+on: [push, pull_request]
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - uses: DeterminateSystems/nix-installer-action@main
+        with:
+          determinate: false
+      - uses: DeterminateSystems/magic-nix-cache-action@main
+      - name: Lint
+        run: nix develop --command bash -c "cd python && ruff check"
+      - name: Format check
+        run: nix develop --command bash -c "cd python && ruff format --check"
+      - name: Check for removed config keys
+        if: github.event_name == 'pull_request'
+        run: |
+          BASE_SHA="${{ github.event.pull_request.base.sha }}"
+          git show "$BASE_SHA:default_config.json" 2>/dev/null \
+            | python3 -c "import json,sys; print('\n'.join(sorted(json.load(sys.stdin).keys())))" \
+            > /tmp/base_keys.txt || exit 0
+          python3 -c "import json,sys; print('\n'.join(sorted(json.load(sys.stdin).keys())))" \
+            < default_config.json > /tmp/head_keys.txt
+          REMOVED=$(comm -23 /tmp/base_keys.txt /tmp/head_keys.txt)
+          if [ -n "$REMOVED" ]; then
+            while IFS= read -r key; do
+              echo "::warning file=default_config.json::Config key '$key' was removed — this may break user preferences across release switches"
+            done <<< "$REMOVED"
+          fi
+
+  type-check:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: DeterminateSystems/nix-installer-action@main
+        with:
+          determinate: false
+      - uses: DeterminateSystems/magic-nix-cache-action@main
+      - name: Type check
+        run: nix develop --command bash -c "cd python && mypy --install-types --non-interactive ."
+
+  test:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: DeterminateSystems/nix-installer-action@main
+        with:
+          determinate: false
+      - uses: DeterminateSystems/magic-nix-cache-action@main
+      - name: Smoke tests
+        run: nix develop --command bash -c "cd python && pytest -m smoke"
+      - name: Unit tests
+        run: nix develop --command bash -c "cd python && pytest -m unit"
diff --git a/.github/workflows/nox.yml b/.github/workflows/nox.yml
deleted file mode 100644
index 1fd793bed..000000000
--- a/.github/workflows/nox.yml
+++ /dev/null
@@ -1,14 +0,0 @@
-name: nox
-on: [push, pull_request]
-jobs:
-  nox:
-    runs-on: ubuntu-latest
-    defaults:
-      run:
-        working-directory: ./python
-    steps:
-      - uses: actions/checkout@v4
-      - uses: wntrblm/nox@2024.04.15
-        with:
-          python-versions: "3.9"
-      - run: nox -s lint format type_hints smoke_tests unit_tests
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
new file mode 100644
index 000000000..8c9dea9e3
--- /dev/null
+++ b/.github/workflows/release.yml
@@ -0,0 +1,132 @@
+name: Release
+
+on:
+  workflow_dispatch:
+    inputs:
+      version:
+        description: 'Version (e.g., 2.5.0)'
+        required: true
+      notes:
+        description: 'Release notes'
+        required: true
+      type:
+        description: 'Release type'
+        type: choice
+        options:
+          - stable
+          - beta
+        default: stable
+      source_branch:
+        description: 'Source branch (default: main, use release/X.Y for hotfixes)'
+        required: false
+        default: 'main'
+
+jobs:
+  release:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          ref: ${{ inputs.source_branch }}
+          token: ${{ secrets.GITHUB_TOKEN }}
+
+      - uses: cachix/install-nix-action@v27
+        with:
+          extra_nix_config: |
+            extra-platforms = aarch64-linux
+            extra-system-features = big-parallel
+
+      - uses: cachix/cachix-action@v15
+        with:
+          name: pifinder
+          authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+
+      - name: Register QEMU binfmt for aarch64
+        run: sudo apt-get update && sudo apt-get install -y qemu-user-static
+
+      - name: Build and push closure to Cachix
+        id: push
+        run: |
+          STORE_PATH=$(nix build .#nixosConfigurations.pifinder.config.system.build.toplevel \
+            --system aarch64-linux -L --json | jq -r '.[].outputs.out')
+          echo "$STORE_PATH" | cachix push pifinder
+          echo "store_path=$STORE_PATH" >> "$GITHUB_OUTPUT"
+
+      - name: Stamp pifinder-build.json and create tag
+        run: |
+          TAG="v${{ inputs.version }}"
+          [[ "${{ inputs.type }}" == "beta" ]] && TAG="${TAG}-beta"
+
+          STORE_PATH="${{ steps.push.outputs.store_path }}"
+          VERSION="${{ inputs.version }}"
+          jq -n --arg sp "$STORE_PATH" --arg v "$VERSION" \
+            '{store_path: $sp, version: $v}' > pifinder-build.json
+
+          git config user.name "github-actions[bot]"
+          git config user.email "github-actions[bot]@users.noreply.github.com"
+          git add pifinder-build.json
+          git diff --staged --quiet || git commit -m "release: stamp build for $TAG [skip ci]"
+          git push origin "${{ inputs.source_branch }}"
+
+          git tag "$TAG"
+          git push origin "$TAG"
+          echo "TAG=$TAG" >> $GITHUB_ENV
+
+      - name: Build SD image
+        run: |
+          nix build .#images.pifinder \
+            --system aarch64-linux \
+            -L -o result-sd
+          mkdir -p release
+          for f in result-sd/sd-image/*.img.zst; do
+            cp "$f" "release/pifinder-${TAG}.img.zst"
+          done
+
+      - name: Build migration tarball from SD image
+        run: |
+          IMAGE_FILE=$(find result-sd/sd-image -type f \( -name "*.img" -o -name "*.img.zst" \) | head -1)
+
+          rm -f /tmp/pifinder-release.img
+          if [[ "${IMAGE_FILE}" == *.zst ]]; then
+            zstd -d "${IMAGE_FILE}" -o /tmp/pifinder-release.img
+          else
+            cp "${IMAGE_FILE}" /tmp/pifinder-release.img
+          fi
+
+          LOOP=$(sudo losetup --find --show --partscan /tmp/pifinder-release.img)
+          sudo mkdir -p /mnt/boot /mnt/root
+          sudo mount "${LOOP}p1" /mnt/boot
+          sudo mount "${LOOP}p2" /mnt/root
+
+          mkdir -p /tmp/tarball-staging
+          sudo cp -a /mnt/boot /tmp/tarball-staging/boot
+          sudo cp -a /mnt/root /tmp/tarball-staging/rootfs
+          sudo rm -rf /tmp/tarball-staging/rootfs/home/pifinder/PiFinder_data/catalog_images
+
+          sudo umount /mnt/boot /mnt/root
+          sudo losetup -d "${LOOP}"
+          rm -f /tmp/pifinder-release.img
+
+          sudo tar -C /tmp/tarball-staging -cf - \
+            --exclude='*/lost+found' \
+            boot rootfs | zstd -T0 -19 -o "release/pifinder-migration-${TAG}.tar.zst"
+          sudo rm -rf /tmp/tarball-staging
+
+      - name: Upload build artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: pifinder-release-${{ env.TAG }}
+          path: release/pifinder-*.zst
+          retention-days: 90
+
+      - name: Create GitHub Release
+        uses: softprops/action-gh-release@v1
+        with:
+          tag_name: ${{ env.TAG }}
+          name: PiFinder ${{ env.TAG }}
+          body: ${{ inputs.notes }}
+          prerelease: ${{ inputs.type == 'beta' }}
+          files: |
+            release/pifinder-*.zst
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 2a538aa17..317fee59c 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -1,15 +1,27 @@
-# See https://pre-commit.com for more information
-# See https://pre-commit.com/hooks.html for more hooks
 repos:
-  - repo: https://github.com/saltstack/mirrors-nox
-    rev: 'v2022.11.21'  # Use the sha / tag you want to point at
+  - repo: local
     hooks:
-      - id: nox
-        files: ^.*\.py$
-        args:
-          - -f
-          - python/noxfile.py
-          - -s
-          - type_hints
-          - smoke_tests
-          - --
+      - id: ruff-lint
+        name: ruff lint
+        entry: bash -c 'cd python && ruff check'
+        language: system
+        files: ^python/.*\.py$
+        pass_filenames: false
+      - id: ruff-format
+        name: ruff format check
+        entry: bash -c 'cd python && ruff format --check'
+        language: system
+        files: ^python/.*\.py$
+        pass_filenames: false
+      - id: mypy
+        name: mypy type check
+        entry: bash -c 'cd python && mypy .'
+        language: system
+        files: ^python/.*\.py$
+        pass_filenames: false
+      - id: smoke-tests
+        name: smoke tests
+        entry: bash -c 'cd python && pytest -m smoke'
+        language: system
+        files: ^python/.*\.py$
+        pass_filenames: false
diff --git a/CLAUDE.md b/CLAUDE.md
index bac5f63c2..298aa2859 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -118,3 +118,35 @@ Tests use pytest with custom markers for different test types. The smoke tests p
 - **I18n Support:** Babel integration for multi-language UI
 
 The codebase follows modern Python practices with type hints, comprehensive testing, and automated code quality checks integrated into the development workflow.
+
+## NixOS Development
+
+**CRITICAL: Never run `nix build` or `nix eval` on Pi 4 targets.** The Pi 4 lacks sufficient resources and will hang/crash. Always build on pi5.local (GitHub Actions runner), push to cachix, then trigger the upgrade service:
+```bash
+# Build on pi5
+ssh pi5.local 'nix build --no-link --print-out-paths github:mrosseel/PiFinder/nixos#nixosConfigurations.pifinder.config.system.build.toplevel'
+# Push to cachix (so Pi can download signed paths)
+ssh pi5.local 'cachix push pifinder <store-path>'
+# Trigger upgrade on target Pi (downloads from cachix, activates, reboots)
+ssh pifinder@<target-ip> 'echo "<store-path>" > /run/pifinder/upgrade-ref && sudo systemctl start --no-block pifinder-upgrade.service'
+# Monitor progress
+ssh pifinder@<target-ip> 'cat /run/pifinder/upgrade-status'
+```
+
+**Netboot deployment (dev Pi on proxnix NFS):**
+```bash
+./deploy-image-to-nfs.sh    # Build and deploy to NFS
+```
+
+**Power control (Shelly plug via Home Assistant):**
+```bash
+~/.local/bin/pifinder-power-off.sh   # Turn off PiFinder
+~/.local/bin/pifinder-power-on.sh    # Turn on PiFinder
+```
+
+**Check Pi status:**
+```bash
+ssh pifinder@192.168.5.146           # SSH to netboot Pi
+systemctl status pifinder            # Check service status
+journalctl -u pifinder -f            # Follow service logs
+```
diff --git a/NIXOS_STATUS.md b/NIXOS_STATUS.md
new file mode 100644
index 000000000..d56c759bc
--- /dev/null
+++ b/NIXOS_STATUS.md
@@ -0,0 +1,54 @@
+# NixOS Migration Status
+
+## What Works
+- **PWM LEDs** - Fixed with proper pinctrl overlay routing PWM0_1 to GPIO 13
+- **Boot splash** - Static red splash screen on OLED during boot
+- **PAM authentication** - Fixed /etc symlinks using /etc/static
+- **Netboot** - TFTP/NFS working with u-boot → extlinux chain
+- **CI/CD** - Pi5 native builds on self-hosted runner with ubuntu-latest fallback
+- **Cachix** - pifinder.cachix.org for binary cache
+
+## Recent Fixes (this session)
+1. PWM overlay: added pinctrl to route PWM signal to GPIO 13
+2. Boot splash: changed to static mode (no animation)
+3. PAM symlinks: use `/etc/static/pam.d` not direct closure paths
+4. CI workflow: use Pi5 `[self-hosted, aarch64]` runner, fallback to ubuntu-latest
+5. pifinder service: `Type=simple` instead of `Type=idle` (was causing ~2min delay)
+6. Deploy script: `rm -rf pam.d` before symlink (can't overwrite directory)
+
+## Commits Pushed (nixos branch)
+- `957b55e` - fix: PWM overlay pinctrl and boot splash improvements
+- `f00b041` - ci: use Pi5 native runner with ubuntu-latest fallback
+- `78c1eb9` - fix(ci): use correct flake output names
+- `721e59b` - fix: use /etc/static for symlinks in deploy script
+- `258a367` - fix: use Type=simple for pifinder service
+- `bf4d561` - fix: remove pam.d before symlink in deploy script
+
+## Known Issues / TODO
+1. ~~**WiFi kernel oops**~~ - CLOSED: Just a harmless FORTIFY_SOURCE warning in brcmfmac driver (struct flexible array declared as 1-byte field). WiFi hardware works fine. Using ethernet for netboot anyway.
+2. **Python startup slow** - 1m46s between systemd starting service and Python first log. Not systemd delay - it's Python import/NFS latency. Consider:
+   - Lazy imports
+   - Local caching of Python bytecode
+   - Profiling import time with `python -X importtime`
+3. **IP changes** - Pi getting different DHCP IPs (146, 150) - consider static IP
+4. **Samba** - Taking 10.7s at boot, do we need it?
+5. **firewall.service** - Taking 16s, could optimize or disable if not needed
+
+## Files Changed
+- `nixos/hardware.nix` - PWM overlay with pinctrl
+- `nixos/services.nix` - boot-splash static, pifinder Type=simple
+- `nixos/pkgs/boot-splash.c` - static mode, red color fix
+- `flake.nix` - initrd splash changes
+- `deploy-image-to-nfs.sh` - /etc/static symlinks, rm before ln
+- `.github/workflows/build.yml` - Pi5 runner, fallback, correct flake outputs
+
+## Deploy Command
+```bash
+./deploy-image-to-nfs.sh
+```
+
+## Test After Reboot
+```bash
+ssh pifinder@192.168.5.146 "systemd-analyze blame | head -10"
+ssh pifinder@192.168.5.146 "journalctl -u pifinder --no-pager | head -20"
+```
diff --git a/astro_data/pifinder_objects.db b/astro_data/pifinder_objects.db
index bd52f27df..5e7eb9ac5 100644
Binary files a/astro_data/pifinder_objects.db and b/astro_data/pifinder_objects.db differ
diff --git a/bin/cedar-detect-server-aarch64 b/bin/cedar-detect-server-aarch64
deleted file mode 100755
index 7b44b89b7..000000000
Binary files a/bin/cedar-detect-server-aarch64 and /dev/null differ
diff --git a/bin/cedar-detect-server-arm64 b/bin/cedar-detect-server-arm64
deleted file mode 100755
index ea792437f..000000000
Binary files a/bin/cedar-detect-server-arm64 and /dev/null differ
diff --git a/default_config.json b/default_config.json
index 7ce509784..6f11071a5 100644
--- a/default_config.json
+++ b/default_config.json
@@ -6,7 +6,6 @@
     "auto_exposure_zero_star_handler": "sweep",
     "menu_anim_speed": 0.1,
     "text_scroll_speed": "Med",
-    "t9_search": false,
     "screen_direction": "right",
     "mount_type": "Alt/Az",
     "solver_debug": 0,
@@ -177,5 +176,5 @@
         "active_eyepiece_index": 0
     },
     "imu_threshold_scale": 1,
-    "imu_integrator": "classic"
+    "software_unstable_unlocked": false
 }
diff --git a/deploy-image-to-nfs.sh b/deploy-image-to-nfs.sh
new file mode 100755
index 000000000..1aec63990
--- /dev/null
+++ b/deploy-image-to-nfs.sh
@@ -0,0 +1,383 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+# Deploy PiFinder NixOS netboot configuration to proxnix
+#
+# Builds the pifinder-netboot closure (NFS root baked in), copies the nix store
+# closure to NFS, and sets up TFTP with kernel/initrd/firmware for PXE boot.
+#
+# Boot sequence: Pi firmware → u-boot → extlinux/extlinux.conf (TFTP) → NFS root
+
+PROXNIX="mike@192.168.5.12"
+NFS_ROOT="/srv/nfs/pifinder"
+TFTP_ROOT="/srv/tftp"
+PI_IP="192.168.5.150"
+PI_MAC="e4-5f-01-b7-37-31"  # For PXE boot speedup
+
+# SSH options to prevent timeout during long transfers
+SSH_OPTS="-o ServerAliveInterval=30 -o ServerAliveCountMax=10"
+export RSYNC_RSH="ssh ${SSH_OPTS}"
+
+SSH_PUBKEY="ssh-ed25519 AAAAC3NzaC1lZDI1NTE5AAAAIGrPg9hSgxwg0EECxXSpYi7t3F/w/BgpymlD1uUDedRz mike@nixtop"
+
+# Password hash for "solveit"
+SHADOW_HASH='$6$upbQ1/Jfh7zDiIYW$jPVQdYJCZn/Pe/OIGx89DZm9trIhEJp7Q4LNZsq/5x9csj6U08.P2avebrQIDJCEyD0xipsV6C19Sr5iAbCuv1'
+
+# ── Helpers ──────────────────────────────────────────────────────────────────
+
+run_proxnix() {
+    ssh ${SSH_OPTS} "${PROXNIX}" "bash -euo pipefail -c \"$1\""
+}
+
+# ── Build netboot closure ────────────────────────────────────────────────────
+
+echo "=== Building pifinder-netboot closure ==="
+nix build .#nixosConfigurations.pifinder-netboot.config.system.build.toplevel \
+    -o result-netboot --system aarch64-linux
+
+CLOSURE=$(readlink -f result-netboot)
+echo "Closure: $CLOSURE"
+
+# Extract paths from closure
+KERNEL=$(readlink -f result-netboot/kernel)
+INITRD=$(readlink -f result-netboot/initrd)
+DTBS=$(readlink -f result-netboot/dtbs)
+INIT_PATH="${CLOSURE}/init"
+
+KERNEL_NAME=$(basename "$(dirname "$KERNEL")")-Image
+INITRD_NAME=$(basename "$(dirname "$INITRD")")-initrd
+
+echo "Kernel: $KERNEL"
+echo "Initrd: $INITRD"
+echo "DTBs:   $DTBS"
+echo "Init:   $INIT_PATH"
+
+# ── Stop TFTP — prevent Pi from netbooting during deploy ─────────────────────
+
+echo "Stopping TFTP server..."
+ssh "${PROXNIX}" "sudo systemctl stop atftpd.service"
+
+# ── Halt Pi if running — prevent NFS corruption ──────────────────────────────
+
+if ssh -o ConnectTimeout=3 -o BatchMode=yes "pifinder@${PI_IP}" "echo ok" 2>/dev/null; then
+    echo "Pi is running — halting..."
+    ssh "pifinder@${PI_IP}" "echo solveit | sudo -S poweroff" 2>/dev/null || true
+    echo "Waiting for Pi to go down..."
+    sleep 3
+    while ping -c1 -W1 "${PI_IP}" &>/dev/null; do sleep 1; done
+    echo "Pi is down"
+else
+    echo "Pi not reachable, proceeding"
+fi
+
+# ── Backup SSH host keys ─────────────────────────────────────────────────────
+
+echo "Backing up SSH host keys..."
+ssh "${PROXNIX}" "sudo cp -a ${NFS_ROOT}/etc/ssh/ssh_host_* /tmp/ 2>/dev/null || true"
+
+# ── Copy nix store closure to NFS ────────────────────────────────────────────
+
+echo "Copying nix store closure to NFS..."
+ssh "${PROXNIX}" "sudo mkdir -p ${NFS_ROOT}/nix/store"
+
+# Get list of store paths and stream via tar (fast, handles duplicates via overwrite)
+STORE_PATHS=$(nix path-info -r "$CLOSURE")
+TOTAL_PATHS=$(echo "$STORE_PATHS" | wc -l)
+echo "Streaming ${TOTAL_PATHS} store paths via tar..."
+
+# Rsync store paths with -R to preserve directory structure
+# shellcheck disable=SC2086
+rsync -avR --rsync-path="sudo rsync" $STORE_PATHS "${PROXNIX}:${NFS_ROOT}/"
+echo "Transfer complete"
+
+# ── Set up NFS root directory structure ──────────────────────────────────────
+
+echo "Setting up NFS root directory structure..."
+ssh "${PROXNIX}" "sudo bash -euo pipefail" << SETUP
+# Create standard directories (bin/usr are symlinks, not dirs)
+mkdir -p ${NFS_ROOT}/{etc/ssh,home/pifinder/.ssh,root/.ssh,var,tmp,proc,sys,dev,run,boot}
+chmod 1777 ${NFS_ROOT}/tmp
+
+# Symlinks from NixOS system (remove existing dirs/symlinks first)
+rm -rf ${NFS_ROOT}/bin ${NFS_ROOT}/usr
+ln -sfT ${CLOSURE}/sw/bin ${NFS_ROOT}/bin
+ln -sfT ${CLOSURE}/sw ${NFS_ROOT}/usr
+
+# /etc/static points to the NixOS etc derivation (required for PAM, etc.)
+ln -sfT ${CLOSURE}/etc ${NFS_ROOT}/etc/static
+
+# Critical /etc symlinks that NixOS activation would normally create
+rm -rf ${NFS_ROOT}/etc/pam.d 2>/dev/null || true
+ln -sfT /etc/static/pam.d ${NFS_ROOT}/etc/pam.d
+ln -sfT /etc/static/bashrc ${NFS_ROOT}/etc/bashrc
+# passwd/shadow/group are created as real files later (need to be writable for netboot)
+rm -f ${NFS_ROOT}/etc/passwd ${NFS_ROOT}/etc/shadow ${NFS_ROOT}/etc/group 2>/dev/null || true
+ln -sfT /etc/static/sudoers ${NFS_ROOT}/etc/sudoers 2>/dev/null || true
+ln -sfT /etc/static/sudoers.d ${NFS_ROOT}/etc/sudoers.d 2>/dev/null || true
+ln -sfT /etc/static/nsswitch.conf ${NFS_ROOT}/etc/nsswitch.conf 2>/dev/null || true
+ln -sfT /etc/static/systemd ${NFS_ROOT}/etc/systemd 2>/dev/null || true
+ln -sfT /etc/static/polkit-1 ${NFS_ROOT}/etc/polkit-1 2>/dev/null || true
+
+# Create nix profile symlinks
+mkdir -p ${NFS_ROOT}/nix/var/nix/profiles
+ln -sfT ${CLOSURE} ${NFS_ROOT}/nix/var/nix/profiles/system
+ln -sfT ${CLOSURE} ${NFS_ROOT}/run/current-system 2>/dev/null || true
+SETUP
+
+# ── Restore SSH host keys ────────────────────────────────────────────────────
+
+echo "Restoring/generating SSH host keys..."
+ssh "${PROXNIX}" "bash -euo pipefail -c '
+if ls /tmp/ssh_host_* >/dev/null 2>&1; then
+    sudo cp -a /tmp/ssh_host_* ${NFS_ROOT}/etc/ssh/
+    echo \"Restored existing host keys\"
+else
+    sudo ssh-keygen -A -f ${NFS_ROOT}
+    echo \"Generated new host keys\"
+fi
+'"
+
+# ── Link NixOS /etc files ────────────────────────────────────────────────────
+
+echo "Linking NixOS etc files..."
+ssh "${PROXNIX}" "sudo bash -euo pipefail -c '
+ln -sf /etc/static/ssh/sshd_config ${NFS_ROOT}/etc/ssh/sshd_config
+ln -sf /etc/static/ssh/ssh_config ${NFS_ROOT}/etc/ssh/ssh_config 2>/dev/null || true
+ln -sf /etc/static/ssh/moduli ${NFS_ROOT}/etc/ssh/moduli 2>/dev/null || true
+# pam.d already symlinked to /etc/static/pam.d in SETUP block
+'"
+
+# ── Static user files ────────────────────────────────────────────────────────
+
+echo "Creating static user files..."
+
+ssh "${PROXNIX}" "sudo tee ${NFS_ROOT}/etc/passwd > /dev/null" << 'PASSWD'
+root:x:0:0:System administrator:/root:/run/current-system/sw/bin/bash
+pifinder:x:1000:100::/home/pifinder:/run/current-system/sw/bin/bash
+nobody:x:65534:65534:Unprivileged account:/var/empty:/run/current-system/sw/bin/nologin
+sshd:x:993:993:SSH daemon user:/var/empty:/run/current-system/sw/bin/nologin
+avahi:x:994:994:Avahi daemon user:/var/empty:/run/current-system/sw/bin/nologin
+gpsd:x:992:992:GPSD daemon user:/var/empty:/run/current-system/sw/bin/nologin
+PASSWD
+
+ssh "${PROXNIX}" "sudo tee ${NFS_ROOT}/etc/group > /dev/null" << 'GROUP'
+root:x:0:
+wheel:x:1:pifinder
+users:x:100:pifinder
+kmem:x:9:pifinder
+input:x:174:pifinder
+nobody:x:65534:
+spi:x:996:pifinder
+i2c:x:997:pifinder
+gpio:x:998:pifinder
+dialout:x:995:pifinder
+video:x:994:pifinder
+networkmanager:x:993:pifinder
+sshd:x:993:
+avahi:x:994:
+gpsd:x:992:
+GROUP
+
+ssh "${PROXNIX}" "echo 'root:${SHADOW_HASH}:1::::::
+pifinder:${SHADOW_HASH}:1::::::
+nobody:!:1::::::
+sshd:!:1::::::
+avahi:!:1::::::
+gpsd:!:1::::::' | sudo tee ${NFS_ROOT}/etc/shadow > /dev/null"
+
+run_proxnix "sudo chmod 644 ${NFS_ROOT}/etc/passwd ${NFS_ROOT}/etc/group"
+run_proxnix "sudo chmod 640 ${NFS_ROOT}/etc/shadow"
+
+# ── SSH authorized_keys ──────────────────────────────────────────────────────
+
+echo "Setting up SSH authorized_keys..."
+ssh "${PROXNIX}" "echo '${SSH_PUBKEY}' | sudo tee ${NFS_ROOT}/home/pifinder/.ssh/authorized_keys > /dev/null"
+ssh "${PROXNIX}" "echo '${SSH_PUBKEY}' | sudo tee ${NFS_ROOT}/root/.ssh/authorized_keys > /dev/null"
+run_proxnix "sudo chown -R 1000:100 ${NFS_ROOT}/home/pifinder"
+run_proxnix "sudo chmod 700 ${NFS_ROOT}/home/pifinder/.ssh ${NFS_ROOT}/root/.ssh"
+run_proxnix "sudo chmod 600 ${NFS_ROOT}/home/pifinder/.ssh/authorized_keys ${NFS_ROOT}/root/.ssh/authorized_keys"
+
+# ── PiFinder symlink ─────────────────────────────────────────────────────────
+
+echo "Setting up PiFinder directory..."
+# Find pifinder-src from the current closure (not just any old one in the store)
+PFSRC_REL=$(nix path-info -r "$CLOSURE" | grep pifinder-src | head -1)
+echo "PiFinder source from closure: $PFSRC_REL"
+ssh "${PROXNIX}" "sudo bash -euo pipefail -c '
+PFSRC=\"${NFS_ROOT}${PFSRC_REL}\"
+if [ ! -d \"\$PFSRC\" ]; then
+    echo \"ERROR: pifinder-src not found: \$PFSRC\"
+    exit 1
+fi
+PFHOME=${NFS_ROOT}/home/pifinder/PiFinder
+
+echo \"PiFinder source: ${PFSRC_REL}\"
+
+[ -L \"\$PFHOME\" ] && rm \"\$PFHOME\"
+[ -d \"\$PFHOME\" ] && rm -rf \"\$PFHOME\"
+
+ln -sfT \"${PFSRC_REL}\" \"\$PFHOME\"
+
+mkdir -p ${NFS_ROOT}/home/pifinder/PiFinder_data
+chown 1000:100 ${NFS_ROOT}/home/pifinder/PiFinder_data
+'"
+
+# ── Copy firmware to TFTP (from raspberrypi firmware package) ────────────────
+
+echo "Copying firmware to TFTP..."
+FW_PKG=$(nix build nixpkgs#raspberrypifw --print-out-paths --system aarch64-linux 2>/dev/null)
+ssh "${PROXNIX}" "sudo mkdir -p ${TFTP_ROOT}"
+
+# Copy firmware files
+rsync -avz "${FW_PKG}/share/raspberrypi/boot/"*.{elf,dat,bin,dtb} "${PROXNIX}:/tmp/fw/"
+ssh "${PROXNIX}" "sudo cp /tmp/fw/* ${TFTP_ROOT}/ && rm -rf /tmp/fw"
+
+# Copy custom u-boot with network boot priority
+UBOOT=$(nix build .#packages.aarch64-linux.uboot-netboot --print-out-paths --system aarch64-linux 2>/dev/null)
+echo "Using custom u-boot: $UBOOT"
+rsync -avz "${UBOOT}/u-boot.bin" "${PROXNIX}:/tmp/u-boot-rpi4.bin"
+ssh "${PROXNIX}" "sudo mv /tmp/u-boot-rpi4.bin ${TFTP_ROOT}/"
+
+# ── Copy kernel, initrd, DTBs to TFTP ────────────────────────────────────────
+
+echo "Copying kernel/initrd/DTBs to TFTP..."
+ssh "${PROXNIX}" "sudo mkdir -p ${TFTP_ROOT}/nixos"
+rsync -avz "${KERNEL}" "${PROXNIX}:/tmp/${KERNEL_NAME}"
+rsync -avz "${INITRD}" "${PROXNIX}:/tmp/${INITRD_NAME}"
+ssh "${PROXNIX}" "sudo mv /tmp/${KERNEL_NAME} /tmp/${INITRD_NAME} ${TFTP_ROOT}/nixos/"
+
+# Copy NixOS-built DTBs (with camera overlay baked in) to dtbs/ subdirectory
+ssh "${PROXNIX}" "sudo mkdir -p ${TFTP_ROOT}/dtbs"
+rsync -avz "${DTBS}/broadcom/" "${PROXNIX}:/tmp/dtbs/"
+ssh "${PROXNIX}" "sudo cp /tmp/dtbs/*.dtb ${TFTP_ROOT}/dtbs/ && sudo rm -rf /tmp/dtbs"
+
+# Copy overlays from kernel package
+KERNEL_DIR=$(dirname "$KERNEL")
+rsync -avz "${KERNEL_DIR}/dtbs/overlays/" "${PROXNIX}:/tmp/overlays/"
+ssh "${PROXNIX}" "sudo rm -rf ${TFTP_ROOT}/overlays && sudo mv /tmp/overlays ${TFTP_ROOT}/"
+
+# ── Write config.txt for u-boot ──────────────────────────────────────────────
+
+echo "Writing config.txt..."
+ssh "${PROXNIX}" "sudo tee ${TFTP_ROOT}/config.txt > /dev/null" << CONFIG
+[pi4]
+kernel=u-boot-rpi4.bin
+enable_gic=1
+armstub=armstub8-gic.bin
+
+disable_overscan=1
+arm_boost=1
+
+[all]
+arm_64bit=1
+enable_uart=1
+avoid_warnings=1
+CONFIG
+
+# ── Generate extlinux/extlinux.conf ────────────────────────────────────────────
+
+echo "Generating extlinux/extlinux.conf..."
+ssh "${PROXNIX}" "sudo mkdir -p ${TFTP_ROOT}/extlinux && sudo tee ${TFTP_ROOT}/extlinux/extlinux.conf > /dev/null" << EXTLINUX
+TIMEOUT 10
+DEFAULT nixos-default
+
+LABEL nixos-default
+  MENU LABEL NixOS - Default
+  LINUX /nixos/${KERNEL_NAME}
+  INITRD /nixos/${INITRD_NAME}
+  FDTDIR /dtbs
+  APPEND init=${INIT_PATH} ip=dhcp console=ttyS0,115200n8 console=ttyAMA0,115200n8 console=tty0 loglevel=4
+EXTLINUX
+
+# ── Create pxelinux.cfg for faster MAC-based boot ─────────────────────────────
+
+echo "Creating pxelinux.cfg/01-${PI_MAC}..."
+ssh "${PROXNIX}" "sudo mkdir -p ${TFTP_ROOT}/pxelinux.cfg && sudo ln -sf ../extlinux/extlinux.conf ${TFTP_ROOT}/pxelinux.cfg/01-${PI_MAC}"
+
+# ── Clean up old artifacts ───────────────────────────────────────────────────
+
+echo "Cleaning up old artifacts..."
+ssh "${PROXNIX}" "sudo rm -f ${TFTP_ROOT}/cmdline.txt ${TFTP_ROOT}/nixos/patched-initrd 2>/dev/null || true"
+ssh "${PROXNIX}" "sudo rm -f /tmp/ssh_host_*"
+
+# ── Restart TFTP ─────────────────────────────────────────────────────────────
+
+echo "Restarting TFTP server..."
+ssh "${PROXNIX}" "sudo systemctl start atftpd.service"
+
+# ── Verification ─────────────────────────────────────────────────────────────
+
+echo ""
+echo "=========================================="
+echo "VERIFYING DEPLOYMENT CONSISTENCY"
+echo "=========================================="
+VERIFY_FAILED=0
+
+echo -n "Checking u-boot... "
+if ssh "${PROXNIX}" "test -f ${TFTP_ROOT}/u-boot-rpi4.bin"; then
+    echo "OK"
+else
+    echo "FAILED"
+    VERIFY_FAILED=1
+fi
+
+echo -n "Checking config.txt... "
+if ssh "${PROXNIX}" "grep -q 'kernel=u-boot-rpi4.bin' ${TFTP_ROOT}/config.txt"; then
+    echo "OK"
+else
+    echo "FAILED"
+    VERIFY_FAILED=1
+fi
+
+echo -n "Checking extlinux/extlinux.conf... "
+if ssh "${PROXNIX}" "test -f ${TFTP_ROOT}/extlinux/extlinux.conf"; then
+    echo "OK"
+else
+    echo "FAILED"
+    VERIFY_FAILED=1
+fi
+
+echo -n "Checking kernel... "
+if ssh "${PROXNIX}" "test -f ${TFTP_ROOT}/nixos/${KERNEL_NAME}"; then
+    echo "OK"
+else
+    echo "FAILED"
+    VERIFY_FAILED=1
+fi
+
+echo -n "Checking initrd... "
+if ssh "${PROXNIX}" "test -f ${TFTP_ROOT}/nixos/${INITRD_NAME}"; then
+    echo "OK"
+else
+    echo "FAILED"
+    VERIFY_FAILED=1
+fi
+
+echo -n "Checking NFS closure... "
+if ssh "${PROXNIX}" "test -f ${NFS_ROOT}${INIT_PATH}"; then
+    echo "OK"
+else
+    echo "FAILED"
+    VERIFY_FAILED=1
+fi
+
+echo -n "Checking PiFinder symlink... "
+PFSRC_TARGET=$(ssh "${PROXNIX}" "readlink ${NFS_ROOT}/home/pifinder/PiFinder 2>/dev/null || true")
+if [ -n "$PFSRC_TARGET" ] && ssh "${PROXNIX}" "test -d ${NFS_ROOT}${PFSRC_TARGET}/python"; then
+    echo "OK"
+else
+    echo "FAILED"
+    VERIFY_FAILED=1
+fi
+
+echo "=========================================="
+
+if [ $VERIFY_FAILED -eq 1 ]; then
+    echo "=== DEPLOY FAILED VERIFICATION — DO NOT BOOT ==="
+    exit 1
+fi
+
+echo "=== Deploy complete and verified ==="
+echo ""
+echo "Boot chain: Pi firmware → u-boot → extlinux/extlinux.conf → NFS root"
+echo "To boot the Pi: power cycle it"
diff --git a/flake.lock b/flake.lock
new file mode 100644
index 000000000..4d2ec76d4
--- /dev/null
+++ b/flake.lock
@@ -0,0 +1,43 @@
+{
+  "nodes": {
+    "nixos-hardware": {
+      "locked": {
+        "lastModified": 1770631810,
+        "narHash": "sha256-b7iK/x+zOXbjhRqa+XBlYla4zFvPZyU5Ln2HJkiSnzc=",
+        "owner": "NixOS",
+        "repo": "nixos-hardware",
+        "rev": "2889685785848de940375bf7fea5e7c5a3c8d502",
+        "type": "github"
+      },
+      "original": {
+        "owner": "NixOS",
+        "repo": "nixos-hardware",
+        "type": "github"
+      }
+    },
+    "nixpkgs": {
+      "locked": {
+        "lastModified": 1770617025,
+        "narHash": "sha256-1jZvgZoAagZZB6NwGRv2T2ezPy+X6EFDsJm+YSlsvEs=",
+        "owner": "NixOS",
+        "repo": "nixpkgs",
+        "rev": "2db38e08fdadcc0ce3232f7279bab59a15b94482",
+        "type": "github"
+      },
+      "original": {
+        "owner": "NixOS",
+        "ref": "nixos-25.11",
+        "repo": "nixpkgs",
+        "type": "github"
+      }
+    },
+    "root": {
+      "inputs": {
+        "nixos-hardware": "nixos-hardware",
+        "nixpkgs": "nixpkgs"
+      }
+    }
+  },
+  "root": "root",
+  "version": 7
+}
diff --git a/flake.nix b/flake.nix
new file mode 100644
index 000000000..920a4d144
--- /dev/null
+++ b/flake.nix
@@ -0,0 +1,374 @@
+{
+  inputs = {
+    nixpkgs.url = "github:NixOS/nixpkgs/nixos-25.11";
+    nixos-hardware.url = "github:NixOS/nixos-hardware";
+  };
+
+  outputs = { self, nixpkgs, nixos-hardware, ... }: let
+    # Headless config shared by all profiles
+    headlessModule = { lib, ... }: {
+      services.xserver.enable = false;
+      security.polkit.enable = true;
+      fonts.fontconfig.enable = false;
+      documentation.enable = false;
+      documentation.man.enable = false;
+      documentation.nixos.enable = false;
+      xdg.portal.enable = false;
+      services.pipewire.enable = false;
+      services.pulseaudio.enable = false;
+      boot.initrd.availableKernelModules = lib.mkForce [ "mmc_block" "usbhid" "usb_storage" "vc4" ];
+    };
+
+    # Shared modules for all PiFinder configurations
+    commonModules = [
+      nixos-hardware.nixosModules.raspberry-pi-4
+      ./nixos/hardware.nix
+      ./nixos/networking.nix
+      ./nixos/services.nix
+      ./nixos/python-env.nix
+      # Pass git revision to pifinder-src for build identity
+      ({ ... }: {
+        _module.args.pifinderGitRev = self.shortRev or self.dirtyShortRev or "unknown";
+      })
+      headlessModule
+    ];
+
+    # Migration profile — minimal bootable system, full config fetched on first boot
+    migrationModules = [
+      nixos-hardware.nixosModules.raspberry-pi-4
+      ./nixos/hardware.nix
+      ./nixos/networking.nix
+      ./nixos/migration.nix
+      headlessModule
+    ];
+
+    mkPifinderSystem = { includeSDImage ? false }: nixpkgs.lib.nixosSystem {
+      system = "aarch64-linux";
+      modules = commonModules ++ [
+        { pifinder.devMode = false; }
+        # Camera specialisations — base is imx462 (default), specialisations for others
+        ({ ... }: {
+          specialisation = {
+            imx296.configuration = { pifinder.cameraType = "imx296"; };
+            imx477.configuration = { pifinder.cameraType = "imx477"; };
+          };
+        })
+        ({ lib, ... }: {
+          boot.supportedFilesystems = lib.mkForce [ "vfat" "ext4" ];
+          boot.loader.timeout = 0;
+        })
+      ] ++ nixpkgs.lib.optionals includeSDImage [
+        "${nixpkgs}/nixos/modules/installer/sd-card/sd-image-aarch64.nix"
+        ({ config, pkgs, lib, ... }:
+        let
+          catalog-images = pkgs.stdenv.mkDerivation {
+            pname = "pifinder-catalog-images";
+            version = "1.0";
+            src = pkgs.fetchurl {
+              url = "https://files.miker.be/public/pifinder/catalog_images.tar.zst";
+              hash = "sha256-20YOmO2qy2W27nIFV4Aqibu0MLip4gymHrfe411+VNg=";
+            };
+            nativeBuildInputs = [ pkgs.zstd ];
+            unpackPhase = "tar xf $src";
+            installPhase = "mv catalog_images $out";
+          };
+        in {
+          sdImage.populateRootCommands = ''
+            mkdir -p ./files/home/pifinder/PiFinder_data
+            cp -r ${catalog-images} ./files/home/pifinder/PiFinder_data/catalog_images
+            chmod -R u+w ./files/home/pifinder/PiFinder_data/catalog_images
+          '';
+          sdImage.populateFirmwareCommands = lib.mkForce ''
+            (cd ${pkgs.raspberrypifw}/share/raspberrypi/boot && cp bootcode.bin fixup*.dat start*.elf $NIX_BUILD_TOP/firmware/)
+
+            cp ${configTxt} firmware/config.txt
+
+            # Pi3 files
+            cp ${pkgs.ubootRaspberryPi3_64bit}/u-boot.bin firmware/u-boot-rpi3.bin
+            cp ${pkgs.raspberrypifw}/share/raspberrypi/boot/bcm2710-rpi-2-b.dtb firmware/
+            cp ${pkgs.raspberrypifw}/share/raspberrypi/boot/bcm2710-rpi-3-b.dtb firmware/
+            cp ${pkgs.raspberrypifw}/share/raspberrypi/boot/bcm2710-rpi-3-b-plus.dtb firmware/
+            cp ${pkgs.raspberrypifw}/share/raspberrypi/boot/bcm2710-rpi-cm3.dtb firmware/
+            cp ${pkgs.raspberrypifw}/share/raspberrypi/boot/bcm2710-rpi-zero-2.dtb firmware/
+            cp ${pkgs.raspberrypifw}/share/raspberrypi/boot/bcm2710-rpi-zero-2-w.dtb firmware/
+
+            # Pi4 files
+            cp ${ubootSD}/u-boot.bin firmware/u-boot-rpi4.bin
+            cp ${pkgs.raspberrypi-armstubs}/armstub8-gic.bin firmware/armstub8-gic.bin
+            cp ${pkgs.raspberrypifw}/share/raspberrypi/boot/bcm2711-rpi-4-b.dtb firmware/
+            cp ${pkgs.raspberrypifw}/share/raspberrypi/boot/bcm2711-rpi-400.dtb firmware/
+            cp ${pkgs.raspberrypifw}/share/raspberrypi/boot/bcm2711-rpi-cm4.dtb firmware/
+            cp ${pkgs.raspberrypifw}/share/raspberrypi/boot/bcm2711-rpi-cm4s.dtb firmware/
+          '';
+        })
+      ] ++ nixpkgs.lib.optionals (!includeSDImage) [
+        # Minimal filesystem stub for closure builds (CI)
+        ({ lib, ... }: {
+          fileSystems."/" = {
+            device = "/dev/disk/by-label/NIXOS_SD";
+            fsType = "ext4";
+          };
+          fileSystems."/boot/firmware" = {
+            device = "/dev/disk/by-label/FIRMWARE";
+            fsType = "vfat";
+          };
+        })
+      ];
+    };
+
+    mkPifinderMigration = { includeSDImage ? false }: nixpkgs.lib.nixosSystem {
+      system = "aarch64-linux";
+      modules = migrationModules ++ [
+        { pifinder.devMode = false; }
+        ({ lib, ... }: {
+          boot.supportedFilesystems = lib.mkForce [ "vfat" "ext4" ];
+          boot.loader.timeout = 0;
+        })
+      ] ++ nixpkgs.lib.optionals includeSDImage [
+        "${nixpkgs}/nixos/modules/installer/sd-card/sd-image-aarch64.nix"
+        ({ config, pkgs, lib, ... }: {
+          sdImage.populateRootCommands = ''
+            mkdir -p ./files/home/pifinder/PiFinder_data
+          '';
+          sdImage.populateFirmwareCommands = lib.mkForce ''
+            (cd ${pkgs.raspberrypifw}/share/raspberrypi/boot && cp bootcode.bin fixup*.dat start*.elf $NIX_BUILD_TOP/firmware/)
+
+            cp ${configTxt} firmware/config.txt
+
+            # Pi3 files
+            cp ${pkgs.ubootRaspberryPi3_64bit}/u-boot.bin firmware/u-boot-rpi3.bin
+            cp ${pkgs.raspberrypifw}/share/raspberrypi/boot/bcm2710-rpi-2-b.dtb firmware/
+            cp ${pkgs.raspberrypifw}/share/raspberrypi/boot/bcm2710-rpi-3-b.dtb firmware/
+            cp ${pkgs.raspberrypifw}/share/raspberrypi/boot/bcm2710-rpi-3-b-plus.dtb firmware/
+            cp ${pkgs.raspberrypifw}/share/raspberrypi/boot/bcm2710-rpi-cm3.dtb firmware/
+            cp ${pkgs.raspberrypifw}/share/raspberrypi/boot/bcm2710-rpi-zero-2.dtb firmware/
+            cp ${pkgs.raspberrypifw}/share/raspberrypi/boot/bcm2710-rpi-zero-2-w.dtb firmware/
+
+            # Pi4 files
+            cp ${ubootSD}/u-boot.bin firmware/u-boot-rpi4.bin
+            cp ${pkgs.raspberrypi-armstubs}/armstub8-gic.bin firmware/armstub8-gic.bin
+            cp ${pkgs.raspberrypifw}/share/raspberrypi/boot/bcm2711-rpi-4-b.dtb firmware/
+            cp ${pkgs.raspberrypifw}/share/raspberrypi/boot/bcm2711-rpi-400.dtb firmware/
+            cp ${pkgs.raspberrypifw}/share/raspberrypi/boot/bcm2711-rpi-cm4.dtb firmware/
+            cp ${pkgs.raspberrypifw}/share/raspberrypi/boot/bcm2711-rpi-cm4s.dtb firmware/
+          '';
+        })
+      ] ++ nixpkgs.lib.optionals (!includeSDImage) [
+        ({ lib, ... }: {
+          fileSystems."/" = {
+            device = "/dev/disk/by-label/NIXOS_SD";
+            fsType = "ext4";
+          };
+          fileSystems."/boot/firmware" = {
+            device = "/dev/disk/by-label/FIRMWARE";
+            fsType = "vfat";
+          };
+        })
+      ];
+    };
+
+    # Netboot configuration — NFS root, DHCP network in initrd
+    mkPifinderNetboot = nixpkgs.lib.nixosSystem {
+      system = "aarch64-linux";
+      modules = commonModules ++ [
+        { pifinder.devMode = true; }
+        { pifinder.cameraType = nixpkgs.lib.mkDefault "imx477"; }  # HQ camera for netboot dev
+        # Camera specialisations for netboot (base is imx477)
+        ({ ... }: {
+          specialisation = {
+            imx296.configuration = { pifinder.cameraType = "imx296"; };
+            imx462.configuration = { pifinder.cameraType = "imx462"; };
+          };
+        })
+        ({ lib, pkgs, ... }:
+        let
+          boot-splash = import ./nixos/pkgs/boot-splash.nix { inherit pkgs; };
+        in {
+          # Static passwd/group — NFS can't run activation scripts
+          users.mutableUsers = false;
+          # DNS for netboot (udhcpc doesn't configure resolvconf properly)
+          networking.nameservers = [ "192.168.5.1" "8.8.8.8" ];
+          boot.supportedFilesystems = lib.mkForce [ "vfat" "ext4" "nfs" ];
+          boot.initrd.supportedFilesystems = [ "nfs" ];
+          # Add SPI kernel module for early OLED splash
+          boot.initrd.kernelModules = [ "spi_bcm2835" ];
+          # Override the minimal module list from commonModules — add network drivers
+          # Note: genet (RPi4 ethernet) is built into the kernel, not a module
+          boot.initrd.availableKernelModules = lib.mkForce [
+            "mmc_block" "usbhid" "usb_storage" "vc4"
+          ];
+          # Add boot-splash to initrd
+          boot.initrd.extraUtilsCommands = ''
+            copy_bin_and_libs ${boot-splash}/bin/boot-splash
+          '';
+          # Disable predictable interface names so eth0 works
+          boot.kernelParams = [ "net.ifnames=0" "biosdevname=0" ];
+          boot.initrd.network = {
+            enable = true;
+          };
+          # Show static splash, then configure network
+          boot.initrd.postDeviceCommands = ''
+            # Create device nodes for SPI OLED
+            mkdir -p /dev
+            mknod -m 666 /dev/spidev0.0 c 153 0 2>/dev/null || true
+            mknod -m 666 /dev/gpiochip0 c 254 0 2>/dev/null || true
+
+            # Show static splash image (--static flag = display once and exit)
+            boot-splash --static || true
+            # Wait for interface to appear (up to 30 seconds)
+            echo "Waiting for eth0..."
+            for i in $(seq 1 60); do
+              if ip link show eth0 >/dev/null 2>&1; then
+                echo "eth0 found after $i attempts"
+                break
+              fi
+              sleep 0.5
+            done
+
+            ip link set eth0 up
+
+            # Wait for link carrier (cable connected)
+            echo "Waiting for link carrier..."
+            for i in $(seq 1 20); do
+              if [ "$(cat /sys/class/net/eth0/carrier 2>/dev/null)" = "1" ]; then
+                echo "Link up after $i attempts"
+                break
+              fi
+              sleep 0.5
+            done
+
+            # DHCP with retries
+            echo "Starting DHCP..."
+            for attempt in 1 2 3; do
+              if udhcpc -i eth0 -t 5 -T 3 -n -q -s /etc/udhcpc.script; then
+                echo "DHCP succeeded on attempt $attempt"
+                break
+              fi
+              echo "DHCP attempt $attempt failed, retrying..."
+              sleep 2
+            done
+
+            # Verify we got an IP
+            if ip addr show eth0 | grep -q "inet "; then
+              echo "Network configured:"
+              ip addr show eth0
+            else
+              echo "WARNING: No IP address on eth0!"
+              ip addr show eth0
+            fi
+          '';
+          # NFS root filesystem - NFSv4 with disabled caching for Nix compatibility
+          fileSystems."/" = {
+            device = "192.168.5.12:/srv/nfs/pifinder";
+            fsType = "nfs";
+            options = [ "vers=4" "noac" "actimeo=0" ];
+          };
+          # Dummy /boot — not used for netboot but NixOS requires it
+          fileSystems."/boot" = {
+            device = "none";
+            fsType = "tmpfs";
+            neededForBoot = false;
+          };
+        })
+      ];
+    };
+    # Custom u-boot variants
+    pkgsAarch64 = import nixpkgs { system = "aarch64-linux"; };
+    # SD boot: skip PCI/USB/net probe, go straight to mmc extlinux
+    ubootSD = pkgsAarch64.ubootRaspberryPi4_64bit.override {
+      extraConfig = ''
+        CONFIG_CMD_PXE=y
+        CONFIG_CMD_SYSBOOT=y
+        CONFIG_BOOTDELAY=0
+        CONFIG_PREBOOT=""
+        CONFIG_BOOTCOMMAND="sysboot mmc 0:2 any 0x02400000 /boot/extlinux/extlinux.conf"
+        CONFIG_PCI=n
+        CONFIG_USB=n
+        CONFIG_CMD_USB=n
+        CONFIG_CMD_PCI=n
+        CONFIG_USB_KEYBOARD=n
+        CONFIG_BCMGENET=n
+      '';
+    };
+    # Netboot: PCI + DHCP + PXE
+    ubootNetboot = pkgsAarch64.ubootRaspberryPi4_64bit.override {
+      extraConfig = ''
+        CONFIG_BOOTCOMMAND="pci enum; dhcp; pxe get; pxe boot"
+      '';
+    };
+
+    configTxt = pkgsAarch64.writeText "config.txt" ''
+      [pi3]
+      kernel=u-boot-rpi3.bin
+
+      [pi02]
+      kernel=u-boot-rpi3.bin
+
+      [pi4]
+      kernel=u-boot-rpi4.bin
+      enable_gic=1
+      armstub=armstub8-gic.bin
+
+      disable_overscan=1
+      arm_boost=1
+
+      [cm4]
+      otg_mode=1
+
+      [all]
+      arm_64bit=1
+      enable_uart=1
+      avoid_warnings=1
+    '';
+
+  in {
+    nixosConfigurations = {
+      # SD card boot — camera baked into DT, switched via specialisations
+      pifinder = mkPifinderSystem {};
+      # Migration — minimal bootable system, defers full system to first boot
+      pifinder-migration = mkPifinderMigration {};
+      # NFS netboot — for development on proxnix
+      pifinder-netboot = mkPifinderNetboot;
+    };
+    images = {
+      pifinder = (mkPifinderSystem { includeSDImage = true; }).config.system.build.sdImage;
+      pifinder-migration = (mkPifinderMigration { includeSDImage = true; }).config.system.build.sdImage;
+    };
+    packages.aarch64-linux = {
+      uboot-sd = ubootSD;
+      uboot-netboot = ubootNetboot;
+      migration-boot-firmware = pkgsAarch64.runCommand "migration-boot-firmware" {} ''
+        mkdir -p $out
+        FW=${pkgsAarch64.raspberrypifw}/share/raspberrypi/boot
+
+        # RPi firmware
+        cp $FW/bootcode.bin $FW/fixup*.dat $FW/start*.elf $out/
+
+        # Pi3 DTBs
+        cp $FW/bcm2710-rpi-2-b.dtb $FW/bcm2710-rpi-3-b.dtb $FW/bcm2710-rpi-3-b-plus.dtb $out/
+        cp $FW/bcm2710-rpi-cm3.dtb $FW/bcm2710-rpi-zero-2.dtb $FW/bcm2710-rpi-zero-2-w.dtb $out/
+
+        # Pi4 DTBs
+        cp $FW/bcm2711-rpi-4-b.dtb $FW/bcm2711-rpi-400.dtb $FW/bcm2711-rpi-cm4.dtb $FW/bcm2711-rpi-cm4s.dtb $out/
+
+        # config.txt
+        cp ${configTxt} $out/config.txt
+
+        # u-boot binaries
+        cp ${pkgsAarch64.ubootRaspberryPi3_64bit}/u-boot.bin $out/u-boot-rpi3.bin
+        cp ${ubootSD}/u-boot.bin $out/u-boot-rpi4.bin
+
+        # armstub
+        cp ${pkgsAarch64.raspberrypi-armstubs}/armstub8-gic.bin $out/armstub8-gic.bin
+      '';
+    };
+
+    devShells.x86_64-linux.default = let
+      pkgs = import nixpkgs { system = "x86_64-linux"; };
+      pyPkgs = import ./nixos/pkgs/python-packages.nix { inherit pkgs; };
+      cedar-detect = import ./nixos/pkgs/cedar-detect.nix { inherit pkgs; };
+    in pkgs.mkShell {
+      packages = [ pyPkgs.devEnv pkgs.ruff cedar-detect ];
+    };
+  };
+}
diff --git a/move-to-brickbots.txt b/move-to-brickbots.txt
new file mode 100644
index 000000000..be0264c61
--- /dev/null
+++ b/move-to-brickbots.txt
@@ -0,0 +1,28 @@
+Locations that reference mrosseel/PiFinder and need updating after merge to brickbots/PiFinder
+=============================================================================================
+
+1. nixos/migration.nix
+   - BUILD_JSON_URL points to: https://raw.githubusercontent.com/mrosseel/PiFinder/nixos/pifinder-build.json
+   - Change to: https://raw.githubusercontent.com/brickbots/PiFinder/<branch>/pifinder-build.json
+   - Also: branch name may change from "nixos" to something else
+
+2. nixos/migration.nix
+   - Cachix substituter: https://pifinder.cachix.org
+   - Cachix public key: pifinder.cachix.org-1:ALuxYs8tMU34zwSTWjenI2wpJA+AclmW6H5vyTgnTjc=
+   - May need new cachix cache under brickbots org, or keep shared
+
+3. nixos/services.nix
+   - Same cachix substituter + public key as above
+
+4. flake.nix
+   - catalog_images.tar.zst hosted at: https://files.miker.be/public/pifinder/catalog_images.tar.zst
+   - Move to brickbots-hosted URL or keep as-is
+
+5. CLAUDE.md
+   - References: github:mrosseel/PiFinder/nixos#nixosConfigurations...
+   - Change to: github:brickbots/PiFinder/<branch>#nixosConfigurations...
+
+6. .github/workflows/build.yml
+   - stamp-build job commits pifinder-build.json back to the repo
+   - No explicit mrosseel reference, but the repo context changes implicitly
+   - Migration tarball release tags: v2.5.0-migration — may need new versioning scheme
diff --git a/nixos/hardware.nix b/nixos/hardware.nix
new file mode 100644
index 000000000..128dac681
--- /dev/null
+++ b/nixos/hardware.nix
@@ -0,0 +1,130 @@
+{ config, lib, pkgs, ... }:
+let
+  cfg = config.pifinder;
+
+  # Camera driver name mapping
+  cameraDriver = {
+    imx296 = "imx296";
+    imx462 = "imx290";  # imx462 uses imx290 driver
+    imx477 = "imx477";
+  }.${cfg.cameraType};
+
+  # Compile DTS text to DTBO
+  compileOverlay = name: dtsText: pkgs.deviceTree.compileDTS {
+    name = "${name}-dtbo";
+    dtsFile = pkgs.writeText "${name}.dts" dtsText;
+  };
+
+  # SPI0 — no nixos-hardware option, use custom overlay
+  spi0Dtbo = compileOverlay "spi0" ''
+    /dts-v1/;
+    /plugin/;
+    / { compatible = "brcm,bcm2711"; };
+    &spi0 { status = "okay"; };
+  '';
+
+  # UART3 for GPS on /dev/ttyAMA1
+  uart3Dtbo = compileOverlay "uart3" ''
+    /dts-v1/;
+    /plugin/;
+    / { compatible = "brcm,bcm2711"; };
+    &uart3 { status = "okay"; };
+  '';
+
+  # I2C1 (ARM bus) — nixos-hardware overlay is bypassed by our mkForce DTB package
+  i2c1Dtbo = compileOverlay "i2c1" ''
+    /dts-v1/;
+    /plugin/;
+    / { compatible = "brcm,bcm2711"; };
+    &i2c1 {
+      status = "okay";
+      clock-frequency = <${toString cfg.i2cFrequency}>;
+    };
+  '';
+
+  # PWM on GPIO 13 (PWM channel 1) for keypad backlight
+  # GPIO 13 = PWM0_1 when ALT0 (function 4)
+  pwmDtbo = compileOverlay "pwm" ''
+    /dts-v1/;
+    /plugin/;
+    / { compatible = "brcm,bcm2711"; };
+    &gpio {
+      pwm_pin13: pwm_pin13 {
+        brcm,pins = <13>;
+        brcm,function = <4>;  /* ALT0 = PWM0_1 */
+      };
+    };
+    &pwm {
+      status = "okay";
+      pinctrl-names = "default";
+      pinctrl-0 = <&pwm_pin13>;
+    };
+  '';
+
+  # Camera overlay from kernel's DTB overlays directory
+  cameraDtbo = "${config.boot.kernelPackages.kernel}/dtbs/overlays/${cameraDriver}.dtbo";
+in {
+  options.pifinder = {
+    cameraType = lib.mkOption {
+      type = lib.types.enum [ "imx296" "imx462" "imx477" ];
+      default = "imx462";
+      description = "Camera sensor type for PiFinder";
+    };
+    i2cFrequency = lib.mkOption {
+      type = lib.types.int;
+      default = 10000;
+      description = "I2C1 bus clock frequency in Hz (10 kHz for BNO055 IMU)";
+    };
+  };
+
+  config = {
+    # Only include RPi 4B device tree (not CM4 variants)
+    hardware.deviceTree.filter = "*rpi-4-b.dtb";
+    # Explicit DTB name so extlinux uses FDT instead of FDTDIR
+    # (DTBs are in broadcom/ subdirectory, FDTDIR doesn't descend into it)
+    hardware.deviceTree.name = "broadcom/bcm2711-rpi-4-b.dtb";
+
+    # I2C enabled (loads i2c-dev module, creates i2c group)
+    hardware.i2c.enable = true;
+
+    # Apply all DT overlays via fdtoverlay, bypassing NixOS apply_overlays.py
+    # which rejects RPi camera overlays due to compatible string mismatch
+    # (overlays declare "brcm,bcm2835" but kernel DTBs use "brcm,bcm2711")
+    hardware.deviceTree.package = let
+      kernelDtbs = config.hardware.deviceTree.dtbSource;
+    in lib.mkForce (pkgs.runCommand "device-tree-with-overlays" {
+      nativeBuildInputs = [ pkgs.dtc ];
+    } ''
+      mkdir -p $out/broadcom
+      for dtb in ${kernelDtbs}/broadcom/*rpi-4-b.dtb; do
+        fdtoverlay -i "$dtb" \
+          -o "$out/broadcom/$(basename $dtb)" \
+          ${i2c1Dtbo} ${spi0Dtbo} ${uart3Dtbo} ${pwmDtbo} ${cameraDtbo}
+      done
+    '');
+
+    # udev rules for hardware access without root
+    services.udev.extraRules = ''
+      SUBSYSTEM=="spidev", GROUP="spi", MODE="0660"
+      SUBSYSTEM=="i2c-dev", GROUP="i2c", MODE="0660"
+      SUBSYSTEM=="pwm", GROUP="gpio", MODE="0660"
+      SUBSYSTEM=="gpio", GROUP="gpio", MODE="0660"
+      KERNEL=="gpiomem", GROUP="gpio", MODE="0660"
+      KERNEL=="ttyAMA1", GROUP="dialout", MODE="0660"
+      # DMA heap for libcamera/picamera2 (CMA memory allocation)
+      SUBSYSTEM=="dma_heap", GROUP="video", MODE="0660"
+    '';
+
+    users.users.root.initialPassword = "solveit";
+    users.users.pifinder = {
+      isNormalUser = true;
+      initialPassword = "solveit";
+      extraGroups = [ "spi" "i2c" "gpio" "dialout" "video" "networkmanager" "systemd-journal" "input" "kmem" ];
+    };
+    users.groups = {
+      spi = {};
+      i2c = {};
+      gpio = {};
+    };
+  };
+}
diff --git a/nixos/migration.nix b/nixos/migration.nix
new file mode 100644
index 000000000..d4bed2582
--- /dev/null
+++ b/nixos/migration.nix
@@ -0,0 +1,284 @@
+{ config, lib, pkgs, ... }:
+let
+  boot-splash = import ./pkgs/boot-splash.nix { inherit pkgs; };
+in {
+  options.pifinder = {
+    devMode = lib.mkOption {
+      type = lib.types.bool;
+      default = false;
+      description = "Enable development mode (NFS netboot support, etc.)";
+    };
+  };
+
+  config = {
+  # ---------------------------------------------------------------------------
+  # Minimal system packages for migration troubleshooting
+  # ---------------------------------------------------------------------------
+  environment.systemPackages = with pkgs; [
+    vim
+    htop
+    e2fsprogs
+    dosfstools
+    parted
+    file
+    curl
+  ];
+
+  # ---------------------------------------------------------------------------
+  # Cachix binary substituter — Pi downloads pre-built paths, never compiles
+  # ---------------------------------------------------------------------------
+  nix.settings = {
+    experimental-features = [ "nix-command" "flakes" ];
+    substituters = [
+      "https://cache.nixos.org"
+      "https://pifinder.cachix.org"
+    ];
+    trusted-public-keys = [
+      "cache.nixos.org-1:6NCHdD59X431o0gWypbMrAURkbJ16ZPMQFGspcDShjY="
+      "pifinder.cachix.org-1:ALuxYs8tMU34zwSTWjenI2wpJA+AclmW6H5vyTgnTjc="
+    ];
+  };
+
+  # Don't pull nixpkgs source into closure (~186 MB)
+  nix.channel.enable = false;
+  nix.registry = lib.mkForce {};
+  nix.nixPath = lib.mkForce [];
+
+  # nixos-rebuild-ng pulls in Python 3.13 (~110 MB) — not needed for migration
+  system.disableInstallerTools = true;
+
+  # Perl is included by default (~59 MB) — not needed for migration
+  environment.defaultPackages = lib.mkForce [];
+
+  # Strip NetworkManager VPN plugins (openconnect/stoken/gtk3 deps)
+  networking.networkmanager.plugins = lib.mkForce [];
+
+  # ---------------------------------------------------------------------------
+  # SD card optimizations
+  # ---------------------------------------------------------------------------
+  boot.loader.generic-extlinux-compatible.configurationLimit = 2;
+
+  nix.gc = {
+    automatic = true;
+    dates = "weekly";
+    options = "--delete-older-than 3d";
+  };
+  nix.settings.auto-optimise-store = true;
+
+  boot.tmp.useTmpfs = true;
+  boot.tmp.tmpfsSize = "200M";
+
+  services.journald.extraConfig = ''
+    Storage=volatile
+    RuntimeMaxUse=50M
+  '';
+
+  zramSwap = {
+    enable = true;
+    memoryPercent = 50;
+  };
+
+  fileSystems."/" = lib.mkDefault {
+    device = "/dev/disk/by-label/NIXOS_SD";
+    fsType = "ext4";
+    options = [ "noatime" "nodiratime" ];
+  };
+
+  # ---------------------------------------------------------------------------
+  # Nix DB registration (first boot after migration)
+  # ---------------------------------------------------------------------------
+  systemd.services.nix-path-registration = {
+    description = "Load Nix store path registration from migration";
+    after = [ "local-fs.target" ];
+    before = [ "nix-daemon.service" ];
+    wantedBy = [ "multi-user.target" ];
+    unitConfig.ConditionPathExists = "/nix-path-registration";
+    serviceConfig = {
+      Type = "oneshot";
+      RemainAfterExit = true;
+    };
+    path = with pkgs; [ nix coreutils ];
+    script = ''
+      nix-store --load-db < /nix-path-registration
+      rm /nix-path-registration
+    '';
+  };
+
+  # ---------------------------------------------------------------------------
+  # First boot: download full PiFinder system from cachix and switch
+  # ---------------------------------------------------------------------------
+  systemd.services.pifinder-first-boot = {
+    description = "Download full PiFinder NixOS system from cachix";
+    after = [ "network-online.target" "nix-path-registration.service" "nix-daemon.service" ];
+    requires = [ "network-online.target" ];
+    wantedBy = [ "multi-user.target" ];
+    unitConfig.ConditionPathExists = "/var/lib/pifinder/first-boot-target";
+    serviceConfig = {
+      Type = "oneshot";
+      RemainAfterExit = true;
+      TimeoutStartSec = "30min";
+    };
+    path = with pkgs; [ nix coreutils systemd curl jq ];
+    script = ''
+      set -euo pipefail
+
+      # Show scanner animation on OLED during download
+      ${boot-splash}/bin/boot-splash &
+      SPLASH_PID=$!
+      trap 'kill $SPLASH_PID 2>/dev/null || true' EXIT
+
+      # Try fetching latest store path from GitHub, fall back to baked-in file
+      BUILD_JSON_URL="https://raw.githubusercontent.com/mrosseel/PiFinder/nixos/pifinder-build.json"
+      STORE_PATH=""
+      if REMOTE_JSON=$(curl -sf --max-time 15 "$BUILD_JSON_URL" 2>/dev/null); then
+        STORE_PATH=$(echo "$REMOTE_JSON" | jq -r '.store_path // empty')
+        if [ -n "$STORE_PATH" ]; then
+          echo "Using store path from GitHub: $STORE_PATH"
+        fi
+      fi
+      if [ -z "$STORE_PATH" ] || [[ "$STORE_PATH" != /nix/store/* ]]; then
+        echo "Remote fetch failed or invalid, falling back to baked-in target"
+        STORE_PATH=$(cat /var/lib/pifinder/first-boot-target)
+      fi
+      if [ -z "$STORE_PATH" ] || [[ "$STORE_PATH" != /nix/store/* ]]; then
+        echo "ERROR: No valid store path found"
+        exit 1
+      fi
+
+      echo "Downloading full PiFinder system: $STORE_PATH"
+      nix build "$STORE_PATH" --max-jobs 0
+
+      echo "Setting system profile..."
+      nix-env -p /nix/var/nix/profiles/system --set "$STORE_PATH"
+
+      echo "Configuring bootloader..."
+      "$STORE_PATH/bin/switch-to-configuration" boot
+
+      echo "Removing first-boot trigger..."
+      rm /var/lib/pifinder/first-boot-target
+
+      echo "Cleaning up migration closure..."
+      nix-env --delete-generations +2 -p /nix/var/nix/profiles/system || true
+      nix-collect-garbage || true
+
+      echo "Rebooting into full PiFinder system..."
+      systemctl reboot
+    '';
+  };
+
+  # ---------------------------------------------------------------------------
+  # Polkit rules for NetworkManager control
+  # ---------------------------------------------------------------------------
+  security.polkit.extraConfig = ''
+    polkit.addRule(function(action, subject) {
+      if (subject.user == "pifinder") {
+        if (action.id.indexOf("org.freedesktop.NetworkManager") == 0) {
+          return polkit.Result.YES;
+        }
+        if (action.id == "org.freedesktop.login1.reboot" ||
+            action.id == "org.freedesktop.login1.reboot-multiple-sessions" ||
+            action.id == "org.freedesktop.login1.power-off" ||
+            action.id == "org.freedesktop.login1.power-off-multiple-sessions") {
+          return polkit.Result.YES;
+        }
+      }
+    });
+  '';
+
+  # ---------------------------------------------------------------------------
+  # Sudoers — minimal for migration
+  # ---------------------------------------------------------------------------
+  security.sudo.extraRules = [{
+    users = [ "pifinder" ];
+    commands = [
+      { command = "/run/current-system/sw/bin/shutdown *"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/hostnamectl *"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/hostname *"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/avahi-set-host-name *"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/dmesg"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/systemctl restart pifinder-first-boot.service"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/systemctl restart pifinder*"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/systemctl status *"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/journalctl *"; options = [ "NOPASSWD" ]; }
+    ];
+  }];
+
+  # ---------------------------------------------------------------------------
+  # Early boot splash
+  # ---------------------------------------------------------------------------
+  systemd.services.boot-splash = {
+    description = "Early boot splash screen";
+    wantedBy = [ "sysinit.target" ];
+    after = [ "systemd-modules-load.service" ];
+    wants = [ "systemd-modules-load.service" ];
+    unitConfig.DefaultDependencies = false;
+    serviceConfig = {
+      Type = "oneshot";
+      ExecStart = pkgs.writeShellScript "boot-splash-wait" ''
+        for i in $(seq 1 40); do
+          [ -e /dev/spidev0.0 ] && exec ${boot-splash}/bin/boot-splash --static
+          sleep 0.25
+        done
+        echo "SPI device never appeared" >&2
+        exit 1
+      '';
+    };
+  };
+
+  # ---------------------------------------------------------------------------
+  # SSH access
+  # ---------------------------------------------------------------------------
+  services.openssh = {
+    enable = true;
+    settings = {
+      PasswordAuthentication = true;
+      PermitRootLogin = "yes";
+    };
+  };
+
+  # ---------------------------------------------------------------------------
+  # Avahi/mDNS for hostname discovery (pifinder.local)
+  # ---------------------------------------------------------------------------
+  services.avahi = {
+    enable = true;
+    nssmdns4 = true;
+    publish = {
+      enable = true;
+      addresses = true;
+      domain = true;
+      workstation = true;
+    };
+  };
+
+  systemd.services.avahi-daemon.serviceConfig.ExecStartPre =
+    "${pkgs.coreutils}/bin/rm -f /run/avahi-daemon/pid";
+
+  # Apply user-chosen hostname from PiFinder_data (survives NixOS rebuilds)
+  systemd.services.pifinder-hostname = {
+    description = "Apply PiFinder custom hostname";
+    after = [ "avahi-daemon.service" ];
+    wants = [ "avahi-daemon.service" ];
+    wantedBy = [ "multi-user.target" ];
+    serviceConfig = {
+      Type = "oneshot";
+      RemainAfterExit = true;
+      ExecStart = pkgs.writeShellScript "apply-hostname" ''
+        f=/home/pifinder/PiFinder_data/hostname
+        [ -f "$f" ] || exit 0
+        name=$(cat "$f")
+        [ -n "$name" ] || exit 0
+        /run/current-system/sw/bin/hostname "$name"
+        /run/current-system/sw/bin/avahi-set-host-name "$name" || \
+          /run/current-system/sw/bin/systemctl restart avahi-daemon.service
+      '';
+    };
+  };
+
+  # NetworkManager-wait-online adds ~10s to boot but is needed for
+  # pifinder-first-boot to have internet. The first-boot script also has
+  # its own connectivity retry loop as a fallback.
+  systemd.services.NetworkManager-wait-online.serviceConfig.TimeoutStartSec = "30s";
+
+  system.stateVersion = "24.11";
+  }; # config
+}
diff --git a/nixos/networking.nix b/nixos/networking.nix
new file mode 100644
index 000000000..6cf9ed6a8
--- /dev/null
+++ b/nixos/networking.nix
@@ -0,0 +1,59 @@
+{ config, lib, pkgs, ... }:
+{
+  networking = {
+    hostName = "pifinder";
+    networkmanager.enable = true;
+    wireless.enable = false; # NetworkManager handles WiFi
+    firewall = {
+      checkReversePath = "loose";   # Allow multi-interface (WiFi + ethernet) on same subnet
+      allowedUDPPorts = [ 53 67 ];  # DNS + DHCP for AP mode
+      allowedTCPPorts = [ 80 ];     # PiFinder web UI (other ports via service openFirewall)
+    };
+  };
+
+  # dnsmasq for NetworkManager AP shared mode (DHCP for AP clients)
+  services.dnsmasq.enable = false;  # NM manages its own dnsmasq instance
+  environment.systemPackages = [ pkgs.dnsmasq ];
+
+  # Wired ethernet with DHCP (autoconnect)
+  environment.etc."NetworkManager/system-connections/Wired.nmconnection" = {
+    text = ''
+      [connection]
+      id=Wired
+      type=ethernet
+      autoconnect=true
+
+      [ipv4]
+      method=auto
+
+      [ipv6]
+      method=auto
+    '';
+    mode = "0600";
+  };
+
+  # Pre-configured AP profile (activated on demand via nmcli)
+  environment.etc."NetworkManager/system-connections/PiFinder-AP.nmconnection" = {
+    text = ''
+      [connection]
+      id=PiFinder-AP
+      type=wifi
+      autoconnect=true
+      autoconnect-priority=-1
+
+      [wifi]
+      mode=ap
+      ssid=PiFinderAP
+      band=bg
+      channel=7
+
+      [ipv4]
+      method=shared
+      address1=10.10.10.1/24
+
+      [ipv6]
+      method=disabled
+    '';
+    mode = "0600";
+  };
+}
diff --git a/nixos/pkgs/boot-splash.c b/nixos/pkgs/boot-splash.c
new file mode 100644
index 000000000..74881a855
--- /dev/null
+++ b/nixos/pkgs/boot-splash.c
@@ -0,0 +1,276 @@
+/*
+ * boot-splash - Early boot splash for PiFinder
+ *
+ * Displays welcome image with Knight Rider animation until stopped.
+ * Designed for NixOS early boot (before Python starts).
+ *
+ * Hardware: SPI0.0, DC=GPIO24, RST=GPIO25, 128x128 SSD1351 OLED
+ */
+
+#include <fcntl.h>
+#include <linux/gpio.h>
+#include <linux/spi/spidev.h>
+#include <signal.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/ioctl.h>
+#include <sys/stat.h>
+#include <time.h>
+#include <unistd.h>
+
+#define WIDTH 128
+#define HEIGHT 128
+#define SPI_DEVICE "/dev/spidev0.0"
+#define SPI_SPEED 40000000
+#define GPIO_DC 24
+#define GPIO_RST 25
+
+/* RGB565 colors (display interprets as RGB despite BGR setting) */
+#define COL_BLACK   0x0000
+#define COL_RED     0xF800
+
+/* Include generated image data */
+#include "welcome_image.h"
+
+static int spi_fd = -1;
+static int gpio_fd = -1;
+static struct gpio_v2_line_request dc_req;
+static struct gpio_v2_line_request rst_req;
+static uint16_t framebuf[WIDTH * HEIGHT];
+static volatile int running = 1;
+
+static void signal_handler(int sig) {
+    (void)sig;
+    running = 0;
+}
+
+static void msleep(int ms) {
+    struct timespec ts = { .tv_sec = ms / 1000, .tv_nsec = (ms % 1000) * 1000000L };
+    nanosleep(&ts, NULL);
+}
+
+static int gpio_request_line(int chip_fd, int pin, struct gpio_v2_line_request *req) {
+    struct gpio_v2_line_request r = {0};
+    r.offsets[0] = pin;
+    r.num_lines = 1;
+    r.config.flags = GPIO_V2_LINE_FLAG_OUTPUT;
+    snprintf(r.consumer, sizeof(r.consumer), "boot-splash");
+
+    if (ioctl(chip_fd, GPIO_V2_GET_LINE_IOCTL, &r) < 0) {
+        perror("GPIO_V2_GET_LINE_IOCTL");
+        return -1;
+    }
+    *req = r;
+    return 0;
+}
+
+static void gpio_set(struct gpio_v2_line_request *req, int value) {
+    struct gpio_v2_line_values vals = {0};
+    vals.bits = value ? 1 : 0;
+    vals.mask = 1;
+    ioctl(req->fd, GPIO_V2_LINE_SET_VALUES_IOCTL, &vals);
+}
+
+static void spi_write(const uint8_t *data, size_t len) {
+    const size_t chunk_size = 4096;
+    while (len > 0) {
+        size_t this_len = len > chunk_size ? chunk_size : len;
+        struct spi_ioc_transfer tr = {0};
+        tr.tx_buf = (unsigned long)data;
+        tr.len = this_len;
+        tr.speed_hz = SPI_SPEED;
+        tr.bits_per_word = 8;
+        ioctl(spi_fd, SPI_IOC_MESSAGE(1), &tr);
+        data += this_len;
+        len -= this_len;
+    }
+}
+
+static void ssd1351_cmd(uint8_t cmd) {
+    gpio_set(&dc_req, 0);
+    spi_write(&cmd, 1);
+}
+
+static void ssd1351_data(const uint8_t *data, size_t len) {
+    gpio_set(&dc_req, 1);
+    spi_write(data, len);
+}
+
+static void ssd1351_init(void) {
+    uint8_t d;
+
+    /* Hardware reset */
+    gpio_set(&rst_req, 1);
+    msleep(10);
+    gpio_set(&rst_req, 0);
+    msleep(10);
+    gpio_set(&rst_req, 1);
+    msleep(10);
+
+    ssd1351_cmd(0xFD); d = 0x12; ssd1351_data(&d, 1); /* Unlock */
+    ssd1351_cmd(0xFD); d = 0xB1; ssd1351_data(&d, 1); /* Unlock commands */
+    ssd1351_cmd(0xAE); /* Display off */
+    ssd1351_cmd(0xB3); d = 0xF1; ssd1351_data(&d, 1); /* Clock divider */
+    ssd1351_cmd(0xCA); d = 0x7F; ssd1351_data(&d, 1); /* Mux ratio */
+
+    uint8_t col[2] = {0x00, 0x7F};
+    ssd1351_cmd(0x15); ssd1351_data(col, 2); /* Column address */
+    uint8_t row[2] = {0x00, 0x7F};
+    ssd1351_cmd(0x75); ssd1351_data(row, 2); /* Row address */
+
+    ssd1351_cmd(0xA0); d = 0x74; ssd1351_data(&d, 1); /* BGR, 65k color */
+    ssd1351_cmd(0xA1); d = 0x00; ssd1351_data(&d, 1); /* Start line */
+    ssd1351_cmd(0xA2); d = 0x00; ssd1351_data(&d, 1); /* Display offset */
+    ssd1351_cmd(0xB5); d = 0x00; ssd1351_data(&d, 1); /* GPIO */
+    ssd1351_cmd(0xAB); d = 0x01; ssd1351_data(&d, 1); /* Function select */
+    ssd1351_cmd(0xB1); d = 0x32; ssd1351_data(&d, 1); /* Precharge */
+
+    uint8_t vsl[3] = {0xA0, 0xB5, 0x55};
+    ssd1351_cmd(0xB4); ssd1351_data(vsl, 3); /* VSL */
+
+    ssd1351_cmd(0xBE); d = 0x05; ssd1351_data(&d, 1); /* VCOMH */
+    ssd1351_cmd(0xC7); d = 0x0F; ssd1351_data(&d, 1); /* Master contrast */
+    ssd1351_cmd(0xB6); d = 0x01; ssd1351_data(&d, 1); /* Precharge2 */
+    ssd1351_cmd(0xA6); /* Normal display */
+
+    uint8_t contrast[3] = {0xFF, 0xFF, 0xFF};
+    ssd1351_cmd(0xC1); ssd1351_data(contrast, 3); /* Contrast */
+}
+
+static void ssd1351_flush(void) {
+    uint8_t col[2] = {0x00, 0x7F};
+    ssd1351_cmd(0x15); ssd1351_data(col, 2);
+    uint8_t row[2] = {0x00, 0x7F};
+    ssd1351_cmd(0x75); ssd1351_data(row, 2);
+    ssd1351_cmd(0x5C); /* Write RAM */
+
+    uint8_t buf[WIDTH * HEIGHT * 2];
+    for (int i = 0; i < WIDTH * HEIGHT; i++) {
+        buf[i * 2] = framebuf[i] >> 8;
+        buf[i * 2 + 1] = framebuf[i] & 0xFF;
+    }
+    ssd1351_data(buf, sizeof(buf));
+}
+
+static void draw_scanner(int pos, int scanner_width) {
+    /* Copy welcome image to framebuffer */
+    memcpy(framebuf, welcome_image, sizeof(framebuf));
+
+    /* Draw Knight Rider scanner at bottom (last 4 rows) */
+    int y_start = HEIGHT - 4;
+    int center = pos;
+
+    for (int x = 0; x < WIDTH; x++) {
+        int dist = abs(x - center);
+        uint16_t color = COL_BLACK;
+
+        if (dist < scanner_width) {
+            /* Gradient: brighter at center */
+            int intensity = 31 - (dist * 31 / scanner_width);
+            if (intensity < 8) intensity = 8;  /* Minimum brightness */
+            /* RGB565: RRRRRGGGGGGBBBBB - red is high 5 bits */
+            color = ((uint16_t)intensity & 0x1F) << 11;
+        }
+
+        for (int y = y_start; y < HEIGHT; y++) {
+            framebuf[y * WIDTH + x] = color;
+        }
+    }
+
+    ssd1351_flush();
+}
+
+static int hw_init(void) {
+    spi_fd = open(SPI_DEVICE, O_RDWR);
+    if (spi_fd < 0) {
+        perror("open spi");
+        return -1;
+    }
+
+    uint8_t mode = SPI_MODE_0;
+    uint8_t bits = 8;
+    uint32_t speed = SPI_SPEED;
+    ioctl(spi_fd, SPI_IOC_WR_MODE, &mode);
+    ioctl(spi_fd, SPI_IOC_WR_BITS_PER_WORD, &bits);
+    ioctl(spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
+
+    gpio_fd = open("/dev/gpiochip0", O_RDWR);
+    if (gpio_fd < 0) {
+        perror("open gpiochip0");
+        return -1;
+    }
+
+    if (gpio_request_line(gpio_fd, GPIO_DC, &dc_req) < 0)
+        return -1;
+    if (gpio_request_line(gpio_fd, GPIO_RST, &rst_req) < 0)
+        return -1;
+
+    ssd1351_init();
+    return 0;
+}
+
+static void hw_cleanup(void) {
+    if (dc_req.fd > 0) close(dc_req.fd);
+    if (rst_req.fd > 0) close(rst_req.fd);
+    if (gpio_fd >= 0) close(gpio_fd);
+    if (spi_fd >= 0) close(spi_fd);
+}
+
+static void show_static_image(void) {
+    memcpy(framebuf, welcome_image, sizeof(framebuf));
+    ssd1351_flush();
+}
+
+int main(int argc, char *argv[]) {
+    int static_mode = 0;
+
+    for (int i = 1; i < argc; i++) {
+        if (strcmp(argv[i], "--static") == 0) {
+            static_mode = 1;
+        }
+    }
+
+    signal(SIGTERM, signal_handler);
+    signal(SIGINT, signal_handler);
+
+    if (hw_init() < 0) {
+        fprintf(stderr, "Hardware init failed\n");
+        hw_cleanup();
+        return 1;
+    }
+
+    /* Turn on display */
+    ssd1351_cmd(0xAF);
+
+    if (static_mode) {
+        /* Static mode: show image once and exit */
+        show_static_image();
+        hw_cleanup();
+        return 0;
+    }
+
+    /* Animation mode: Knight Rider scanner */
+    int pos = 0;
+    int dir = 1;
+    int scanner_width = 20;
+
+    while (running) {
+        draw_scanner(pos, scanner_width);
+
+        pos += dir * 4;  /* Speed */
+        if (pos >= WIDTH - scanner_width/2) {
+            pos = WIDTH - scanner_width/2;
+            dir = -1;
+        } else if (pos <= scanner_width/2) {
+            pos = scanner_width/2;
+            dir = 1;
+        }
+
+        msleep(30);  /* ~33 FPS */
+    }
+
+    hw_cleanup();
+    return 0;
+}
diff --git a/nixos/pkgs/boot-splash.nix b/nixos/pkgs/boot-splash.nix
new file mode 100644
index 000000000..9dfad935e
--- /dev/null
+++ b/nixos/pkgs/boot-splash.nix
@@ -0,0 +1,24 @@
+{ pkgs }:
+
+pkgs.stdenv.mkDerivation {
+  pname = "boot-splash";
+  version = "0.1.0";
+
+  src = ./.;
+
+  buildInputs = [ pkgs.linuxHeaders ];
+
+  buildPhase = ''
+    $CC -O2 -Wall -o boot-splash boot-splash.c
+  '';
+
+  installPhase = ''
+    mkdir -p $out/bin
+    cp boot-splash $out/bin/
+  '';
+
+  meta = {
+    description = "Early boot splash for PiFinder OLED display";
+    platforms = [ "aarch64-linux" ];
+  };
+}
diff --git a/nixos/pkgs/cedar-detect-Cargo.lock b/nixos/pkgs/cedar-detect-Cargo.lock
new file mode 100644
index 000000000..e5bb4b5eb
--- /dev/null
+++ b/nixos/pkgs/cedar-detect-Cargo.lock
@@ -0,0 +1,2633 @@
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+]
+
+[[package]]
+name = "windows-targets"
+version = "0.53.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4945f9f551b88e0d65f3db0bc25c33b8acea4d9e41163edf90dcd0b19f9069f3"
+dependencies = [
+ "windows-link",
+ "windows_aarch64_gnullvm 0.53.1",
+ "windows_aarch64_msvc 0.53.1",
+ "windows_i686_gnu 0.53.1",
+ "windows_i686_gnullvm 0.53.1",
+ "windows_i686_msvc 0.53.1",
+ "windows_x86_64_gnu 0.53.1",
+ "windows_x86_64_gnullvm 0.53.1",
+ "windows_x86_64_msvc 0.53.1",
+]
+
+[[package]]
+name = "windows_aarch64_gnullvm"
+version = "0.52.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "32a4622180e7a0ec044bb555404c800bc9fd9ec262ec147edd5989ccd0c02cd3"
+
+[[package]]
+name = "windows_aarch64_gnullvm"
+version = "0.53.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a9d8416fa8b42f5c947f8482c43e7d89e73a173cead56d044f6a56104a6d1b53"
+
+[[package]]
+name = "windows_aarch64_msvc"
+version = "0.52.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "09ec2a7bb152e2252b53fa7803150007879548bc709c039df7627cabbd05d469"
+
+[[package]]
+name = "windows_aarch64_msvc"
+version = "0.53.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b9d782e804c2f632e395708e99a94275910eb9100b2114651e04744e9b125006"
+
+[[package]]
+name = "windows_i686_gnu"
+version = "0.52.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8e9b5ad5ab802e97eb8e295ac6720e509ee4c243f69d781394014ebfe8bbfa0b"
+
+[[package]]
+name = "windows_i686_gnu"
+version = "0.53.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "960e6da069d81e09becb0ca57a65220ddff016ff2d6af6a223cf372a506593a3"
+
+[[package]]
+name = "windows_i686_gnullvm"
+version = "0.52.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0eee52d38c090b3caa76c563b86c3a4bd71ef1a819287c19d586d7334ae8ed66"
+
+[[package]]
+name = "windows_i686_gnullvm"
+version = "0.53.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fa7359d10048f68ab8b09fa71c3daccfb0e9b559aed648a8f95469c27057180c"
+
+[[package]]
+name = "windows_i686_msvc"
+version = "0.52.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "240948bc05c5e7c6dabba28bf89d89ffce3e303022809e73deaefe4f6ec56c66"
+
+[[package]]
+name = "windows_i686_msvc"
+version = "0.53.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1e7ac75179f18232fe9c285163565a57ef8d3c89254a30685b57d83a38d326c2"
+
+[[package]]
+name = "windows_x86_64_gnu"
+version = "0.52.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "147a5c80aabfbf0c7d901cb5895d1de30ef2907eb21fbbab29ca94c5b08b1a78"
+
+[[package]]
+name = "windows_x86_64_gnu"
+version = "0.53.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9c3842cdd74a865a8066ab39c8a7a473c0778a3f29370b5fd6b4b9aa7df4a499"
+
+[[package]]
+name = "windows_x86_64_gnullvm"
+version = "0.52.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "24d5b23dc417412679681396f2b49f3de8c1473deb516bd34410872eff51ed0d"
+
+[[package]]
+name = "windows_x86_64_gnullvm"
+version = "0.53.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0ffa179e2d07eee8ad8f57493436566c7cc30ac536a3379fdf008f47f6bb7ae1"
+
+[[package]]
+name = "windows_x86_64_msvc"
+version = "0.52.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec"
+
+[[package]]
+name = "windows_x86_64_msvc"
+version = "0.53.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d6bbff5f0aada427a1e5a6da5f1f98158182f26556f345ac9e04d36d0ebed650"
+
+[[package]]
+name = "wit-bindgen"
+version = "0.51.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d7249219f66ced02969388cf2bb044a09756a083d0fab1e566056b04d9fbcaa5"
+dependencies = [
+ "wit-bindgen-rust-macro",
+]
+
+[[package]]
+name = "wit-bindgen-core"
+version = "0.51.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ea61de684c3ea68cb082b7a88508a8b27fcc8b797d738bfc99a82facf1d752dc"
+dependencies = [
+ "anyhow",
+ "heck",
+ "wit-parser",
+]
+
+[[package]]
+name = "wit-bindgen-rust"
+version = "0.51.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b7c566e0f4b284dd6561c786d9cb0142da491f46a9fbed79ea69cdad5db17f21"
+dependencies = [
+ "anyhow",
+ "heck",
+ "indexmap 2.13.0",
+ "prettyplease",
+ "syn",
+ "wasm-metadata",
+ "wit-bindgen-core",
+ "wit-component",
+]
+
+[[package]]
+name = "wit-bindgen-rust-macro"
+version = "0.51.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0c0f9bfd77e6a48eccf51359e3ae77140a7f50b1e2ebfe62422d8afdaffab17a"
+dependencies = [
+ "anyhow",
+ "prettyplease",
+ "proc-macro2",
+ "quote",
+ "syn",
+ "wit-bindgen-core",
+ "wit-bindgen-rust",
+]
+
+[[package]]
+name = "wit-component"
+version = "0.244.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9d66ea20e9553b30172b5e831994e35fbde2d165325bec84fc43dbf6f4eb9cb2"
+dependencies = [
+ "anyhow",
+ "bitflags 2.10.0",
+ "indexmap 2.13.0",
+ "log",
+ "serde",
+ "serde_derive",
+ "serde_json",
+ "wasm-encoder",
+ "wasm-metadata",
+ "wasmparser",
+ "wit-parser",
+]
+
+[[package]]
+name = "wit-parser"
+version = "0.244.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ecc8ac4bc1dc3381b7f59c34f00b67e18f910c2c0f50015669dde7def656a736"
+dependencies = [
+ "anyhow",
+ "id-arena",
+ "indexmap 2.13.0",
+ "log",
+ "semver",
+ "serde",
+ "serde_derive",
+ "serde_json",
+ "unicode-xid",
+ "wasmparser",
+]
+
+[[package]]
+name = "y4m"
+version = "0.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7a5a4b21e1a62b67a2970e6831bc091d7b87e119e7f9791aef9702e3bef04448"
+
+[[package]]
+name = "zerocopy"
+version = "0.8.39"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "db6d35d663eadb6c932438e763b262fe1a70987f9ae936e60158176d710cae4a"
+dependencies = [
+ "zerocopy-derive",
+]
+
+[[package]]
+name = "zerocopy-derive"
+version = "0.8.39"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4122cd3169e94605190e77839c9a40d40ed048d305bfdc146e7df40ab0f3e517"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "zmij"
+version = "1.0.20"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4de98dfa5d5b7fef4ee834d0073d560c9ca7b6c46a71d058c48db7960f8cfaf7"
+
+[[package]]
+name = "zune-core"
+version = "0.4.12"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3f423a2c17029964870cfaabb1f13dfab7d092a62a29a89264f4d36990ca414a"
+
+[[package]]
+name = "zune-core"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cb8a0807f7c01457d0379ba880ba6322660448ddebc890ce29bb64da71fb40f9"
+
+[[package]]
+name = "zune-inflate"
+version = "0.2.54"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "73ab332fe2f6680068f3582b16a24f90ad7096d5d39b974d1c0aff0125116f02"
+dependencies = [
+ "simd-adler32",
+]
+
+[[package]]
+name = "zune-jpeg"
+version = "0.4.21"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "29ce2c8a9384ad323cf564b67da86e21d3cfdff87908bc1223ed5c99bc792713"
+dependencies = [
+ "zune-core 0.4.12",
+]
+
+[[package]]
+name = "zune-jpeg"
+version = "0.5.12"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "410e9ecef634c709e3831c2cfdb8d9c32164fae1c67496d5b68fff728eec37fe"
+dependencies = [
+ "zune-core 0.5.1",
+]
diff --git a/nixos/pkgs/cedar-detect.nix b/nixos/pkgs/cedar-detect.nix
new file mode 100644
index 000000000..da84d849d
--- /dev/null
+++ b/nixos/pkgs/cedar-detect.nix
@@ -0,0 +1,27 @@
+{ pkgs }:
+pkgs.rustPlatform.buildRustPackage rec {
+  pname = "cedar-detect-server";
+  version = "0.5.0-unstable-2026-02-11";
+
+  src = pkgs.fetchFromGitHub {
+    owner = "smroid";
+    repo = "cedar-detect";
+    rev = "da6be9d318976a1a0853ecdf6dd6cefe41615352";
+    hash = "sha256-SqWJ35cBOSCu8w5nK2lcdlMWK/bHINatzjr/p+MH3/o=";
+  };
+
+  cargoLock.lockFile = ./cedar-detect-Cargo.lock;
+
+  postPatch = ''
+    ln -s ${./cedar-detect-Cargo.lock} Cargo.lock
+  '';
+
+  nativeBuildInputs = [ pkgs.protobuf ];
+
+  cargoBuildFlags = [ "--bin" "cedar-detect-server" ];
+
+  meta = {
+    description = "Cedar Detect star detection gRPC server";
+    homepage = "https://github.com/smroid/cedar-detect";
+  };
+}
diff --git a/nixos/pkgs/pifinder-src.nix b/nixos/pkgs/pifinder-src.nix
new file mode 100644
index 000000000..e680425da
--- /dev/null
+++ b/nixos/pkgs/pifinder-src.nix
@@ -0,0 +1,71 @@
+{ pkgs, python ? pkgs.python313, gitRev ? "unknown" }:
+let
+  tetra3-src = pkgs.fetchFromGitHub {
+    owner = "smroid";
+    repo = "cedar-solve";
+    rev = "cded265ca1c41e4e526f91e06d3c7ef99bc37288";
+    hash = "sha256-eJtBuBmsElEojXLYfYy3gQ/s2+8qjyvOYAqROe4sNO0=";
+  };
+
+  # Hipparcos star catalog for starfield plotting
+  hip_main = pkgs.fetchurl {
+    url = "https://cdsarc.cds.unistra.fr/ftp/cats/I/239/hip_main.dat";
+    sha256 = "1q0n6sa55z92bad8gy6r9axkd802798nxkipjh6iciyn0jqspkjq";
+  };
+
+  # Stable astro data — catalogs, star patterns, ephemeris (~193MB, rarely changes)
+  astro-data = pkgs.stdenv.mkDerivation {
+    pname = "pifinder-astro-data";
+    version = "1.0";
+    src = ../../astro_data;
+    phases = [ "installPhase" ];
+    installPhase = ''
+      mkdir -p $out
+      cp -r $src/* $out/
+      cp ${hip_main} $out/hip_main.dat
+    '';
+  };
+
+in
+pkgs.stdenv.mkDerivation {
+  pname = "pifinder-src";
+  version = "0.0.1";
+  src = ../..;
+
+  nativeBuildInputs = [ python ];
+  phases = [ "installPhase" ];
+
+  installPhase = ''
+    mkdir -p $out
+
+    # Copy everything except build artifacts and non-runtime directories
+    cp -r --no-preserve=mode $src/* $out/ || true
+
+    # Remove directories not needed at runtime
+    rm -rf $out/.git $out/.github $out/nixos $out/result* $out/.venv
+    rm -rf $out/case $out/docs $out/gerbers $out/kicad
+    rm -rf $out/migration_source $out/pi_config_files $out/scripts
+    rm -rf $out/bin
+
+    # Strip doc photos from images/ but keep welcome.png (used at runtime)
+    find $out/images -type f ! -name 'welcome.png' -delete
+
+    # Replace astro_data with symlink to stable derivation
+    rm -rf $out/astro_data
+    ln -s ${astro-data} $out/astro_data
+
+    # tetra3/cedar-solve is a git submodule — Nix doesn't include submodule
+    # contents, so we fetch it separately and graft it into the source tree.
+    rm -rf $out/python/PiFinder/tetra3
+    cp -r ${tetra3-src} $out/python/PiFinder/tetra3
+
+    # Generate build identity from git metadata (overwrites committed CI version)
+    cat > $out/pifinder-build.json <<EOF
+    {"version": "nix-${gitRev}", "store_path": ""}
+    EOF
+
+    # Pre-compile .pyc bytecode so Python skips compilation at runtime
+    chmod -R u+w $out/python
+    python3 -m compileall -q $out/python
+  '';
+}
diff --git a/nixos/pkgs/python-packages.nix b/nixos/pkgs/python-packages.nix
new file mode 100644
index 000000000..c71561e7e
--- /dev/null
+++ b/nixos/pkgs/python-packages.nix
@@ -0,0 +1,516 @@
+{ pkgs, lib ? pkgs.lib }:
+let
+  python = pkgs.python313;
+
+  pifinderPython = python.override {
+    packageOverrides = self: super: {
+      # --- Pure Python, trivial packages ---
+
+      sh = self.buildPythonPackage rec {
+        pname = "sh";
+        version = "1.14.3";
+        pyproject = true;
+        build-system = [ self.setuptools ];
+        src = self.fetchPypi {
+          inherit pname version;
+          hash = "sha256-5ARbbHMtnOddVxx59awiNO3Zrk9fqdWbCXBQgr3KGMc=";
+        };
+        doCheck = false;
+      };
+
+      gpsdclient = self.buildPythonPackage rec {
+        pname = "gpsdclient";
+        version = "1.3.2";
+        pyproject = true;
+        build-system = [ self.poetry-core ];
+        src = self.fetchPypi {
+          inherit pname version;
+          hash = "sha256-cKSWVQqXR9/14OULPJWm4dyrnYQoYJl+lRIHZ+IGCno=";
+        };
+        doCheck = false;
+      };
+
+      dataclasses-json = self.buildPythonPackage rec {
+        pname = "dataclasses-json";
+        version = "0.6.7";
+        format = "pyproject";
+        src = pkgs.fetchurl {
+          url = "https://files.pythonhosted.org/packages/64/a4/f71d9cf3a5ac257c993b5ca3f93df5f7fb395c725e7f1e6479d2514173c3/dataclasses_json-0.6.7.tar.gz";
+          hash = "sha256-trPlKCZupFuVNSI7xTymRfUgiDPCkinoR7PyahzFX8A=";
+        };
+        nativeBuildInputs = [ self.poetry-core ];
+        propagatedBuildInputs = [
+          self.marshmallow
+          self.typing-inspect
+        ];
+        postPatch = ''
+          substituteInPlace pyproject.toml \
+            --replace-fail 'requires = ["poetry-core>=1.2.0", "poetry-dynamic-versioning"]' 'requires = ["poetry-core>=1.2.0"]' \
+            --replace-fail 'build-backend = "poetry_dynamic_versioning.backend"' 'build-backend = "poetry.core.masonry.api"'
+        '';
+        doCheck = false;
+      };
+
+      pydeepskylog = self.buildPythonPackage rec {
+        pname = "pydeepskylog";
+        version = "1.6";
+        pyproject = true;
+        build-system = [ self.setuptools ];
+        src = self.fetchPypi {
+          inherit pname version;
+          hash = "sha256-3erm0ASBfPtQ1cngzsqkZUrnKoLNIBu8U1D6iA4ePmE=";
+        };
+        propagatedBuildInputs = [ self.requests ];
+        doCheck = false;
+      };
+
+      python-pam = self.buildPythonPackage rec {
+        pname = "python-pam";
+        version = "2.0.2";
+        format = "pyproject";
+        src = self.fetchPypi {
+          inherit pname version;
+          hash = "sha256-lyNSNbqbgtuugGjRCZUIRVlJsnX3cnPKIv29ix+12VA=";
+        };
+        nativeBuildInputs = [ self.setuptools self.six ];
+        postPatch = ''
+          substituteInPlace src/pam/__internals.py \
+            --replace-fail 'find_library("pam")' '"${pkgs.pam}/lib/libpam.so"' \
+            --replace-fail 'find_library("pam_misc")' '"${pkgs.pam}/lib/libpam_misc.so"'
+        '';
+        doCheck = false;
+      };
+
+      # --- Display stack: luma.core -> luma.oled, luma.lcd ---
+
+      luma-core = self.buildPythonPackage rec {
+        pname = "luma.core";
+        version = "2.4.2";
+        pyproject = true;
+        build-system = [ self.setuptools ];
+        src = self.fetchPypi {
+          inherit pname version;
+          hash = "sha256-ljwmQWTUN09UnVfbCVmeDKRYzqG9BeFpOYl2Gb5Obb0=";
+        };
+        propagatedBuildInputs = [
+          self.pillow
+          self.smbus2
+          self.pyftdi
+          self.cbor2
+          self.deprecated
+        ];
+        dontCheckRuntimeDeps = true;
+        doCheck = false;
+      };
+
+      luma-oled = self.buildPythonPackage rec {
+        pname = "luma.oled";
+        version = "3.13.0";
+        pyproject = true;
+        build-system = [ self.setuptools ];
+        src = self.fetchPypi {
+          inherit pname version;
+          hash = "sha256-fioNakyWjGSYAlXWgewnkU2avVpmqQGbKJvzrQUMISU=";
+        };
+        propagatedBuildInputs = [ self.luma-core ];
+        doCheck = false;
+      };
+
+      pyhotkey = self.buildPythonPackage rec {
+        pname = "PyHotKey";
+        version = "1.5.2";
+        pyproject = true;
+        build-system = [ self.setuptools ];
+        src = self.fetchPypi {
+          inherit pname version;
+          hash = "sha256-ObV5wDjnhQwmqmfMH5F9VUbJ2XPOYKuZH9OGodSdGrQ=";
+        };
+        propagatedBuildInputs = [ self.pynput ];
+        pythonRelaxDeps = [ "pynput" ];
+        nativeBuildInputs = [ pkgs.python313Packages.pythonRelaxDepsHook ];
+        doCheck = false;
+      };
+
+      luma-emulator = self.buildPythonPackage rec {
+        pname = "luma.emulator";
+        version = "1.5.0";
+        pyproject = true;
+        build-system = [ self.setuptools ];
+        src = self.fetchPypi {
+          inherit pname version;
+          hash = "sha256-0PCbFz9BQmXadpL+THw348tU9PgTjhNfixtHFeN4248=";
+        };
+        propagatedBuildInputs = [ self.luma-core self.pygame ];
+        doCheck = false;
+      };
+
+      luma-lcd = self.buildPythonPackage rec {
+        pname = "luma.lcd";
+        version = "2.11.0";
+        pyproject = true;
+        build-system = [ self.setuptools ];
+        src = self.fetchPypi {
+          inherit pname version;
+          hash = "sha256-1GBE6W/TmUPr5Iph51M3FXG+FJekvqlrcuOpxzL77uQ=";
+        };
+        propagatedBuildInputs = [ self.luma-core ];
+        doCheck = false;
+      };
+
+      python-libinput = self.buildPythonPackage rec {
+        pname = "python-libinput";
+        version = "0.3.0a0";
+        pyproject = true;
+        build-system = [ self.setuptools ];
+        src = self.fetchPypi {
+          inherit pname version;
+          hash = "sha256-fj08l4aqp5vy8UYBZIWBtGJLaS0/DZGZkC0NCDQhkwI=";
+        };
+        buildInputs = [ pkgs.libinput pkgs.systemd ];
+        nativeBuildInputs = [ pkgs.pkg-config ];
+        propagatedBuildInputs = [ self.cffi ];
+        postPatch = ''
+          substituteInPlace setup.py \
+            --replace-fail 'from imp import load_source' 'import importlib.util, types
+def load_source(name, path):
+    spec = importlib.util.spec_from_file_location(name, path)
+    mod = importlib.util.module_from_spec(spec)
+    spec.loader.exec_module(mod)
+    return mod'
+          substituteInPlace libinput/__init__.py \
+            --replace-fail "CDLL('libudev.so.1')" "CDLL('${lib.getLib pkgs.systemd}/lib/libudev.so.1')" \
+            --replace-fail "CDLL('libinput.so.10')" "CDLL('${lib.getLib pkgs.libinput}/lib/libinput.so.10')"
+        '';
+        doCheck = false;
+      };
+
+      # --- Hardware-only packages (aarch64/Pi) ---
+
+      RPi-GPIO = self.buildPythonPackage rec {
+        pname = "RPi.GPIO";
+        version = "0.7.1";
+        pyproject = true;
+        build-system = [ self.setuptools ];
+        src = self.fetchPypi {
+          inherit pname version;
+          hash = "sha256-zWHEsDw3tiu6SlrP6phidJwzxhjgKV5+kKpHE/s3O3A=";
+        };
+        postPatch = ''
+          python3 -c '
+          import sys
+          with open("source/cpuinfo.c") as f: src = f.read()
+          old = "   if (!found)\n      return -1;"
+          new = (
+              "   if (!found) {\n"
+              "      FILE *fp2 = fopen(\"/proc/device-tree/compatible\", \"r\");\n"
+              "      if (fp2) {\n"
+              "         char compat[256] = {0};\n"
+              "         fread(compat, 1, sizeof(compat)-1, fp2);\n"
+              "         fclose(fp2);\n"
+              "         if (strstr(compat, \"raspberrypi\")) {\n"
+              "            found = 1;\n"
+              "            strcpy(revision, \"c03115\");\n"
+              "         }\n"
+              "      }\n"
+              "   }\n"
+              "\n"
+              "   if (!found)\n"
+              "      return -1;"
+          )
+          assert old in src, "pattern not found in cpuinfo.c"
+          src = src.replace(old, new, 1)
+          with open("source/cpuinfo.c", "w") as f: f.write(src)
+          '
+        '';
+        doCheck = false;
+      };
+
+      rpi-hardware-pwm = self.buildPythonPackage rec {
+        pname = "rpi-hardware-pwm";
+        version = "0.3.0";
+        pyproject = true;
+        build-system = [ self.setuptools ];
+        src = pkgs.fetchurl {
+          url = "https://files.pythonhosted.org/packages/be/0c/4308050d8b6bbe24e8e54b38e48b287b1e356efce33cd485ee4387fc92a9/rpi_hardware_pwm-0.3.0.tar.gz";
+          hash = "sha256-HshwYzp5XpijEGhWXwZ/gvZKjhZ4BpvPjdcC+i+zGyY=";
+        };
+        doCheck = false;
+      };
+
+      adafruit-circuitpython-typing = self.buildPythonPackage rec {
+        pname = "adafruit-circuitpython-typing";
+        version = "1.12.3";
+        format = "pyproject";
+        src = pkgs.fetchurl {
+          url = "https://files.pythonhosted.org/packages/65/a2/40a3440aed2375371507af668570b68523ee01db9c25c47ce5a05883170e/adafruit_circuitpython_typing-1.12.3.tar.gz";
+          hash = "sha256-Y/GW+DTkeEK81M+MN6qgxh4a610H8FbIdfwwFs2pGhI=";
+        };
+        nativeBuildInputs = [ self.setuptools-scm ];
+        propagatedBuildInputs = [ self.typing-extensions ];
+        doCheck = false;
+        dontCheckRuntimeDeps = true;
+      };
+
+      adafruit-platformdetect = self.buildPythonPackage rec {
+        pname = "Adafruit-PlatformDetect";
+        version = "3.73.0";
+        format = "pyproject";
+        src = pkgs.fetchurl {
+          url = "https://files.pythonhosted.org/packages/3c/83/79eb6746d01d64bd61f02b12a2637fad441f7823a4f540842e0a47dbcfd8/adafruit_platformdetect-3.73.0.tar.gz";
+          hash = "sha256-IwkJityP+Hs9mkpdOu6+P3t/VasOE9Get1/6hl82+rg=";
+        };
+        nativeBuildInputs = [ self.setuptools-scm ];
+        doCheck = false;
+      };
+
+      adafruit-pureio = self.buildPythonPackage rec {
+        pname = "Adafruit-PureIO";
+        version = "1.1.11";
+        format = "pyproject";
+        src = pkgs.fetchurl {
+          url = "https://files.pythonhosted.org/packages/e5/b7/f1672435116822079bbdab42163f9e6424769b7db778873d95d18c085230/Adafruit_PureIO-1.1.11.tar.gz";
+          hash = "sha256-xM+7NlcxlC0fEJKhFvR9/a4K7xjFsn8QcrWCStXqjHw=";
+        };
+        nativeBuildInputs = [ self.setuptools-scm ];
+        doCheck = false;
+      };
+
+      adafruit-blinka = self.buildPythonPackage rec {
+        pname = "Adafruit-Blinka";
+        version = "8.47.0";
+        format = "pyproject";
+        src = pkgs.fetchurl {
+          url = "https://files.pythonhosted.org/packages/4a/30/84193a19683732387ec5f40661b589fcee29e0ab47c1e7dee36fb92efe9b/adafruit_blinka-8.47.0.tar.gz";
+          hash = "sha256-Q2qFasw4v5xTRtuMQTuiraledi9qqXp9viOENMy8hRk=";
+        };
+        nativeBuildInputs = [ self.setuptools-scm ];
+        propagatedBuildInputs = [
+          self.RPi-GPIO
+          self.adafruit-platformdetect
+          self.adafruit-pureio
+          self.adafruit-circuitpython-typing
+        ];
+        pythonRelaxDeps = true;
+        pythonRemoveDeps = [ "binho-host-adapter" "pyftdi" "sysv-ipc" ];
+        dontCheckRuntimeDeps = true;
+        doCheck = false;
+      };
+
+      adafruit-circuitpython-busdevice = self.buildPythonPackage rec {
+        pname = "adafruit-circuitpython-busdevice";
+        version = "5.2.9";
+        format = "pyproject";
+        src = pkgs.fetchurl {
+          url = "https://files.pythonhosted.org/packages/a8/04/cf8d2ebfe0d171b7c8fe3425f1e2e80ed59738855d419e5486f5d2fa9145/adafruit_circuitpython_busdevice-5.2.9.tar.gz";
+          hash = "sha256-n5w984UJFBDaxZYZGOR17Ij67X/1Q61tdCCPCMJWZRM=";
+        };
+        nativeBuildInputs = [ self.setuptools-scm ];
+        propagatedBuildInputs = [
+          self.adafruit-blinka
+          self.adafruit-circuitpython-typing
+        ];
+        doCheck = false;
+      };
+
+      adafruit-circuitpython-register = self.buildPythonPackage rec {
+        pname = "adafruit-circuitpython-register";
+        version = "1.10.0";
+        format = "pyproject";
+        src = pkgs.fetchurl {
+          url = "https://files.pythonhosted.org/packages/0f/f1/b7e16545dac1056227ca9c612966ec26d69a04a99df6892aec27a71884af/adafruit_circuitpython_register-1.10.0.tar.gz";
+          hash = "sha256-vH6191d2bxAqhyZXPgylwp6h1+UBweN1nGxOnhNmD3o=";
+        };
+        nativeBuildInputs = [ self.setuptools-scm ];
+        propagatedBuildInputs = [
+          self.adafruit-blinka
+          self.adafruit-circuitpython-busdevice
+          self.adafruit-circuitpython-typing
+        ];
+        doCheck = false;
+      };
+
+      adafruit-circuitpython-bno055 = self.buildPythonPackage rec {
+        pname = "adafruit-circuitpython-bno055";
+        version = "5.4.16";
+        format = "pyproject";
+        src = pkgs.fetchurl {
+          url = "https://files.pythonhosted.org/packages/8d/20/ad6bb451c5bf228af869bf045d4fc415174e7c042dfc1d998e9c0bc8ad21/adafruit_circuitpython_bno055-5.4.16.tar.gz";
+          hash = "sha256-kL/bz689GF/sZxgbzv+bEPQ4F5zQqjl+k4ctSwlK3aA=";
+        };
+        nativeBuildInputs = [ self.setuptools-scm ];
+        propagatedBuildInputs = [
+          self.adafruit-blinka
+          self.adafruit-circuitpython-busdevice
+          self.adafruit-circuitpython-register
+          self.adafruit-circuitpython-typing
+        ];
+        doCheck = false;
+      };
+
+      pidng = self.buildPythonPackage rec {
+        pname = "pidng";
+        version = "4.0.9";
+        pyproject = true;
+        build-system = [ self.setuptools ];
+        src = pkgs.fetchurl {
+          url = "https://files.pythonhosted.org/packages/source/p/pidng/pidng-4.0.9.tar.gz";
+          hash = "sha256-Vg6wCAhvinFf2eGrmYgXp9TIUAp/Fhuc5q9asnUB+Cw=";
+        };
+        propagatedBuildInputs = [ self.numpy ];
+        doCheck = false;
+      };
+
+      simplejpeg = self.buildPythonPackage rec {
+        pname = "simplejpeg";
+        version = "1.9.0";
+        format = "wheel";
+        src = pkgs.fetchurl {
+          url = "https://files.pythonhosted.org/packages/88/8b/d8ca384f1362371d61690d7460d3ae4cec4a5a25d9eb06cd15623de3725a/simplejpeg-1.9.0-cp313-cp313-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl";
+          hash = "sha256-oMN1Ew9zuwgimj3tOS2E7i2Raz6H5+xdKsTke3FENGo=";
+        };
+        propagatedBuildInputs = [ self.numpy ];
+        doCheck = false;
+      };
+
+      python-prctl = self.buildPythonPackage rec {
+        pname = "python-prctl";
+        version = "1.8.1";
+        pyproject = true;
+        build-system = [ self.setuptools ];
+        src = pkgs.fetchurl {
+          url = "https://files.pythonhosted.org/packages/source/p/python-prctl/python-prctl-1.8.1.tar.gz";
+          hash = "sha256-tMqaJafU8azk//0fOi5k71II/gX5KfPt1eJwgcp+Z84=";
+        };
+        buildInputs = [ pkgs.libcap ];
+        doCheck = false;
+      };
+
+      v4l2-python3 = self.buildPythonPackage rec {
+        pname = "v4l2-python3";
+        version = "0.3.4";
+        pyproject = true;
+        build-system = [ self.setuptools ];
+        src = self.fetchPypi {
+          inherit pname version;
+          hash = "sha256-YliResgEmsaYcaXg39bYnVXJ5/gOgSwe+LqIeb2hxYc=";
+        };
+        doCheck = false;
+      };
+
+      videodev2 = self.buildPythonPackage rec {
+        pname = "videodev2";
+        version = "0.0.4";
+        format = "wheel";
+        src = pkgs.fetchurl {
+          url = "https://files.pythonhosted.org/packages/68/30/4982441a03860ab8f656702d8a2c13d0cf6f56d65bfb78fe288028dcb473/videodev2-0.0.4-py3-none-any.whl";
+          hash = "sha256-0196s53bBtUP7Japm/yNW4tSW8fqA3iCWdOGOT8aZLo=";
+        };
+        doCheck = false;
+      };
+
+      picamera2 = self.buildPythonPackage rec {
+        pname = "picamera2";
+        version = "0.3.22";
+        pyproject = true;
+        build-system = [ self.setuptools ];
+        src = self.fetchPypi {
+          inherit pname version;
+          hash = "sha256-iShpgUNCu8uHS7jeehtgWJhEm/UhJjn0bw2qpkbWgy0=";
+        };
+        postPatch = ''
+          substituteInPlace picamera2/previews/__init__.py \
+            --replace-fail 'from .drm_preview import DrmPreview' \
+            'try:
+    from .drm_preview import DrmPreview
+except ImportError:
+    DrmPreview = None'
+        '';
+        propagatedBuildInputs = [
+          self.numpy
+          self.pillow
+          self.piexif
+          self.v4l2-python3
+          self.videodev2
+          self.pidng
+          self.simplejpeg
+          self.python-prctl
+          pkgs.libcamera
+        ];
+        postFixup = ''
+          wrapPythonProgramsIn "$out" "$out ${pkgs.libcamera}/lib/python3.13/site-packages"
+        '';
+        dontCheckRuntimeDeps = true;
+        doCheck = false;
+      };
+    };
+  };
+
+  commonPackages = ps: with ps; [
+    # Packages from nixpkgs
+    numpy
+    quaternion
+    scipy
+    scikit-learn
+    pillow
+    pandas
+    grpcio
+    protobuf
+    bottle
+    cheroot
+    requests
+    pytz
+    skyfield
+    tqdm
+    pyjwt
+    aiofiles
+    json5
+    smbus2
+    spidev
+    pygobject3
+    av
+    dbus-python
+    timezonefinder
+    jsonschema
+    libarchive-c
+
+    # Custom packages (cross-platform)
+    sh
+    gpsdclient
+    dataclasses-json
+    pydeepskylog
+    python-pam
+    luma-oled
+    luma-lcd
+    python-libinput
+  ];
+
+  hardwarePackages = ps: with ps; [
+    RPi-GPIO
+    rpi-hardware-pwm
+    adafruit-blinka
+    adafruit-circuitpython-bno055
+    picamera2
+    pidng
+    simplejpeg
+    python-prctl
+    videodev2
+  ];
+
+  devPackages = ps: with ps; [
+    pytest
+    mypy
+    luma-emulator
+    pyhotkey
+  ];
+
+  pifinderEnv = pifinderPython.withPackages (ps:
+    commonPackages ps ++ hardwarePackages ps
+  );
+
+  devEnv = pifinderPython.withPackages (ps:
+    commonPackages ps ++ devPackages ps
+  );
+
+in {
+  inherit pifinderPython commonPackages hardwarePackages devPackages pifinderEnv devEnv;
+}
diff --git a/nixos/pkgs/welcome_image.h b/nixos/pkgs/welcome_image.h
new file mode 100644
index 000000000..ef8cfc2ff
--- /dev/null
+++ b/nixos/pkgs/welcome_image.h
@@ -0,0 +1,1027 @@
+// Auto-generated from welcome.png - 128x128 BGR565
+static const uint16_t welcome_image[16384] = {
+    0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800,
+    0x4800, 0x4000, 0x4000, 0x4800, 0x4800, 0x5000, 0x5000, 0x5800, 0x6000, 0x6000, 0x6000, 0x6000, 0x6800, 0x6800, 0x5800, 0x5800,
+    0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x6000, 0x5800,
+    0x5800, 0x5800, 0x6000, 0x6000, 0x6000, 0x6000, 0x5800, 0x5800, 0x6000, 0x6000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800,
+    0x5800, 0x6000, 0x5800, 0x5800, 0x6000, 0x6000, 0x6000, 0x6800, 0x6800, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x6000, 0x6000,
+    0x6000, 0x6000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x6000, 0x6800, 0x6800, 0x6800, 0x6800, 0x6800,
+    0x6800, 0x6800, 0x6800, 0x6800, 0x6000, 0x6000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5000,
+    0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x6000, 0x5800, 0x5000, 0x5000, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5000,
+    0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4000, 0x4000,
+    0x4000, 0x4000, 0x4800, 0x4800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x6000, 0x6000, 0x6000, 0x6800, 0x6800, 0x6800,
+    0x6800, 0x5800, 0x5800, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x5800,
+    0x5800, 0x5800, 0x5800, 0x5800, 0x6000, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x6000, 0x5800, 0x6000, 0x5800, 0x5800, 0x5800,
+    0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x5800, 0x5800,
+    0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x6000, 0x6000, 0x6800, 0x6800, 0x6800,
+    0x6800, 0x6800, 0x7000, 0x6800, 0x6800, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5000,
+    0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x5000, 0x5000, 0x5000, 0x5000, 0x4800, 0x5000, 0x5000, 0x5000, 0x5000,
+    0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000,
+    0x4000, 0x4000, 0x4000, 0x4800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x6000, 0x6800, 0x6800, 0x7000,
+    0x7000, 0x5800, 0x5800, 0x6000, 0x6800, 0x7800, 0x6000, 0x5800, 0x6000, 0x6000, 0x6000, 0x6000, 0x5800, 0x5800, 0x6000, 0x5800,
+    0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000,
+    0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000,
+    0x5800, 0x5800, 0x5800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x6000, 0x6000,
+    0x6800, 0x6800, 0x6800, 0x6800, 0x6800, 0x6800, 0x6800, 0x6000, 0x6000, 0x6000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5000, 0x5000,
+    0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x5000, 0x5000, 0x5800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800,
+    0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000,
+    0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x6000, 0x6000, 0x6000, 0x6000,
+    0x5800, 0x6000, 0x6000, 0x6000, 0x6000, 0x6800, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x5800, 0x5800,
+    0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x6000, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x5800,
+    0x5800, 0x5800, 0x5800, 0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x6800,
+    0x6000, 0x5000, 0x5800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000,
+    0x6000, 0x6000, 0x6800, 0x6800, 0x6800, 0x6800, 0x6800, 0x6800, 0x6800, 0x6000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5000,
+    0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800,
+    0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x4000, 0x4000, 0x3800, 0x4000, 0x3800, 0x3800,
+    0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x4800, 0x5000, 0x5000, 0x5000, 0x5800, 0x6000, 0x6000, 0x6000,
+    0x5800, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x5800,
+    0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x6000, 0x6000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800,
+    0x5800, 0x5800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800,
+    0x5800, 0x5800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800,
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+    0x3800, 0x3800, 0x7800, 0x5000, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000, 0x4800,
+    0x4800, 0x4800, 0x5000, 0x5000, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4000, 0x4800, 0x5000, 0x4000,
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+    0x5800, 0x6000, 0x2800, 0x2800, 0x2800, 0x3000, 0x3000, 0x3000, 0x3800, 0x8800, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800,
+    0x3800, 0x3800, 0x7000, 0x5800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4800,
+    0x4800, 0x4800, 0x5000, 0x5000, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4000, 0x4800, 0x5800, 0x4000,
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+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x4000, 0x7800, 0x3800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x4000, 0x7800, 0x4000, 0x2800, 0x2800, 0x2800, 0x3000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x3000, 0x3000, 0x2800, 0x2800, 0x2800, 0x3000, 0x3000, 0x3000, 0x3000, 0x8000, 0x4800, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3800, 0x3800, 0x6000, 0x6800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000,
+    0x4800, 0x4800, 0x4800, 0x5000, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000,
+    0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5000,
+    0x2800, 0x2800, 0x2800, 0x4800, 0x5800, 0x2800, 0x2800, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x7800, 0x3800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x3800, 0x3000, 0x2800, 0x2800, 0x2800, 0x4000, 0x7800, 0x3000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x3000, 0x3000, 0x3000, 0x6800, 0x5800, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x5800, 0x7000, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000,
+    0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000,
+    0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5000,
+    0x2800, 0x2800, 0x2800, 0x5800, 0x4800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x6000, 0x5800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x3000,
+    0x9000, 0x6000, 0x2000, 0x2800, 0x2800, 0x2800, 0x5800, 0x6000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x3000, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x3000, 0x5800, 0x6800, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3800, 0x3800, 0x3000, 0x3000, 0x3000, 0x3800, 0x3800, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x5000, 0x7800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000,
+    0x4800, 0x4800, 0x4800, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4000, 0x4000, 0x4000, 0x4000,
+    0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800,
+    0x2800, 0x2800, 0x2800, 0x4800, 0x3000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x5000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x4000,
+    0x7000, 0x4000, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x5800, 0x3000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x3800, 0x4000, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x3000, 0x4000, 0x5800, 0x3800, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x4000, 0x6000, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000,
+    0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4000, 0x4000, 0x4000, 0x4000,
+    0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x6000, 0x5800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x4800,
+    0x5800, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x3000, 0x3000, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x3000, 0x3000, 0x3800, 0x3800, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000,
+    0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x6000, 0x7000, 0x4800, 0x4800, 0x4800, 0x4800, 0x4000, 0x6000, 0x6000, 0x6000,
+    0x5000, 0x6000, 0x4000, 0x5800, 0x6000, 0x5000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5800, 0x5800, 0x5800,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x5000, 0x4000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0xF800,
+    0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x4800, 0x8800, 0x9000, 0x7800, 0x4000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3800, 0x3800, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3800, 0x3800, 0x3800, 0xA000, 0xA800, 0xA800, 0xA800, 0x6000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000,
+    0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x5800, 0x6000, 0x4800, 0x4800, 0x4800, 0x4800, 0x4000, 0x8000, 0xA000, 0x8000,
+    0x6000, 0xB000, 0x6800, 0x5800, 0x9800, 0x8000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5800, 0x5800, 0x6000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x4000, 0x4000, 0x2800, 0x2800, 0x2800, 0x2800, 0xB800, 0xF800, 0xF800, 0xE000, 0xD000,
+    0xC000, 0xB800, 0xB800, 0xC000, 0xC000, 0xB800, 0x7800, 0x4000, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2800, 0x2800, 0xF800,
+    0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x7800, 0x9800, 0x9800, 0xA000, 0xA000, 0x9800, 0x9800, 0x9800, 0x9000, 0x9800, 0x9800,
+    0x9800, 0x9000, 0x7800, 0x2800, 0x2800, 0x8800, 0x9000, 0x9000, 0x9000, 0x6000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3800, 0x3800, 0x3800, 0x3800, 0xA000, 0xB000, 0xA800, 0xA800, 0x6000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000,
+    0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800, 0x4000, 0x4800, 0x9800, 0x4000,
+    0x4000, 0xA000, 0x9000, 0x5000, 0xB000, 0x8000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x5000, 0x5000, 0x5000, 0x5800, 0x6000,
+    0x2000, 0x2000, 0x2800, 0x2000, 0x2800, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0xB800, 0xF800, 0xF800, 0xF000, 0xE000,
+    0xC800, 0xC000, 0xC000, 0xC000, 0xC800, 0xC800, 0xC000, 0xB800, 0x7800, 0x2800, 0x2800, 0x3800, 0x4800, 0xF800, 0xF800, 0xF800,
+    0xF800, 0xF800, 0x2800, 0x2000, 0x2800, 0x7000, 0x9800, 0x9800, 0x9800, 0x9800, 0xA000, 0x9800, 0x9800, 0x9800, 0x9800, 0x9800,
+    0x9800, 0x9800, 0x7800, 0x2800, 0x2800, 0x9000, 0x9000, 0x9000, 0x9000, 0x6000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3800, 0x3800, 0x3800, 0x3800, 0xA800, 0xB000, 0xB000, 0xB800, 0x6000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000,
+    0x4000, 0x4000, 0x4800, 0x4800, 0x4000, 0x4000, 0x4800, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4000, 0x4800, 0x9800, 0x4000,
+    0x4000, 0xA800, 0x9800, 0x8800, 0x8800, 0x8000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x5000, 0x5000, 0x5800, 0x5800,
+    0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2800, 0x2800, 0xB800, 0xF800, 0xF800, 0xF800, 0xF000,
+    0xE000, 0xD000, 0xC800, 0xD000, 0xC800, 0xC800, 0xC800, 0xC000, 0xB000, 0x8800, 0x2000, 0x8000, 0xA800, 0x4800, 0x2000, 0xF800,
+    0x2800, 0x2800, 0x2000, 0x2000, 0x2800, 0x7000, 0x9800, 0x9800, 0x9800, 0x9800, 0xA000, 0xA000, 0xA000, 0xA000, 0xA000, 0xA000,
+    0xA000, 0xA000, 0x8800, 0x2800, 0x2800, 0x5000, 0x9000, 0x9000, 0x7800, 0x3800, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x4000, 0x5000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3800, 0x3800, 0x3800, 0xA800, 0xB800, 0xB800, 0xB800, 0x6800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000,
+    0x4000, 0x4000, 0x4000, 0x4800, 0x4000, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x9800, 0x4000,
+    0x4000, 0xB000, 0x7000, 0xA800, 0x6800, 0x8000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5800, 0x5800,
+    0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0xB000, 0xF800, 0xF800, 0xF800, 0xB800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x3800, 0xA000, 0xC800, 0xC000, 0xB800, 0xB000, 0x6800, 0x4000, 0x5000, 0x3000, 0x2000, 0xF800,
+    0x2000, 0x2800, 0x2800, 0x2000, 0x2800, 0x7000, 0x9800, 0x9800, 0x9800, 0x7000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x2800, 0x5000, 0x6800, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3800, 0x3800, 0x3800, 0xA800, 0xB800, 0xB800, 0xB800, 0x6800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000,
+    0x4000, 0x4000, 0x4000, 0x3800, 0x4000, 0x5800, 0x4000, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x6000, 0x4000,
+    0x4000, 0x6000, 0x4000, 0x5800, 0x4800, 0x5000, 0x4000, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5800,
+    0x2000, 0x2000, 0x2000, 0x4800, 0x3000, 0x2800, 0x2000, 0x2800, 0x2800, 0x2000, 0x2800, 0xA800, 0xF000, 0xF800, 0xF800, 0xB800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0xA800, 0xC000, 0xB800, 0xB000, 0xA000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800,
+    0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x7000, 0x9800, 0x9800, 0x9800, 0x7800, 0x2800, 0x2000, 0x3000, 0x4000, 0x2800, 0x2000,
+    0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3800, 0x4800, 0x2800, 0x3000, 0x2800, 0x2800, 0x3000,
+    0x3000, 0x2800, 0x2800, 0x2800, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3800, 0x5800, 0x3800, 0x3800, 0xB000, 0xB800, 0xC000, 0xC000, 0x6800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000,
+    0x4000, 0x4000, 0x4000, 0x3800, 0x4000, 0x5800, 0x4800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800, 0x4800, 0x4000,
+    0x4800, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5800,
+    0x2000, 0x2000, 0x2000, 0x5800, 0x4800, 0x2000, 0x2000, 0x2800, 0x2800, 0x2000, 0x2800, 0xA000, 0xE800, 0xF800, 0xF800, 0xB800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x8800, 0xC000, 0xB800, 0xB800, 0xB800, 0x3000, 0x2000, 0x5800, 0xB000, 0xA000,
+    0x9800, 0x8800, 0x2800, 0x2800, 0x2800, 0x7000, 0x9000, 0x9800, 0x9800, 0x7800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000,
+    0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x8800, 0xA000, 0xA000, 0xA000, 0x7000, 0x6000, 0x2800, 0x6000, 0x8800, 0x8800, 0x9000,
+    0x5800, 0x4000, 0x6000, 0x9000, 0x9000, 0x9800, 0x8800, 0x6000, 0x3000, 0x3000, 0x3000, 0x2800, 0x3000, 0x3000, 0x3000, 0x6000,
+    0xA000, 0xC800, 0xC800, 0xD000, 0x8800, 0x3800, 0xB000, 0xC000, 0xC000, 0xC000, 0x6800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000,
+    0x7000, 0x9000, 0xB800, 0xB800, 0xB800, 0xA000, 0x8000, 0x3800, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0xB000, 0xB800, 0xA800,
+    0xA000, 0x4800, 0x6800, 0x9000, 0x9800, 0x8000, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5800,
+    0x2000, 0x2000, 0x2800, 0x4800, 0x5800, 0x2000, 0x4000, 0x3800, 0x2000, 0x2800, 0x2800, 0x9800, 0xE000, 0xE800, 0xF000, 0xB800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x4800, 0xB800, 0xB800, 0xB000, 0xB000, 0x4000, 0x2000, 0x6000, 0xB800, 0xB000,
+    0xA000, 0x8800, 0x2000, 0x2800, 0x2800, 0x7800, 0x9800, 0xA000, 0xA000, 0x7800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x9000, 0xA800, 0xA800, 0xA000, 0x7800, 0x5000, 0x2800, 0x6000, 0x9000, 0x9000, 0x9000,
+    0x7800, 0x9000, 0x9000, 0x9000, 0x9000, 0x9000, 0x9800, 0x9800, 0x6800, 0x3000, 0x3000, 0x4000, 0x3000, 0x3000, 0x7000, 0xC000,
+    0xC000, 0xC800, 0xC800, 0xC800, 0xD000, 0xC000, 0xC000, 0xC000, 0xC000, 0xC000, 0x7000, 0x4000, 0x4000, 0x4000, 0x4800, 0xA800,
+    0xC000, 0xC000, 0xC000, 0xC000, 0xB800, 0xB800, 0xB800, 0xA800, 0x5000, 0x4000, 0x4000, 0x4800, 0x4800, 0xB000, 0xB800, 0xA800,
+    0xA000, 0x7000, 0xA000, 0xA000, 0xA000, 0x8800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x5800,
+    0x2000, 0x2800, 0x2000, 0x3800, 0x7000, 0x2000, 0x3000, 0x3000, 0x2800, 0x2800, 0x2800, 0x9800, 0xD000, 0xD800, 0xE000, 0xB000,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x5000, 0xB800, 0xB800, 0xB000, 0xB000, 0x3000, 0x2000, 0x6000, 0xC800, 0xC000,
+    0xB000, 0x9000, 0x2800, 0x2800, 0x4000, 0x8800, 0xA000, 0xA000, 0xA000, 0x7800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x9000, 0xA800, 0xA800, 0xA800, 0x8800, 0x4000, 0x2800, 0x6800, 0x9000, 0x9800, 0x9800,
+    0xA000, 0xA000, 0x9800, 0x9000, 0x9000, 0x9000, 0x9800, 0xA000, 0xA000, 0x4000, 0x3000, 0x4000, 0x4000, 0x5800, 0xB800, 0xB800,
+    0xC000, 0xC000, 0xC800, 0xC800, 0xC800, 0xD000, 0xC800, 0xC000, 0xC000, 0xC000, 0x6800, 0x4000, 0x4000, 0x4000, 0xC800, 0xD000,
+    0xC800, 0xC800, 0xC000, 0xC000, 0xB800, 0xB800, 0xB800, 0xB800, 0xA800, 0x4800, 0x4000, 0x4000, 0x4800, 0xA800, 0xB800, 0xA800,
+    0xA800, 0xA000, 0xA000, 0xA000, 0xA800, 0x9800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000,
+    0x2800, 0x2800, 0x2000, 0x2800, 0x7800, 0x3000, 0x2000, 0x2000, 0x2800, 0x2000, 0x2800, 0x9800, 0xD000, 0xD000, 0xD800, 0xA800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2800, 0x8800, 0xA800, 0xB000, 0xB800, 0xA800, 0x2800, 0x2000, 0x6000, 0xD000, 0xC800,
+    0xB800, 0xA000, 0x2800, 0x5800, 0x7800, 0x8000, 0xA000, 0xA800, 0xA800, 0x8000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x9000, 0xA800, 0xA800, 0xA800, 0x9000, 0x3000, 0x2800, 0x6800, 0xA000, 0xA000, 0xA000,
+    0xA000, 0x7800, 0x2800, 0x2800, 0x5000, 0x9000, 0x9800, 0x9800, 0xA000, 0x7000, 0x4000, 0x6800, 0x6000, 0x9800, 0xB000, 0xB800,
+    0xB800, 0xA800, 0x8000, 0x5800, 0x5000, 0xA800, 0xC800, 0xC000, 0xC000, 0xC000, 0x6800, 0x4000, 0x4000, 0xA000, 0xE800, 0xD800,
+    0xD000, 0xC000, 0x7800, 0x3800, 0x4800, 0xA000, 0xC000, 0xC000, 0xC000, 0x8000, 0x4000, 0x4000, 0x4000, 0xA800, 0xB800, 0xA800,
+    0xA800, 0xA000, 0x7000, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x6000, 0x4800, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x9000, 0xC000, 0xC800, 0xD000, 0xA800,
+    0x2000, 0x2800, 0x2800, 0x2000, 0x2000, 0x8000, 0xA800, 0xA000, 0xA800, 0xB000, 0x8800, 0x5000, 0x2800, 0x6000, 0xC800, 0xC800,
+    0xC000, 0xA800, 0x4800, 0x6000, 0x3000, 0x7800, 0xA800, 0xB000, 0xB800, 0xB800, 0xB800, 0xC000, 0xC000, 0xC000, 0xC000, 0xC000,
+    0xC000, 0x9800, 0x2800, 0x2800, 0x2800, 0x9800, 0xB000, 0xA800, 0xA800, 0x8000, 0x2800, 0x2800, 0x7000, 0xA800, 0xA800, 0xA800,
+    0x8800, 0x2800, 0x2800, 0x2800, 0x3000, 0x7000, 0xA000, 0xA000, 0xA000, 0x8000, 0x5000, 0x9000, 0x5800, 0xA800, 0xA800, 0xB000,
+    0xB800, 0x4800, 0x7800, 0x4800, 0x3800, 0x4000, 0xB800, 0xC000, 0xC000, 0xC800, 0x6800, 0x4000, 0x4000, 0xE800, 0xF000, 0xE000,
+    0xD000, 0x8000, 0x3800, 0x3800, 0x3800, 0x4800, 0xB800, 0xC000, 0xC000, 0xB800, 0x4000, 0x4000, 0x4000, 0xA800, 0xB000, 0xA800,
+    0xA800, 0x6800, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x5800, 0x5000, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x5800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x4000, 0x6800, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x8000, 0xA800, 0xB800, 0xC000, 0xD000,
+    0xF000, 0xF800, 0xF800, 0xE800, 0xD000, 0xB800, 0xA800, 0xA000, 0xA000, 0x9000, 0x2000, 0x2800, 0x2800, 0x6000, 0xC000, 0xC000,
+    0xC000, 0xB000, 0x2800, 0x2800, 0x2800, 0x8000, 0xA800, 0xB800, 0xC000, 0xC800, 0xC800, 0xC800, 0xC800, 0xC800, 0xC800, 0xC800,
+    0xC800, 0xA000, 0x2800, 0x2800, 0x2800, 0x9800, 0xB800, 0xB000, 0xB000, 0x7800, 0x2800, 0x2800, 0x7000, 0xA800, 0xB000, 0xB000,
+    0x8800, 0x2800, 0x2800, 0x2800, 0x2800, 0x6800, 0xA800, 0xA800, 0xA800, 0x9000, 0x3000, 0x2800, 0x6000, 0xA800, 0xA800, 0xA800,
+    0x9800, 0x3000, 0x8800, 0x3800, 0x3000, 0x3800, 0xB000, 0xC000, 0xC000, 0xC000, 0x7000, 0x4000, 0x7000, 0xF000, 0xF000, 0xE000,
+    0xD000, 0x4800, 0x3800, 0x3800, 0x3800, 0x4000, 0xA000, 0xC000, 0xC000, 0xC000, 0x6000, 0x4000, 0x4000, 0xA800, 0xB000, 0xB000,
+    0xB000, 0x5800, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x4800, 0x4800, 0x4800, 0x4800, 0x5800, 0x5800, 0x4800, 0x5000, 0x5800,
+    0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x7800, 0x3000, 0x2000, 0x2000, 0x2000, 0x2000, 0x7000, 0x9000, 0xA000, 0xB000, 0xC800,
+    0xE000, 0xF000, 0xF000, 0xE000, 0xD000, 0xC000, 0xB000, 0xA000, 0x7800, 0x3000, 0x2000, 0x2000, 0x2000, 0x5800, 0xC000, 0xB800,
+    0xB800, 0xA800, 0x2000, 0x2800, 0x2800, 0x8000, 0xA800, 0xB800, 0xC000, 0xC800, 0xD000, 0xD000, 0xC800, 0xD000, 0xD800, 0xE000,
+    0xD800, 0xA800, 0x2800, 0x2800, 0x2800, 0xA000, 0xB800, 0xB800, 0xB800, 0x6800, 0x2000, 0x2000, 0x7000, 0xB000, 0xB800, 0xB800,
+    0x8800, 0x2800, 0x2800, 0x3000, 0x3800, 0x6800, 0xA800, 0xB000, 0xB000, 0x9000, 0x3000, 0x2800, 0x7000, 0xA800, 0xA800, 0xA800,
+    0x8000, 0x3800, 0x8000, 0x3000, 0x3000, 0x3800, 0xB000, 0xB800, 0xB800, 0xB800, 0x6800, 0x3800, 0x8800, 0xE800, 0xE800, 0xE000,
+    0xC000, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x9800, 0xC800, 0xC000, 0xC000, 0x7000, 0x4000, 0x4000, 0xA800, 0xB800, 0xB800,
+    0xB800, 0x5800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x6000, 0x5800, 0x5000, 0x5000, 0x5000,
+    0x2000, 0x2000, 0x2000, 0x2800, 0x2000, 0x5000, 0x5800, 0x2000, 0x2000, 0x2000, 0x2000, 0x6800, 0x9000, 0x9800, 0xA800, 0xC000,
+    0xD000, 0xD800, 0xE000, 0xD800, 0xD000, 0xC000, 0x7800, 0x5800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x5800, 0xC000, 0xB800,
+    0xB800, 0xA800, 0x2000, 0x2000, 0x2000, 0x7800, 0xA800, 0xB800, 0xC000, 0x9800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000,
+    0x2000, 0x2800, 0x2000, 0x2000, 0x2800, 0xA800, 0xC000, 0xC000, 0xC000, 0x7000, 0x2000, 0x2000, 0x7800, 0xB800, 0xB800, 0xB800,
+    0x8800, 0x2800, 0x2800, 0x3000, 0x3800, 0x6800, 0xA000, 0xA800, 0xB800, 0x9000, 0x3000, 0x3000, 0x7000, 0xA800, 0xA800, 0xA800,
+    0x7000, 0x5000, 0x6800, 0x3000, 0x3000, 0x3000, 0xB000, 0xC000, 0xB800, 0xC000, 0x6800, 0x3800, 0x9000, 0xE000, 0xE000, 0xE000,
+    0xD800, 0xD000, 0xD000, 0xD800, 0xD800, 0xD800, 0xD800, 0xD000, 0xC800, 0xC000, 0x8000, 0x4000, 0x4000, 0xA800, 0xC000, 0xC000,
+    0xC000, 0x5800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x4800, 0x4800, 0x6800, 0x6800, 0x5000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x7800, 0x3000, 0x2800, 0x2000, 0x2000, 0x7000, 0x9800, 0x9800, 0xA000, 0x8800,
+    0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x5800, 0xC000, 0xB800,
+    0xB000, 0xA000, 0x2000, 0x2000, 0x2000, 0x8000, 0xB000, 0xB800, 0xC000, 0x9000, 0x2800, 0x2800, 0x2000, 0x2800, 0x2800, 0x2000,
+    0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0xB000, 0xD000, 0xD000, 0xC800, 0x7000, 0x1800, 0x2000, 0x7800, 0xC000, 0xC000, 0xC000,
+    0x9000, 0x2800, 0x2800, 0x2800, 0x2800, 0x6800, 0xA000, 0xA000, 0xA800, 0x8800, 0x3000, 0x3000, 0x7000, 0xA000, 0xA000, 0xA000,
+    0x7000, 0x6000, 0x5800, 0x3000, 0x3000, 0x3000, 0xB000, 0xC000, 0xC000, 0xC000, 0x6800, 0x3800, 0x8800, 0xD800, 0xD800, 0xD800,
+    0xD000, 0xD000, 0xD000, 0xD800, 0xD800, 0xE000, 0xE000, 0xE000, 0xD800, 0xD000, 0x8000, 0x4000, 0x4000, 0xB000, 0xC000, 0xC000,
+    0xC800, 0x5800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x5000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x5000, 0x6000, 0x2000, 0x2000, 0x2000, 0x7800, 0xA000, 0xA000, 0xA000, 0x8000,
+    0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x5800, 0xB800, 0xB000,
+    0xA800, 0xA000, 0x2800, 0x2800, 0x2800, 0x8000, 0xB000, 0xB000, 0xB800, 0x9000, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2000,
+    0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0xB000, 0xD800, 0xE000, 0xE800, 0x7800, 0x2800, 0x2000, 0x8000, 0xC000, 0xC000, 0xC000,
+    0x9000, 0x2800, 0x2800, 0x2800, 0x2800, 0x7000, 0xA800, 0xA000, 0xA000, 0x8800, 0x3000, 0x3000, 0x7000, 0xA000, 0xA000, 0xA800,
+    0x8000, 0x7800, 0x4000, 0x3000, 0x3000, 0x3000, 0xB000, 0xC000, 0xC000, 0xC800, 0x6800, 0x3800, 0x8800, 0xD000, 0xD000, 0xD000,
+    0xD000, 0xD000, 0xD000, 0xD800, 0xD800, 0xE000, 0xE000, 0xE000, 0xE000, 0xD800, 0x8800, 0x3800, 0x4000, 0xB800, 0xC000, 0xC800,
+    0xC800, 0x5800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x7000, 0x3800, 0x2000, 0x2000, 0x7800, 0x9800, 0x9800, 0xA000, 0x8000,
+    0x2800, 0x2000, 0x2800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x5000, 0xB000, 0xB000,
+    0xA800, 0x9800, 0x2000, 0x2000, 0x2800, 0x8000, 0xA800, 0xA800, 0xB000, 0x8800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2000,
+    0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0xB800, 0xE000, 0xF000, 0xF000, 0x9800, 0x3800, 0x2000, 0x8000, 0xC800, 0xC800, 0xC800,
+    0x9800, 0x2800, 0x2800, 0x2800, 0x2800, 0x7000, 0xA800, 0xA000, 0xA000, 0x8800, 0x3000, 0x3000, 0x6000, 0xA800, 0xA800, 0xA800,
+    0x9800, 0x8000, 0x3000, 0x3000, 0x3000, 0x3000, 0xB000, 0xC000, 0xC000, 0xC800, 0x6800, 0x3800, 0x6800, 0xC800, 0xC800, 0xC800,
+    0xB800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x4000, 0x4000, 0x3800, 0x3800, 0x3800, 0x3800, 0xC000, 0xC800, 0xC800,
+    0xC000, 0x5800, 0x4000, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x3800, 0x7000, 0x2800, 0x2800, 0x7000, 0x9000, 0x9000, 0x9000, 0x7800,
+    0x2800, 0x2800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x5800, 0xB000, 0xB800,
+    0xB000, 0x9800, 0x2000, 0x2000, 0x2800, 0x8000, 0xA800, 0xA800, 0xA800, 0x8000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000,
+    0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0xC000, 0xE000, 0xF000, 0xF000, 0x9000, 0x2000, 0x2000, 0x8800, 0xD000, 0xD000, 0xC800,
+    0x9800, 0x3000, 0x2800, 0x2800, 0x2800, 0x7000, 0xA800, 0xA000, 0xA000, 0x8800, 0x3000, 0x3000, 0x3800, 0xB000, 0xB000, 0xB000,
+    0xB000, 0x7000, 0x3000, 0x3000, 0x3000, 0x4000, 0xB800, 0xC000, 0xC000, 0xC800, 0x6800, 0x3000, 0x3800, 0xC000, 0xC800, 0xC800,
+    0xC800, 0x6800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x5800, 0x6800, 0x3800, 0x3800, 0x3800, 0x3800, 0xC000, 0xC800, 0xC000,
+    0xC000, 0x5800, 0x4000, 0x4800, 0x4800, 0x4800, 0x4000, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x5800, 0x6000, 0x2800, 0x6800, 0x9000, 0x9000, 0x9000, 0x7000,
+    0x2800, 0x2800, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x5800, 0xB000, 0xB000,
+    0xB800, 0xA000, 0x2000, 0x2000, 0x2800, 0x7800, 0xA000, 0xA000, 0xA000, 0x7800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000,
+    0x2000, 0x2800, 0x2800, 0x2800, 0x6000, 0xB800, 0xE000, 0xF000, 0xF800, 0x8800, 0x2000, 0x2000, 0x8800, 0xD000, 0xD000, 0xC800,
+    0xA000, 0x3800, 0x2800, 0x2800, 0x2800, 0x7000, 0xA800, 0xA000, 0xA000, 0x8800, 0x3000, 0x3000, 0x3000, 0x9800, 0xB800, 0xC000,
+    0xB800, 0xA800, 0x5000, 0x3000, 0x4800, 0x9800, 0xC000, 0xC000, 0xC000, 0xC000, 0x6800, 0x3000, 0x3000, 0x8800, 0xC800, 0xD000,
+    0xD000, 0xD000, 0x9000, 0x3800, 0x3800, 0x3800, 0x9000, 0xD000, 0xD000, 0x6800, 0x3800, 0x3800, 0x3800, 0xC000, 0xC800, 0xC000,
+    0xC000, 0x5000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5800, 0x5800, 0x5000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x6800, 0x5000, 0x6000, 0x8800, 0x9000, 0x9000, 0x7000,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2800, 0x2800, 0x5000, 0xA800, 0xB000,
+    0xB800, 0xA000, 0x2000, 0x2000, 0x2000, 0x7800, 0xA000, 0xA000, 0xA000, 0x7800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000,
+    0x2000, 0x2800, 0x2800, 0x5000, 0x7000, 0xB800, 0xE800, 0xF800, 0xF800, 0x8800, 0x2000, 0x2800, 0x8800, 0xD000, 0xD000, 0xC800,
+    0x9800, 0x2800, 0x2800, 0x2800, 0x2800, 0x7000, 0xB000, 0xA800, 0xA000, 0x8800, 0x3000, 0x3000, 0x3000, 0x5000, 0xC000, 0xC000,
+    0xC000, 0xB800, 0xB800, 0xC000, 0xC000, 0xC000, 0xC000, 0xC000, 0xC000, 0xC000, 0x6000, 0x3000, 0x3000, 0x3000, 0xA800, 0xD000,
+    0xD000, 0xD800, 0xD800, 0xE000, 0xE000, 0xE000, 0xE000, 0xD800, 0xD800, 0xC800, 0x4800, 0x3800, 0x3800, 0xC000, 0xC800, 0xC000,
+    0xC000, 0x5800, 0x3800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x5000, 0x5000, 0x5000, 0x5000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x7000, 0x7000, 0x8800, 0x8800, 0x8800, 0x6800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x5000, 0xA000, 0xB000,
+    0xB800, 0xA800, 0x2000, 0x2000, 0x2000, 0x8000, 0xA000, 0xA800, 0xA000, 0x7800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x2000, 0x4800, 0x7000, 0x3000, 0xB800, 0xF000, 0xF800, 0xF800, 0x9000, 0x2800, 0x2800, 0x9000, 0xD800, 0xD000, 0xD000,
+    0x9800, 0x2800, 0x2800, 0x2800, 0x2800, 0x7000, 0xB000, 0xA800, 0xA000, 0x8800, 0x3000, 0x3000, 0x3000, 0x3000, 0x7800, 0xC800,
+    0xC000, 0xC000, 0xC000, 0xC000, 0xC000, 0xB800, 0xB000, 0xC000, 0xC000, 0xC000, 0x6000, 0x3000, 0x3000, 0x3000, 0x3000, 0xA800,
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+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x1800, 0x5800, 0xA000, 0x3800, 0x1800, 0x1800, 0x2000, 0x2000, 0x2000, 0x1800,
+    0x1800, 0x1800, 0x1800, 0x1800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x4000, 0x6800, 0x7800, 0x5000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000,
+    0x2800, 0x2800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x2800, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x4000, 0x4000, 0x4000,
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+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x3800, 0x2800, 0x1800, 0x2000, 0x1800, 0x2000, 0x1800, 0x1800,
+    0x1800, 0x2000, 0x2000, 0x1800, 0x2000, 0x2000, 0x2800, 0x2800, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x3000, 0x5000, 0x7800, 0x7000, 0x4800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2000, 0x2000,
+    0x2800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x3800, 0x3800, 0x2000, 0x2800, 0x2800, 0x3800, 0x3000, 0x2800, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x2800, 0x3000, 0x3000, 0x3000, 0x1800, 0x2000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
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+    0x2000, 0x1800, 0x1800, 0x1800, 0x2000, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x3000, 0x5000, 0x7000, 0x6000, 0x4000,
+    0x2800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x1800, 0x1800, 0x1800, 0x2000, 0x2000, 0x1800, 0x1800, 0x2800, 0x3000,
+    0x3000, 0x2000, 0x1800, 0x1800, 0x2000, 0x1800, 0x2800, 0x3000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x3800, 0x5000, 0x7000,
+    0x7800, 0x6000, 0x4000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2800, 0x2800,
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+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x1800, 0x1800, 0x3800, 0x3800, 0x3000, 0x3000, 0x2800, 0x1800, 0x2000, 0x2000, 0x1800,
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+    0x1800, 0x2000, 0x4000, 0x6000, 0x5800, 0x4800, 0x4800, 0x3800, 0x2800, 0x2800, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000,
+    0x2800, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x1800, 0x1800, 0x3000, 0x3800, 0x3000, 0x3000, 0x2800, 0x1800, 0x1800, 0x2000, 0x1800,
+    0x2000, 0x2800, 0x1800, 0x2000, 0x2000, 0x2000, 0x3000, 0x2800, 0x1800, 0x2800, 0x2800, 0x2800, 0x3800, 0x3800, 0x3800, 0x3800,
+    0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x2000, 0x2000, 0x1800, 0x2000, 0x1800, 0x2000, 0x2000, 0x2000, 0x1800, 0x1800,
+    0x1800, 0x2000, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x2000, 0x2000, 0x1800, 0x1800, 0x2000, 0x2000, 0x1800, 0x1800, 0x1800,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2000,
+    0x2800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000,
+    0x2000, 0x2800, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x1800, 0x2000, 0x2800, 0x2800, 0x3000, 0x3000, 0x2800, 0x1800, 0x1800, 0x1800, 0x1800,
+    0x2000, 0x2800, 0x1800, 0x1800, 0x1800, 0x1800, 0x3000, 0x2800, 0x2000, 0x1800, 0x1800, 0x1800, 0x3000, 0x3800, 0x3800, 0x4000,
+    0x1800, 0x1800, 0x2000, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x1800, 0x1800,
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+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2000, 0x2800, 0x2000, 0x2000, 0x2000,
+    0x2000, 0x2000, 0x5000, 0x6000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x1800, 0x2000, 0x3000, 0x3000, 0x3000, 0x3000, 0x2800, 0x1800, 0x2000, 0x2800, 0x1800,
+    0x2000, 0x2800, 0x1800, 0x2800, 0x2800, 0x1800, 0x2800, 0x3000, 0x3000, 0x3000, 0x2800, 0x2000, 0x3000, 0x3800, 0x3800, 0x3800,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x1800, 0x1800, 0x1800, 0x1800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x1800, 0x1800,
+    0x1800, 0x1800, 0x2000, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x2000,
+    0x1800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2000, 0x2000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000,
+    0x2000, 0x2000, 0x6000, 0x7000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x4800, 0x4800, 0x2800, 0x3000, 0x2800, 0x3000, 0x3000,
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+    0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x1800, 0x1800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3800, 0x3800, 0x3000, 0x3000, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800,
+    0x2000, 0x2000, 0x2000, 0x3000, 0x2000, 0x1800, 0x2000, 0x1800, 0x1800, 0x1800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000,
+    0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x2000,
+    0x1800, 0x1800, 0x2000, 0x2800, 0x2800, 0x1800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x3000, 0x3000, 0x2000, 0x2000,
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+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000,
+    0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x3000, 0x3000, 0x3000, 0x2800, 0x2800,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x2000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x3800, 0x3800,
+    0x2000, 0x2000, 0x1800, 0x1800, 0x1800, 0x2000, 0x2000, 0x2000, 0x2000, 0x1800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x1800,
+    0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x2000,
+    0x2000, 0x1800, 0x1800, 0x2000, 0x2000, 0x1800, 0x1800, 0x1800, 0x2000, 0x2000, 0x2000, 0x2000, 0x4800, 0x4000, 0x2000, 0x2000,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2000, 0x2000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000,
+    0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3800, 0x4800, 0x2800, 0x2800, 0x3000, 0x2800, 0x2800, 0x3000,
+    0x2800, 0x2800, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x2800, 0x2800, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800,
+};
diff --git a/nixos/python-env.nix b/nixos/python-env.nix
new file mode 100644
index 000000000..8433fc864
--- /dev/null
+++ b/nixos/python-env.nix
@@ -0,0 +1,38 @@
+{ config, lib, pkgs, ... }:
+let
+  pyPkgs = import ./pkgs/python-packages.nix { inherit pkgs lib; };
+  env = pyPkgs.pifinderEnv;
+in {
+  # libcamera overlay — enable Python bindings for picamera2
+  nixpkgs.overlays = [(final: prev: {
+    libcamera = prev.libcamera.overrideAttrs (old: {
+      mesonFlags = (old.mesonFlags or []) ++ [
+        "-Dpycamera=enabled"
+      ];
+      buildInputs = (old.buildInputs or []) ++ [
+        final.python313
+        final.python313.pkgs.pybind11
+      ];
+    });
+  })];
+
+  environment.systemPackages = [
+    env
+    pkgs.gobject-introspection
+    pkgs.networkmanager
+    pkgs.libcamera
+    pkgs.gpsd
+  ];
+
+  # Ensure GI_TYPELIB_PATH includes NetworkManager typelib
+  environment.sessionVariables.GI_TYPELIB_PATH = lib.makeSearchPath "lib/girepository-1.0" [
+    pkgs.networkmanager
+    pkgs.glib
+  ];
+
+  # Add libcamera Python bindings to PYTHONPATH (for picamera2)
+  environment.sessionVariables.PYTHONPATH = "${pkgs.libcamera}/lib/python3.13/site-packages";
+
+  # Export the Python environment for use by services.nix
+  _module.args.pifinderPythonEnv = env;
+}
diff --git a/nixos/services.nix b/nixos/services.nix
new file mode 100644
index 000000000..b8f65126d
--- /dev/null
+++ b/nixos/services.nix
@@ -0,0 +1,587 @@
+{ config, lib, pkgs, pifinderPythonEnv, pifinderGitRev, ... }:
+let
+  cfg = config.pifinder;
+  cedar-detect = import ./pkgs/cedar-detect.nix { inherit pkgs; };
+  pifinder-src = import ./pkgs/pifinder-src.nix { inherit pkgs; gitRev = pifinderGitRev; };
+  boot-splash = import ./pkgs/boot-splash.nix { inherit pkgs; };
+  pifinder-switch-camera = pkgs.writeShellScriptBin "pifinder-switch-camera" ''
+    CAM="$1"
+    PERSIST="/var/lib/pifinder/camera-type"
+    mkdir -p /var/lib/pifinder
+
+    SPEC="/run/current-system/specialisation/$CAM"
+    if [ "$CAM" = "${cfg.cameraType}" ]; then
+      /run/current-system/bin/switch-to-configuration boot
+    elif [ -d "$SPEC" ]; then
+      "$SPEC/bin/switch-to-configuration" boot
+    else
+      echo "Unknown camera: $CAM" >&2; exit 1
+    fi
+    echo "$CAM" > "$PERSIST"
+  '';
+in {
+  options.pifinder = {
+    devMode = lib.mkOption {
+      type = lib.types.bool;
+      default = false;
+      description = "Enable development mode (NFS netboot support, etc.)";
+    };
+  };
+
+  config = {
+  # ---------------------------------------------------------------------------
+  # Camera switch wrapper (used by pifinder UI via sudo)
+  # ---------------------------------------------------------------------------
+  environment.systemPackages = with pkgs; [
+    pifinder-switch-camera
+
+    # Diagnostic tools for SSH troubleshooting
+    htop
+    vim
+    tcpdump
+    iftop
+    lsof
+    strace
+    file
+    dnsutils        # dig, nslookup
+    curl
+    usbutils        # lsusb
+    pciutils        # lspci
+    i2c-tools       # i2cdetect (sensor debugging)
+    iotop
+  ];
+
+
+
+  # ---------------------------------------------------------------------------
+  # Cachix binary substituter — Pi downloads pre-built paths, never compiles
+  # ---------------------------------------------------------------------------
+  nix.settings = {
+    experimental-features = [ "nix-command" "flakes" ];
+    substituters = [
+      "https://cache.nixos.org"
+      "https://pifinder.cachix.org"
+    ];
+    trusted-public-keys = [
+      "cache.nixos.org-1:6NCHdD59X431o0gWypbMrAURkbJ16ZPMQFGspcDShjY="
+      "pifinder.cachix.org-1:ALuxYs8tMU34zwSTWjenI2wpJA+AclmW6H5vyTgnTjc="
+    ];
+  };
+
+  # ---------------------------------------------------------------------------
+  # SD card optimizations
+  # ---------------------------------------------------------------------------
+
+  # Keep 2 generations max in bootloader
+  boot.loader.generic-extlinux-compatible.configurationLimit = 2;
+
+  nix.gc = {
+    automatic = true;
+    dates = "weekly";
+    options = "--delete-older-than 3d";
+  };
+  # Disable store optimization on NFS (hard links cause issues)
+  nix.settings.auto-optimise-store = !cfg.devMode;
+
+  boot.tmp.useTmpfs = true;
+  boot.tmp.tmpfsSize = "200M";
+
+  services.journald.extraConfig = ''
+    Storage=volatile
+    RuntimeMaxUse=50M
+  '';
+
+  zramSwap = {
+    enable = true;
+    memoryPercent = 50;
+  };
+
+  fileSystems."/" = lib.mkDefault {
+    device = "/dev/disk/by-label/NIXOS_SD";
+    fsType = "ext4";
+    options = [ "noatime" "nodiratime" ];
+  };
+
+  # ---------------------------------------------------------------------------
+  # Tmpfiles — runtime directory for upgrade ref file
+  # ---------------------------------------------------------------------------
+  systemd.tmpfiles.rules = [
+    "d /run/pifinder 0755 pifinder users -"
+  ];
+
+  # ---------------------------------------------------------------------------
+  # PWM permissions setup for keypad backlight
+  # ---------------------------------------------------------------------------
+  systemd.services.pwm-permissions = {
+    description = "Set PWM sysfs permissions for pifinder";
+    wantedBy = [ "multi-user.target" ];
+    serviceConfig = {
+      Type = "oneshot";
+      RemainAfterExit = true;
+    };
+    script = ''
+      # Export PWM channel 1 (GPIO 13) if not already exported
+      if [ ! -d /sys/class/pwm/pwmchip0/pwm1 ]; then
+        echo 1 > /sys/class/pwm/pwmchip0/export || true
+        sleep 0.5
+      fi
+      # sysfs doesn't support chgrp, so make files world-writable
+      chmod 0666 /sys/class/pwm/pwmchip0/export /sys/class/pwm/pwmchip0/unexport
+      if [ -d /sys/class/pwm/pwmchip0/pwm1 ]; then
+        chmod 0666 /sys/class/pwm/pwmchip0/pwm1/{enable,period,duty_cycle,polarity}
+      fi
+    '';
+  };
+
+  # ---------------------------------------------------------------------------
+  # Nix DB registration (first boot after migration)
+  # ---------------------------------------------------------------------------
+  # The migration tarball includes /nix-path-registration with store path data.
+  # Load it into the Nix DB so nix-store and nixos-rebuild work correctly.
+  systemd.services.nix-path-registration = {
+    description = "Load Nix store path registration from migration";
+    after = [ "local-fs.target" ];
+    before = [ "nix-daemon.service" ];
+    wantedBy = [ "multi-user.target" ];
+    unitConfig.ConditionPathExists = "/nix-path-registration";
+    serviceConfig = {
+      Type = "oneshot";
+      RemainAfterExit = true;
+    };
+    path = with pkgs; [ nix coreutils ];
+    script = ''
+      nix-store --load-db < /nix-path-registration
+      rm /nix-path-registration
+    '';
+  };
+
+  # ---------------------------------------------------------------------------
+  # PiFinder source + data directory setup
+  # ---------------------------------------------------------------------------
+  system.activationScripts.pifinder-home = lib.stringAfter [ "users" ] ''
+    # Create writable data directory
+    mkdir -p /home/pifinder/PiFinder_data
+    chown pifinder:users /home/pifinder/PiFinder_data
+
+    # Symlink immutable source tree from Nix store
+    # Database is opened read-only, so no need for writable copy
+    PFHOME=/home/pifinder/PiFinder
+
+    # Remove existing directory (not symlink) to allow symlink creation
+    if [ -e "$PFHOME" ] && [ ! -L "$PFHOME" ]; then
+      rm -rf "$PFHOME"
+    fi
+
+    # Create symlink to immutable Nix store path
+    ln -sfT ${pifinder-src} "$PFHOME"
+  '';
+
+  # ---------------------------------------------------------------------------
+  # Sudoers — pifinder user can start upgrade and restart services
+  # ---------------------------------------------------------------------------
+  # Polkit rules for pifinder user (D-Bus hostname changes, NetworkManager)
+  security.polkit.extraConfig = ''
+    polkit.addRule(function(action, subject) {
+      if (subject.user == "pifinder") {
+        // Allow hostname changes via systemd-hostnamed
+        if (action.id == "org.freedesktop.hostname1.set-static-hostname" ||
+            action.id == "org.freedesktop.hostname1.set-hostname") {
+          return polkit.Result.YES;
+        }
+        // Allow NetworkManager control
+        if (action.id.indexOf("org.freedesktop.NetworkManager") == 0) {
+          return polkit.Result.YES;
+        }
+        // Allow reboot/shutdown via D-Bus (logind)
+        if (action.id == "org.freedesktop.login1.reboot" ||
+            action.id == "org.freedesktop.login1.reboot-multiple-sessions" ||
+            action.id == "org.freedesktop.login1.power-off" ||
+            action.id == "org.freedesktop.login1.power-off-multiple-sessions") {
+          return polkit.Result.YES;
+        }
+      }
+    });
+  '';
+
+  security.sudo.extraRules = [{
+    users = [ "pifinder" ];
+    commands = [
+      { command = "/run/current-system/sw/bin/systemctl start --no-block pifinder-upgrade.service"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/systemctl start pifinder-upgrade.service"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/systemctl reset-failed pifinder-upgrade.service"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/systemctl restart pifinder.service"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/systemctl stop pifinder.service"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/systemctl start pifinder.service"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/systemctl restart avahi-daemon.service"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/avahi-set-host-name *"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/shutdown *"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/chpasswd"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/dmesg"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/hostnamectl *"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/hostname *"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/pifinder-switch-camera *"; options = [ "NOPASSWD" ]; }
+    ];
+  }];
+
+  # ---------------------------------------------------------------------------
+  # Cedar Detect star detection gRPC server
+  # ---------------------------------------------------------------------------
+  systemd.services.cedar-detect = {
+    description = "Cedar Detect Star Detection Server";
+    after = [ "basic.target" ];
+    wantedBy = [ "multi-user.target" ];
+    serviceConfig = {
+      Type = "idle";
+      User = "pifinder";
+      ExecStart = "${cedar-detect}/bin/cedar-detect-server --port 50551";
+      Restart = "on-failure";
+      RestartSec = 5;
+    };
+  };
+
+  # ---------------------------------------------------------------------------
+  # Early boot splash — show static welcome image, pifinder overwrites when ready
+  # ---------------------------------------------------------------------------
+  systemd.services.boot-splash = {
+    description = "Early boot splash screen";
+    wantedBy = [ "sysinit.target" ];
+    after = [ "systemd-modules-load.service" ];
+    wants = [ "systemd-modules-load.service" ];
+    unitConfig.DefaultDependencies = false;
+    serviceConfig = {
+      Type = "oneshot";
+      ExecStart = pkgs.writeShellScript "boot-splash-wait" ''
+        for i in $(seq 1 40); do
+          [ -e /dev/spidev0.0 ] && exec ${boot-splash}/bin/boot-splash --static
+          sleep 0.25
+        done
+        echo "SPI device never appeared" >&2
+        exit 1
+      '';
+    };
+  };
+
+  # ---------------------------------------------------------------------------
+  # Main PiFinder application
+  # ---------------------------------------------------------------------------
+  systemd.services.pifinder = {
+    description = "PiFinder";
+    after = [ "basic.target" "cedar-detect.service" "gpsd.socket" ];
+    wants = [ "cedar-detect.service" "gpsd.socket" ];
+    wantedBy = [ "multi-user.target" ];
+    path = let
+      # Runtime paths not in the nix store — symlinks resolve at boot, not build time
+      wrapperBins = pkgs.runCommand "wrapper-bins" {} ''
+        mkdir -p $out
+        ln -s /run/wrappers/bin $out/bin
+      '';
+      systemBins = pkgs.runCommand "system-bins" {} ''
+        mkdir -p $out
+        ln -s /run/current-system/sw/bin $out/bin
+      '';
+    in [ wrapperBins systemBins pkgs.gpsd ];
+    environment = {
+      PIFINDER_HOME = "/home/pifinder/PiFinder";
+      PIFINDER_DATA = "/home/pifinder/PiFinder_data";
+      GI_TYPELIB_PATH = lib.makeSearchPath "lib/girepository-1.0" [
+        pkgs.networkmanager
+        pkgs.glib.out  # Use .out to get the main package with typelibs, not glib-bin
+        pkgs.gobject-introspection
+      ];
+      # libcamera Python bindings for picamera2
+      PYTHONPATH = "${pkgs.libcamera}/lib/python3.13/site-packages";
+      # libcamera IPA modules path
+      LIBCAMERA_IPA_MODULE_PATH = "${pkgs.libcamera}/lib/libcamera";
+    };
+    serviceConfig = {
+      Type = "simple";
+      User = "pifinder";
+      Group = "users";
+      WorkingDirectory = "/home/pifinder/PiFinder/python";
+      ExecStart = "${pifinderPythonEnv}/bin/python -m PiFinder.main";
+      # Allow binding to privileged ports (80 for web UI)
+      AmbientCapabilities = "CAP_NET_BIND_SERVICE";
+      Restart = "on-failure";
+      RestartSec = 5;
+    };
+  };
+
+  # ---------------------------------------------------------------------------
+  # PiFinder NixOS Upgrade
+  # ---------------------------------------------------------------------------
+  # Downloads from binary caches, sets profile, updates bootloader, reboots.
+  # No live switch-to-configuration — avoids killing running services.
+  # The pifinder-watchdog handles rollback if the new generation fails to boot.
+  systemd.services.pifinder-upgrade = {
+    description = "PiFinder NixOS Upgrade";
+    serviceConfig = {
+      Type = "oneshot";
+      RemainAfterExit = true;
+      TimeoutStartSec = "10min";
+    };
+    path = with pkgs; [ nix systemd coreutils ];
+    script = ''
+      set -euo pipefail
+      STORE_PATH=$(cat /run/pifinder/upgrade-ref 2>/dev/null || true)
+      if [ -z "$STORE_PATH" ] || [[ "$STORE_PATH" != /nix/store/* ]]; then
+        echo "ERROR: Invalid store path: $STORE_PATH"
+        exit 1
+      fi
+
+      STATUS_FILE=/run/pifinder/upgrade-status
+
+      # Pre-flight: check disk space (need at least 500MB)
+      AVAIL=$(df --output=avail /nix/store | tail -1)
+      if [ "$AVAIL" -lt 524288 ]; then
+        echo "ERROR: Less than 500MB free on /nix/store"
+        echo "failed" > "$STATUS_FILE"
+        exit 1
+      fi
+
+      echo "Upgrading to $STORE_PATH"
+
+      # Count paths to download for progress reporting
+      DRY_RUN=$(nix build "$STORE_PATH" --max-jobs 0 --dry-run 2>&1 || true)
+      PATHS_FILE=$(mktemp)
+      echo "$DRY_RUN" | grep '^\s*/nix/store/' | sed 's/^\s*//' > "$PATHS_FILE" || true
+      TOTAL=$(wc -l < "$PATHS_FILE")
+
+      echo "downloading 0/$TOTAL" > "$STATUS_FILE"
+
+      # Download with progress monitoring
+      nix build "$STORE_PATH" --max-jobs 0 &
+      BUILD_PID=$!
+
+      while kill -0 "$BUILD_PID" 2>/dev/null; do
+        DONE=0
+        while IFS= read -r p; do
+          [ -n "$p" ] && [ -e "$p" ] && DONE=$((DONE + 1))
+        done < "$PATHS_FILE"
+        echo "downloading $DONE/$TOTAL" > "$STATUS_FILE"
+        sleep 2
+      done
+
+      if ! wait "$BUILD_PID"; then
+        echo "failed" > "$STATUS_FILE"
+        rm -f "$PATHS_FILE"
+        exit 1
+      fi
+      rm -f "$PATHS_FILE"
+      echo "downloading $TOTAL/$TOTAL" > "$STATUS_FILE"
+
+      echo "activating" > "$STATUS_FILE"
+
+      nix-env -p /nix/var/nix/profiles/system --set "$STORE_PATH"
+
+      # Restore camera specialisation if not default
+      CAM=$(cat /var/lib/pifinder/camera-type 2>/dev/null || echo "${cfg.cameraType}")
+      if [ "$CAM" != "${cfg.cameraType}" ]; then
+        SPEC="$STORE_PATH/specialisation/$CAM"
+        if [ -d "$SPEC" ]; then
+          echo "Setting boot to camera specialisation: $CAM"
+          "$SPEC/bin/switch-to-configuration" boot
+        else
+          "$STORE_PATH/bin/switch-to-configuration" boot
+        fi
+      else
+        "$STORE_PATH/bin/switch-to-configuration" boot
+      fi
+
+      echo "rebooting" > "$STATUS_FILE"
+
+      # Cleanup old generations before reboot
+      nix-env --delete-generations +2 -p /nix/var/nix/profiles/system || true
+      nix-collect-garbage || true
+
+      echo "Rebooting into new generation..."
+      systemctl reboot
+    '';
+  };
+
+  # ---------------------------------------------------------------------------
+  # PiFinder Boot Health Watchdog
+  # ---------------------------------------------------------------------------
+  systemd.services.pifinder-watchdog = {
+    description = "PiFinder Boot Health Watchdog";
+    after = [ "multi-user.target" "pifinder.service" ];
+    wantedBy = [ "multi-user.target" ];
+    serviceConfig = {
+      Type = "oneshot";
+      RemainAfterExit = true;
+    };
+    path = with pkgs; [ nix systemd coreutils ];
+    script = ''
+      set -euo pipefail
+      REBOOT_MARKER="/var/tmp/pifinder-watchdog-rebooted"
+
+      if [ -f "$REBOOT_MARKER" ]; then
+        echo "Watchdog already rebooted once. Not retrying."
+        rm -f "$REBOOT_MARKER"
+        exit 0
+      fi
+
+      echo "Watchdog: waiting up to 120s for pifinder.service..."
+      for i in $(seq 1 24); do
+        if systemctl is-active --quiet pifinder.service; then
+          # Verify it stays running (not crash-looping)
+          UPTIME=$(systemctl show pifinder.service --property=ExecMainStartTimestamp --value)
+          START_EPOCH=$(date -d "$UPTIME" +%s 2>/dev/null || echo 0)
+          NOW_EPOCH=$(date +%s)
+          RUNNING_FOR=$((NOW_EPOCH - START_EPOCH))
+          if [ "$RUNNING_FOR" -ge 15 ]; then
+            echo "pifinder.service healthy (running ''${RUNNING_FOR}s)"
+            exit 0
+          fi
+        fi
+        sleep 5
+      done
+
+      echo "ERROR: pifinder.service failed. Rolling back..."
+      touch "$REBOOT_MARKER"
+      PREV_GEN=$(ls -d /nix/var/nix/profiles/system-*-link 2>/dev/null | sort -t- -k2 -n | tail -2 | head -1)
+      if [ -n "$PREV_GEN" ]; then
+        # Reset profile so the rolled-back generation becomes the current one
+        nix-env -p /nix/var/nix/profiles/system --set "$(readlink -f "$PREV_GEN")"
+        "$PREV_GEN/bin/switch-to-configuration" switch || true
+      fi
+      systemctl reboot
+    '';
+  };
+
+  # ---------------------------------------------------------------------------
+  # GPSD for GPS receiver - full USB hotplug support
+  # ---------------------------------------------------------------------------
+  # Don't use services.gpsd module - it doesn't support hotplug.
+  # Instead, use gpsd's own systemd units with socket activation.
+
+  # Install gpsd's udev rules (25-gpsd.rules) for USB GPS auto-detection
+  # Includes u-blox 5/6/7/8/9 and many other GPS receivers
+  services.udev.packages = [ pkgs.gpsd ];
+
+  # Install gpsd's systemd units (gpsd.service, gpsd.socket, gpsdctl@.service)
+  systemd.packages = [ pkgs.gpsd ];
+
+  # Enable socket activation - gpsd starts when something connects to port 2947
+  systemd.sockets.gpsd = {
+    wantedBy = [ "sockets.target" ];
+  };
+
+  # Configure USBAUTO for gpsdctl (triggered by udev when USB GPS plugs in)
+  environment.etc."default/gpsd".text = ''
+    USBAUTO="true"
+    GPSD_SOCKET="/var/run/gpsd.sock"
+  '';
+
+  # Ensure gpsd user/group exist (normally created by services.gpsd module)
+  users.users.gpsd = {
+    isSystemUser = true;
+    group = "gpsd";
+    description = "GPSD daemon user";
+  };
+  users.groups.gpsd = {};
+
+  # Add UART GPS on boot (ttyAMA3 from uart3 overlay, not auto-detected by udev)
+  # This runs after gpsd.socket is ready, adding the UART device to gpsd
+  systemd.services.gpsd-add-uart = {
+    description = "Add UART GPS to gpsd";
+    after = [ "gpsd.socket" "dev-ttyAMA3.device" ];
+    requires = [ "gpsd.socket" ];
+    wantedBy = [ "multi-user.target" ];
+    # BindsTo ensures this stops if ttyAMA3 disappears (though it shouldn't)
+    bindsTo = [ "dev-ttyAMA3.device" ];
+    serviceConfig = {
+      Type = "oneshot";
+      RemainAfterExit = true;
+      ExecStart = "${pkgs.gpsd}/sbin/gpsdctl add /dev/ttyAMA3";
+      ExecStop = "${pkgs.gpsd}/sbin/gpsdctl remove /dev/ttyAMA3";
+    };
+  };
+
+  # ---------------------------------------------------------------------------
+  # PAM service for PiFinder web UI password verification
+  # ---------------------------------------------------------------------------
+  security.pam.services.pifinder = {
+    # Auth-only: no account/session management (avoids setuid and pam_lastlog2 errors)
+    allowNullPassword = false;
+    unixAuth = true;
+    setLoginUid = false;
+    updateWtmp = false;
+  };
+
+  # ---------------------------------------------------------------------------
+  # Samba for file sharing (observation data, backups)
+  # ---------------------------------------------------------------------------
+  system.stateVersion = "24.11";
+
+  # ---------------------------------------------------------------------------
+  # SSH access
+  # ---------------------------------------------------------------------------
+  services.openssh = {
+    enable = true;
+    settings = {
+      PasswordAuthentication = true;
+      PermitRootLogin = "yes";
+    };
+  };
+
+  # ---------------------------------------------------------------------------
+  # Avahi/mDNS for hostname discovery (pifinder.local)
+  # ---------------------------------------------------------------------------
+  services.avahi = {
+    enable = true;
+    nssmdns4 = true;
+    publish = {
+      enable = true;
+      addresses = true;
+      domain = true;
+      workstation = true;
+    };
+  };
+
+  # Clean stale PID file so avahi restarts cleanly during switch-to-configuration
+  systemd.services.avahi-daemon.serviceConfig.ExecStartPre =
+    "${pkgs.coreutils}/bin/rm -f /run/avahi-daemon/pid";
+
+  # Apply user-chosen hostname from PiFinder_data (survives NixOS rebuilds)
+  systemd.services.pifinder-hostname = {
+    description = "Apply PiFinder custom hostname";
+    after = [ "avahi-daemon.service" ];
+    wants = [ "avahi-daemon.service" ];
+    wantedBy = [ "multi-user.target" ];
+    serviceConfig = {
+      Type = "oneshot";
+      RemainAfterExit = true;
+      ExecStart = pkgs.writeShellScript "apply-hostname" ''
+        f=/home/pifinder/PiFinder_data/hostname
+        [ -f "$f" ] || exit 0
+        name=$(cat "$f")
+        [ -n "$name" ] || exit 0
+        /run/current-system/sw/bin/hostname "$name"
+        /run/current-system/sw/bin/avahi-set-host-name "$name" || \
+          /run/current-system/sw/bin/systemctl restart avahi-daemon.service
+      '';
+    };
+  };
+
+  # Don't block boot waiting for network — NM still works, just async
+  systemd.services.NetworkManager-wait-online.enable = false;
+
+  services.samba = {
+    enable = true;
+    openFirewall = true;
+    settings = {
+      global = {
+        workgroup = "WORKGROUP";
+        security = "user";
+        "map to guest" = "never";
+      };
+      PiFinder_data = {
+        path = "/home/pifinder/PiFinder_data";
+        browseable = "yes";
+        "read only" = "no";
+        "valid users" = "pifinder";
+      };
+    };
+  };
+  }; # config
+}
diff --git a/pifinder-build.json b/pifinder-build.json
new file mode 100644
index 000000000..95937c3f1
--- /dev/null
+++ b/pifinder-build.json
@@ -0,0 +1,4 @@
+{
+  "store_path": "/nix/store/3ds5xpmxr87jpsh7pcnvpmn6sk50vh29-nixos-system-pifinder-25.11.20260209.2db38e0",
+  "version": "nixos-4788e9e"
+}
diff --git a/python/DEPENDENCIES.md b/python/DEPENDENCIES.md
new file mode 100644
index 000000000..4cd998f32
--- /dev/null
+++ b/python/DEPENDENCIES.md
@@ -0,0 +1,105 @@
+> **Auto-generated** from the Nix development shell on 2026-02-13.
+> Do not edit manually — regenerate with:
+> ```
+> nix develop --command ./scripts/generate-dependencies-md.sh
+> ```
+
+> **Note:** These dependencies are managed by Nix (`nixos/pkgs/python-packages.nix`).
+> The versions listed here reflect the nixpkgs pin used by the flake and are
+> **not necessarily installable via pip**. Some packages require system libraries
+> or hardware (SPI, I2C, GPIO) only available on the Raspberry Pi.
+
+# Python Dependencies
+
+Python 3.13.11
+
+## Runtime
+
+| Package | Version |
+|---------|---------|
+| aiofiles | 24.1.0 |
+| attrs | 25.3.0 |
+| av | 16.0.1 |
+| bottle | 0.13.4 |
+| cbor2 | 5.7.0 |
+| certifi | 2025.7.14 |
+| cffi | 2.0.0 |
+| charset-normalizer | 3.4.3 |
+| cheroot | 10.0.1 |
+| dataclasses-json | 0.6.7 |
+| dbus-python | 1.4.0 |
+| Deprecated | 1.2.18 |
+| evdev | 1.9.2 |
+| flatbuffers | 25.9.23 |
+| gpsdclient | 1.3.2 |
+| grpcio | 1.76.0 |
+| h3 | 4.3.1 |
+| idna | 3.11 |
+| jaraco.functools | 4.2.1 |
+| joblib | 1.5.1 |
+| jplephem | 2.23 |
+| json5 | 0.12.0 |
+| jsonpath-ng | 1.7.0 |
+| jsonschema | 4.25.0 |
+| jsonschema-specifications | 2025.4.1 |
+| libarchive-c | 5.3 |
+| luma.core | 2.4.2 |
+| luma.lcd | 2.11.0 |
+| luma.oled | 3.13.0 |
+| lz4 | 4.4.4 |
+| marshmallow | 3.26.2 |
+| more-itertools | 10.7.0 |
+| numpy | 2.3.4 |
+| pandas | 2.3.1 |
+| pillow | 12.1.0 |
+| ply | 3.11 |
+| protobuf | 6.33.1 |
+| psutil | 7.1.2 |
+| pycairo | 1.28.0 |
+| pycparser | 2.23 |
+| pydeepskylog | 1.6 |
+| pyftdi | 0.57.1 |
+| Pygments | 2.19.2 |
+| PyGObject | 3.54.5 |
+| PyJWT | 2.10.1 |
+| pyserial | 3.5 |
+| python-dateutil | 2.9.0.post0 |
+| python-libinput | 0.3.0a0 |
+| python-pam | 2.0.2 |
+| pytz | 2025.2 |
+| pyusb | 1.3.1 |
+| referencing | 0.36.2 |
+| requests | 2.32.5 |
+| rpds-py | 0.25.0 |
+| scikit-learn | 1.7.1 |
+| scipy | 1.16.3 |
+| sgp4 | 2.25 |
+| sh | 1.14.3 |
+| six | 1.17.0 |
+| skyfield | 1.53 |
+| smbus2 | 0.5.0 |
+| spidev | 3.8 |
+| threadpoolctl | 3.6.0 |
+| timezonefinder | 8.1.0 |
+| tqdm | 4.67.1 |
+| typing_extensions | 4.15.0 |
+| typing_inspect | 0.9.0 |
+| tzdata | 2025.2 |
+| urllib3 | 2.5.0 |
+| wrapt | 1.17.2 |
+
+## Development only
+
+| Package | Version |
+|---------|---------|
+| iniconfig | 2.1.0 |
+| luma.emulator | 1.5.0 |
+| mypy | 1.17.1 |
+| mypy_extensions | 1.1.0 |
+| pathspec | 0.12.1 |
+| pluggy | 1.6.0 |
+| pygame | 2.6.1 |
+| PyHotKey | 1.5.2 |
+| pynput | 1.8.1 |
+| pytest | 8.4.2 |
+| python-xlib | 0.33 |
diff --git a/python/PiFinder/audit_images.py b/python/PiFinder/audit_images.py
index ef37fdb70..e34664ce5 100644
--- a/python/PiFinder/audit_images.py
+++ b/python/PiFinder/audit_images.py
@@ -44,8 +44,8 @@ def check_object_image(catalog_object):
         aka_rec = conn.execute(
             f"""
             SELECT common_name from names
-            where catalog = "{catalog_object['catalog']}"
-            and sequence = "{catalog_object['sequence']}"
+            where catalog = "{catalog_object["catalog"]}"
+            and sequence = "{catalog_object["sequence"]}"
             and common_name like "NGC%"
         """
         ).fetchone()
diff --git a/python/PiFinder/auto_exposure.py b/python/PiFinder/auto_exposure.py
index cafd21631..6c45084ba 100644
--- a/python/PiFinder/auto_exposure.py
+++ b/python/PiFinder/auto_exposure.py
@@ -534,7 +534,7 @@ def handle(
             self._sweep_results = []
             logger.debug(
                 f"Histogram handler activated: starting {self._sweep_steps}-step histogram sweep "
-                f"from {self._sweep_exposures[0]/1000:.1f}ms to {self._sweep_exposures[-1]/1000:.1f}ms"
+                f"from {self._sweep_exposures[0] / 1000:.1f}ms to {self._sweep_exposures[-1] / 1000:.1f}ms"
             )
             return self._sweep_exposures[0]
 
@@ -548,7 +548,7 @@ def handle(
             self._sweep_results.append((sweep_exposure, viable, metrics))
 
             logger.debug(
-                f"Histogram analysis for {sweep_exposure/1000:.1f}ms: "
+                f"Histogram analysis for {sweep_exposure / 1000:.1f}ms: "
                 f"viable={'YES' if viable else 'NO'}, "
                 f"mean={metrics['mean']:.1f}, std={metrics['std']:.1f}, sat={metrics['saturation_pct']:.1f}%"
             )
@@ -556,8 +556,8 @@ def handle(
             # Track viable exposures but continue sweep to find best option
             if viable:
                 logger.debug(
-                    f"Histogram handler: found viable exposure {sweep_exposure/1000:.1f}ms "
-                    f"(step {self._sweep_index+1}/{self._sweep_steps}), continuing sweep"
+                    f"Histogram handler: found viable exposure {sweep_exposure / 1000:.1f}ms "
+                    f"(step {self._sweep_index + 1}/{self._sweep_steps}), continuing sweep"
                 )
 
         # If we've completed the sweep, settle on target exposure
@@ -574,14 +574,14 @@ def handle(
                         # Use highest viable exposure for best star detection
                         self._target_exposure = max(viable_exposures)
                         logger.debug(
-                            f"Histogram handler: settling on highest viable exposure {self._target_exposure/1000:.1f}ms"
+                            f"Histogram handler: settling on highest viable exposure {self._target_exposure / 1000:.1f}ms"
                         )
                     else:
                         # No viable exposures - use highest from sweep
                         highest_exp = self._sweep_results[-1][0]
                         self._target_exposure = highest_exp
                         logger.debug(
-                            f"Histogram handler: no viable exposure found, using highest {highest_exp/1000:.1f}ms"
+                            f"Histogram handler: no viable exposure found, using highest {highest_exp / 1000:.1f}ms"
                         )
                 else:
                     # Fallback to middle exposure
@@ -589,7 +589,7 @@ def handle(
                     middle_exp = self._sweep_exposures[middle_idx]
                     self._target_exposure = middle_exp
                     logger.debug(
-                        f"Histogram handler: no analysis data, using middle {middle_exp/1000:.1f}ms"
+                        f"Histogram handler: no analysis data, using middle {middle_exp / 1000:.1f}ms"
                     )
 
             # Hold at target
@@ -602,7 +602,7 @@ def handle(
         if self._sweep_index < len(self._sweep_exposures):
             next_exp = self._sweep_exposures[self._sweep_index]
             logger.debug(
-                f"Histogram handler: sweep step {self._sweep_index+1}/{self._sweep_steps} → {next_exp/1000:.1f}ms"
+                f"Histogram handler: sweep step {self._sweep_index + 1}/{self._sweep_steps} → {next_exp / 1000:.1f}ms"
             )
             return next_exp
         else:
@@ -663,7 +663,7 @@ def __init__(
         logger.info(
             f"AutoExposure SNR: target_bg={target_background}, "
             f"range=[{min_background}, {max_background}] ADU, "
-            f"exp_range=[{min_exposure/1000:.0f}, {max_exposure/1000:.0f}]ms, "
+            f"exp_range=[{min_exposure / 1000:.0f}, {max_exposure / 1000:.0f}]ms, "
             f"adjustment={adjustment_factor}x"
         )
 
@@ -756,7 +756,7 @@ def update(
         background = float(np.percentile(img_array, 10))
 
         logger.debug(
-            f"SNR AE: bg={background:.1f}, min={min_bg:.1f} ADU, exp={current_exposure/1000:.0f}ms"
+            f"SNR AE: bg={background:.1f}, min={min_bg:.1f} ADU, exp={current_exposure / 1000:.0f}ms"
         )
 
         # Determine adjustment
@@ -767,14 +767,14 @@ def update(
             new_exposure = int(current_exposure * self.adjustment_factor)
             logger.info(
                 f"SNR AE: Background too low ({background:.1f} < {min_bg:.1f}), "
-                f"increasing exposure {current_exposure/1000:.0f}ms → {new_exposure/1000:.0f}ms"
+                f"increasing exposure {current_exposure / 1000:.0f}ms → {new_exposure / 1000:.0f}ms"
             )
         elif background > self.max_background:
             # Too bright - decrease exposure
             new_exposure = int(current_exposure / self.adjustment_factor)
             logger.info(
                 f"SNR AE: Background too high ({background:.1f} > {self.max_background}), "
-                f"decreasing exposure {current_exposure/1000:.0f}ms → {new_exposure/1000:.0f}ms"
+                f"decreasing exposure {current_exposure / 1000:.0f}ms → {new_exposure / 1000:.0f}ms"
             )
         else:
             # Background is in acceptable range
diff --git a/python/PiFinder/camera_interface.py b/python/PiFinder/camera_interface.py
index 1ee3fe320..c88f18300 100644
--- a/python/PiFinder/camera_interface.py
+++ b/python/PiFinder/camera_interface.py
@@ -9,17 +9,17 @@
 
 """
 
-from typing import Tuple, Optional
-from PIL import Image
-import os
-import time
 import datetime
-import numpy as np
-import queue
 import logging
+import os
+import queue
+import threading
+import time
+from typing import Tuple, Optional
+
+from PIL import Image
 
 from PiFinder import state_utils, utils
-import PiFinder.pointing_model.quaternion_transforms as qt
 from PiFinder.auto_exposure import (
     ExposurePIDController,
     ExposureSNRController,
@@ -38,12 +38,16 @@ class CameraInterface:
     """The CameraInterface interface."""
 
     _camera_started = False
+    _debug = False
     _save_next_to = None  # Filename to save next capture to (None = don't save)
     _auto_exposure_enabled = False
     _auto_exposure_mode = "pid"  # "pid" or "snr"
     _auto_exposure_pid: Optional[ExposurePIDController] = None
     _auto_exposure_snr: Optional[ExposureSNRController] = None
     _last_solve_time: Optional[float] = None
+    _command_queue: Optional[queue.Queue] = None
+    _console_queue: Optional[queue.Queue] = None
+    _cfg = None
 
     def initialize(self) -> None:
         pass
@@ -57,12 +61,6 @@ def capture_file(self, filename) -> None:
     def capture_raw_file(self, filename) -> None:
         pass
 
-    def _blank_capture(self):
-        """
-        Returns a properly formated black frame
-        """
-        return Image.new("L", (512, 512), 0)  # Black 512x512 image
-
     def capture_bias(self):
         """
         Capture a bias frame for pedestal calculation.
@@ -70,7 +68,7 @@ def capture_bias(self):
         Override in subclasses that support bias frames.
         Returns Image.Image or np.ndarray depending on implementation.
         """
-        return self._blank_capture()
+        return Image.new("L", (512, 512), 0)  # Black 512x512 image
 
     def set_camera_config(
         self, exposure_time: float, gain: float
@@ -86,12 +84,302 @@ def start_camera(self) -> None:
     def stop_camera(self) -> None:
         pass
 
+    def _capture_with_timeout(self, timeout=10) -> Optional[Image.Image]:
+        """Attempt capture with timeout.
+
+        Returns the captured image, or None if capture hung (V4L2 stuck).
+        Uses a daemon thread so a hung capture doesn't block shutdown.
+        """
+        result = [None]
+        exc = [None]
+
+        def _do_capture():
+            try:
+                result[0] = self.capture()
+            except Exception as e:
+                exc[0] = e
+
+        t = threading.Thread(target=_do_capture, daemon=True)
+        t.start()
+        t.join(timeout)
+
+        if t.is_alive():
+            return None
+        if exc[0]:
+            raise exc[0]
+        return result[0]
+
+    def _process_pending_commands(self):
+        """Drain and process all pending commands from the queue.
+
+        Called at the top of each camera loop iteration so commands are
+        handled even when capture() blocks on V4L2 hardware.
+        """
+        while True:
+            try:
+                command = self._command_queue.get_nowait()
+            except queue.Empty:
+                break
+
+            try:
+                if command == "debug":
+                    self._debug = not self._debug
+
+                elif command.startswith("set_exp"):
+                    exp_value = command.split(":")[1]
+                    if exp_value == "auto":
+                        self._auto_exposure_enabled = True
+                        self._last_solve_time = None
+                        if self._auto_exposure_pid is None:
+                            self._auto_exposure_pid = ExposurePIDController()
+                        else:
+                            self._auto_exposure_pid.reset()
+                        self._console_queue.put("CAM: Auto-Exposure Enabled")
+                        logger.info("Auto-exposure mode enabled")
+                    else:
+                        self._auto_exposure_enabled = False
+                        self.exposure_time = int(exp_value)
+                        self.set_camera_config(self.exposure_time, self.gain)
+                        self._cfg.set_option("camera_exp", self.exposure_time)
+                        self._console_queue.put("CAM: Exp=" + str(self.exposure_time))
+                        logger.info(f"Manual exposure set: {self.exposure_time}µs")
+
+                elif command.startswith("set_gain"):
+                    old_gain = self.gain
+                    self.gain = int(command.split(":")[1])
+                    self.exposure_time, self.gain = self.set_camera_config(
+                        self.exposure_time, self.gain
+                    )
+                    self._console_queue.put("CAM: Gain=" + str(self.gain))
+                    logger.info(f"Gain changed: {old_gain}x → {self.gain}x")
+
+                elif command.startswith("set_ae_handler"):
+                    handler_type = command.split(":")[1]
+                    if self._auto_exposure_pid is not None:
+                        new_handler = None
+                        if handler_type == "sweep":
+                            new_handler = SweepZeroStarHandler(
+                                min_exposure=self._auto_exposure_pid.min_exposure,
+                                max_exposure=self._auto_exposure_pid.max_exposure,
+                            )
+                        elif handler_type == "exponential":
+                            new_handler = ExponentialSweepZeroStarHandler(
+                                min_exposure=self._auto_exposure_pid.min_exposure,
+                                max_exposure=self._auto_exposure_pid.max_exposure,
+                            )
+                        elif handler_type == "reset":
+                            new_handler = ResetZeroStarHandler(reset_exposure=400000)
+                        elif handler_type == "histogram":
+                            new_handler = HistogramZeroStarHandler(
+                                min_exposure=self._auto_exposure_pid.min_exposure,
+                                max_exposure=self._auto_exposure_pid.max_exposure,
+                            )
+                        else:
+                            logger.warning(
+                                f"Unknown zero-star handler type: {handler_type}"
+                            )
+
+                        if new_handler is not None:
+                            self._auto_exposure_pid._zero_star_handler = new_handler
+                            self._console_queue.put(f"CAM: AE Handler={handler_type}")
+                            logger.info(
+                                f"Auto-exposure zero-star handler changed to: {handler_type}"
+                            )
+                    else:
+                        logger.warning(
+                            "Cannot set AE handler: auto-exposure not initialized"
+                        )
+
+                elif command.startswith("set_ae_mode"):
+                    mode = command.split(":")[1]
+                    if mode in ["pid", "snr"]:
+                        self._auto_exposure_mode = mode
+                        self._console_queue.put(f"CAM: AE Mode={mode.upper()}")
+                        logger.info(f"Auto-exposure mode changed to: {mode.upper()}")
+                    else:
+                        logger.warning(
+                            f"Unknown auto-exposure mode: {mode} (valid: pid, snr)"
+                        )
+
+                elif command == "exp_up" or command == "exp_dn":
+                    self._auto_exposure_enabled = False
+                    if command == "exp_up":
+                        self.exposure_time = int(self.exposure_time * 1.25)
+                    else:
+                        self.exposure_time = int(self.exposure_time * 0.75)
+                    self.set_camera_config(self.exposure_time, self.gain)
+                    self._console_queue.put("CAM: Exp=" + str(self.exposure_time))
+
+                elif command == "exp_save":
+                    self._auto_exposure_enabled = False
+                    self._cfg.set_option("camera_exp", self.exposure_time)
+                    self._cfg.set_option("camera_gain", int(self.gain))
+                    self._console_queue.put(f"CAM: Exp Saved ({self.exposure_time}µs)")
+                    logger.info(
+                        f"Exposure saved and auto-exposure disabled: {self.exposure_time}µs"
+                    )
+
+                elif command.startswith("save"):
+                    self._save_next_to = command.split(":")[1]
+                    self._console_queue.put("CAM: Save flag set")
+
+                elif command.startswith("capture") and command != "capture_exp_sweep":
+                    captured_image = self.capture()
+                    self._camera_image.paste(captured_image)
+
+                    if self._save_next_to:
+                        filename = f"{utils.data_dir}/captures/{self._save_next_to}"
+                        if not filename.endswith(".png"):
+                            filename += ".png"
+                        self.capture_file(filename)
+
+                        raw_filename = filename.replace(".png", ".tiff")
+                        if not raw_filename.endswith(".tiff"):
+                            raw_filename += ".tiff"
+                        self.capture_raw_file(raw_filename)
+
+                        self._console_queue.put("CAM: Captured + Saved")
+                        self._save_next_to = None
+                    else:
+                        self._console_queue.put("CAM: Captured")
+
+                elif command.startswith("capture_exp_sweep"):
+                    self._run_exposure_sweep(command)
+
+                elif command.startswith("stop"):
+                    self.stop_camera()
+                    self._console_queue.put("CAM: Stopped camera")
+
+                elif command.startswith("start"):
+                    self.start_camera()
+                    self._console_queue.put("CAM: Started camera")
+
+            except ValueError as e:
+                logger.error(f"Error processing camera command '{command}': {str(e)}")
+
+    def _run_exposure_sweep(self, command):
+        """Capture exposure sweep for SQM testing."""
+        reference_sqm = None
+        if ":" in command:
+            try:
+                reference_sqm = float(command.split(":")[1])
+                logger.info(f"Reference SQM: {reference_sqm:.2f}")
+            except (ValueError, IndexError):
+                logger.warning("Invalid reference SQM in command")
+
+        logger.info("Starting exposure sweep capture (100 image pairs)")
+        self._console_queue.put("CAM: Starting sweep...")
+
+        original_exposure = self.exposure_time
+        original_gain = self.gain
+        original_ae_enabled = self._auto_exposure_enabled
+
+        self._auto_exposure_enabled = False
+
+        min_exp = 25000
+        max_exp = 1000000
+        num_images = 20
+
+        sweep_exposures = generate_exposure_sweep(min_exp, max_exp, num_images)
+
+        gps_time = self.shared_state.datetime()
+        if gps_time:
+            timestamp = gps_time.strftime("%Y%m%d_%H%M%S")
+        else:
+            timestamp = datetime.datetime.now().strftime("%Y%m%d_%H%M%S")
+            logger.warning(
+                "GPS time not available, using Pi system time for sweep directory name"
+            )
+
+        from pathlib import Path
+
+        sweep_dir = Path(f"{utils.data_dir}/captures/sweep_{timestamp}")
+        sweep_dir.mkdir(parents=True, exist_ok=True)
+
+        logger.info(f"Saving sweep to: {sweep_dir}")
+        self._console_queue.put("CAM: Starting sweep...")
+
+        for i, exp_us in enumerate(sweep_exposures, 1):
+            self._console_queue.put(f"CAM: Sweep {i}/{num_images}")
+
+            self.exposure_time = exp_us
+            self.set_camera_config(self.exposure_time, self.gain)
+
+            logger.debug(f"Flushing camera buffer for {exp_us}µs exposure")
+            _ = self.capture()
+            _ = self.capture()
+
+            exp_ms = exp_us / 1000
+
+            processed_filename = sweep_dir / f"img_{i:03d}_{exp_ms:.2f}ms_processed.png"
+            processed_img = self.capture()
+            processed_img.save(str(processed_filename))
+
+            raw_filename = sweep_dir / f"img_{i:03d}_{exp_ms:.2f}ms_raw.tiff"
+            self.capture_raw_file(str(raw_filename))
+
+            logger.debug(
+                f"Captured sweep images {i}/{num_images}: {exp_ms:.2f}ms (PNG+TIFF)"
+            )
+
+        self.exposure_time = original_exposure
+        self.gain = original_gain
+        self._auto_exposure_enabled = original_ae_enabled
+        self.set_camera_config(self.exposure_time, self.gain)
+
+        try:
+            from PiFinder.sqm.save_sweep_metadata import save_sweep_metadata
+
+            gps_datetime = self.shared_state.datetime()
+            location = self.shared_state.location()
+
+            solve_state = self.shared_state.solution()
+            ra_deg = None
+            dec_deg = None
+            altitude_deg = None
+            azimuth_deg = None
+
+            if solve_state is not None:
+                ra_deg = solve_state.get("RA")
+                dec_deg = solve_state.get("Dec")
+                altitude_deg = solve_state.get("Alt")
+                azimuth_deg = solve_state.get("Az")
+
+            save_sweep_metadata(
+                sweep_dir=sweep_dir,
+                observer_lat=location.lat,
+                observer_lon=location.lon,
+                observer_altitude_m=location.altitude,
+                gps_datetime=gps_datetime.isoformat() if gps_datetime else None,
+                reference_sqm=reference_sqm,
+                ra_deg=ra_deg,
+                dec_deg=dec_deg,
+                altitude_deg=altitude_deg,
+                azimuth_deg=azimuth_deg,
+                notes=f"Exposure sweep: {num_images} images, {min_exp / 1000:.1f}-{max_exp / 1000:.1f}ms",
+            )
+            logger.info(
+                f"Successfully saved sweep metadata to {sweep_dir}/sweep_metadata.json"
+            )
+        except Exception as e:
+            logger.error(f"Failed to save sweep metadata: {e}", exc_info=True)
+
+        self._console_queue.put("CAM: Sweep done!")
+        logger.info(
+            f"Exposure sweep completed: {num_images} image pairs in {sweep_dir}"
+        )
+
     def get_image_loop(
         self, shared_state, camera_image, command_queue, console_queue, cfg
     ):
         try:
-            # Store shared_state for access by capture() methods
+            # Store refs for access by _process_pending_commands and helpers
             self.shared_state = shared_state
+            self._camera_image = camera_image
+            self._command_queue = command_queue
+            self._console_queue = console_queue
+            self._cfg = cfg
+            self._debug = False
 
             # Store camera type in shared state for SQM calibration
             camera_type_str = self.get_cam_type()  # e.g., "PI imx296", "PI hq"
@@ -101,8 +389,6 @@ def get_image_loop(
                 shared_state.set_camera_type(camera_type)
                 logger.info(f"Camera type set to: {camera_type}")
 
-            debug = False
-
             # Check if auto-exposure was previously enabled in config
             config_exp = cfg.get_option("camera_exp")
             if config_exp == "auto":
@@ -129,6 +415,8 @@ def get_image_loop(
             sleep_delay = 60
             was_sleeping = False
             while True:
+                self._process_pending_commands()
+
                 sleeping = state_utils.sleep_for_framerate(
                     shared_state, limit_framerate=False
                 )
@@ -152,8 +440,14 @@ def get_image_loop(
                 imu_start = shared_state.imu()
                 image_start_time = time.time()
                 if self._camera_started:
-                    if not debug:
-                        base_image = self.capture()
+                    if not self._debug:
+                        base_image = self._capture_with_timeout()
+                        if base_image is None:
+                            logger.warning(
+                                "Camera capture timed out — switching to test mode"
+                            )
+                            self._debug = True
+                            continue
                         base_image = base_image.convert("L")
 
                         rotate_amount = 0
@@ -178,34 +472,26 @@ def get_image_loop(
                         base_image = base_image.convert(
                             "L"
                         )  # Convert to grayscale to match camera output
-                        time.sleep(0.2)
+                        time.sleep(1)
                     image_end_time = time.time()
                     # check imu to make sure we're still static
                     imu_end = shared_state.imu()
 
                     # see if we moved during exposure
+                    reading_diff = 0
                     if imu_start and imu_end:
-                        # Returns the pointing difference between successive IMU quaternions as
-                        # an angle (radians). Note that this also accounts for rotation around the
-                        # scope axis. Returns an angle in radians.
-                        pointing_diff = qt.get_quat_angular_diff(
-                            imu_start["quat"], imu_end["quat"]
+                        reading_diff = (
+                            abs(imu_start["pos"][0] - imu_end["pos"][0])
+                            + abs(imu_start["pos"][1] - imu_end["pos"][1])
+                            + abs(imu_start["pos"][2] - imu_end["pos"][2])
                         )
-                    else:
-                        pointing_diff = 0.0
-
-                    # Make image available
-                    if debug and abs(pointing_diff) > 0.01:
-                        # Check if we moved and return a blank image
-                        camera_image.paste(self._blank_capture())
-                    else:
-                        camera_image.paste(base_image)
 
+                    camera_image.paste(base_image)
                     image_metadata = {
                         "exposure_start": image_start_time,
                         "exposure_end": image_end_time,
                         "imu": imu_end,
-                        "imu_delta": np.rad2deg(pointing_diff),
+                        "imu_delta": reading_diff,
                         "exposure_time": self.exposure_time,
                         "gain": self.gain,
                     }
@@ -298,367 +584,6 @@ def get_image_loop(
                                     )
                                 self._last_solve_time = solve_attempt_time
 
-                # Loop over any pending commands
-                # There may be more than one!
-                command = True
-                while command:
-                    try:
-                        command = command_queue.get(block=True, timeout=0.1)
-                    except queue.Empty:
-                        command = ""
-                        continue
-                    except Exception as e:
-                        logger.error(f"CameraInterface: Command error: {e}")
-
-                    try:
-                        if command == "debug":
-                            if debug:
-                                debug = False
-                            else:
-                                debug = True
-
-                        if command.startswith("set_exp"):
-                            exp_value = command.split(":")[1]
-                            if exp_value == "auto":
-                                # Enable auto-exposure mode
-                                self._auto_exposure_enabled = True
-                                self._last_solve_time = None  # Reset solve tracking
-                                if self._auto_exposure_pid is None:
-                                    self._auto_exposure_pid = ExposurePIDController()
-                                else:
-                                    self._auto_exposure_pid.reset()
-                                console_queue.put("CAM: Auto-Exposure Enabled")
-                                logger.info("Auto-exposure mode enabled")
-                            else:
-                                # Disable auto-exposure and set manual exposure
-                                self._auto_exposure_enabled = False
-                                self.exposure_time = int(exp_value)
-                                self.set_camera_config(self.exposure_time, self.gain)
-                                # Update config to reflect manual exposure value
-                                cfg.set_option("camera_exp", self.exposure_time)
-                                console_queue.put("CAM: Exp=" + str(self.exposure_time))
-                                logger.info(
-                                    f"Manual exposure set: {self.exposure_time}µs"
-                                )
-
-                        if command.startswith("set_gain"):
-                            old_gain = self.gain
-                            self.gain = int(command.split(":")[1])
-                            self.exposure_time, self.gain = self.set_camera_config(
-                                self.exposure_time, self.gain
-                            )
-                            console_queue.put("CAM: Gain=" + str(self.gain))
-                            logger.info(f"Gain changed: {old_gain}x → {self.gain}x")
-
-                        if command.startswith("set_ae_handler"):
-                            handler_type = command.split(":")[1]
-                            if self._auto_exposure_pid is not None:
-                                new_handler = None
-                                if handler_type == "sweep":
-                                    new_handler = SweepZeroStarHandler(
-                                        min_exposure=self._auto_exposure_pid.min_exposure,
-                                        max_exposure=self._auto_exposure_pid.max_exposure,
-                                    )
-                                elif handler_type == "exponential":
-                                    new_handler = ExponentialSweepZeroStarHandler(
-                                        min_exposure=self._auto_exposure_pid.min_exposure,
-                                        max_exposure=self._auto_exposure_pid.max_exposure,
-                                    )
-                                elif handler_type == "reset":
-                                    new_handler = ResetZeroStarHandler(
-                                        reset_exposure=400000  # 0.4s
-                                    )
-                                elif handler_type == "histogram":
-                                    new_handler = HistogramZeroStarHandler(
-                                        min_exposure=self._auto_exposure_pid.min_exposure,
-                                        max_exposure=self._auto_exposure_pid.max_exposure,
-                                    )
-                                else:
-                                    logger.warning(
-                                        f"Unknown zero-star handler type: {handler_type}"
-                                    )
-
-                                if new_handler is not None:
-                                    self._auto_exposure_pid._zero_star_handler = (
-                                        new_handler
-                                    )
-                                    console_queue.put(f"CAM: AE Handler={handler_type}")
-                                    logger.info(
-                                        f"Auto-exposure zero-star handler changed to: {handler_type}"
-                                    )
-                            else:
-                                logger.warning(
-                                    "Cannot set AE handler: auto-exposure not initialized"
-                                )
-
-                        if command.startswith("set_ae_mode"):
-                            mode = command.split(":")[1]
-                            if mode in ["pid", "snr"]:
-                                self._auto_exposure_mode = mode
-                                console_queue.put(f"CAM: AE Mode={mode.upper()}")
-                                logger.info(
-                                    f"Auto-exposure mode changed to: {mode.upper()}"
-                                )
-                            else:
-                                logger.warning(
-                                    f"Unknown auto-exposure mode: {mode} (valid: pid, snr)"
-                                )
-
-                        if command == "exp_up" or command == "exp_dn":
-                            # Manual exposure adjustments disable auto-exposure
-                            self._auto_exposure_enabled = False
-                            if command == "exp_up":
-                                self.exposure_time = int(self.exposure_time * 1.25)
-                            else:
-                                self.exposure_time = int(self.exposure_time * 0.75)
-                            self.set_camera_config(self.exposure_time, self.gain)
-                            console_queue.put("CAM: Exp=" + str(self.exposure_time))
-                        if command == "exp_save":
-                            # Saving exposure disables auto-exposure and locks to current value
-                            self._auto_exposure_enabled = False
-                            cfg.set_option("camera_exp", self.exposure_time)
-                            cfg.set_option("camera_gain", int(self.gain))
-                            console_queue.put(
-                                f"CAM: Exp Saved ({self.exposure_time}µs)"
-                            )
-                            logger.info(
-                                f"Exposure saved and auto-exposure disabled: {self.exposure_time}µs"
-                            )
-
-                        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")
-
-                        if (
-                            command.startswith("capture")
-                            and command != "capture_exp_sweep"
-                        ):
-                            # Capture single frame and update shared state
-                            # This is used by SQM calibration for precise exposure control
-                            captured_image = self.capture()
-                            camera_image.paste(captured_image)
-
-                            # If save flag is set, save to disk
-                            if self._save_next_to:
-                                # Build full path
-                                filename = (
-                                    f"{utils.data_dir}/captures/{self._save_next_to}"
-                                )
-                                if not filename.endswith(".png"):
-                                    filename += ".png"
-                                self.capture_file(filename)
-
-                                # Also save raw as TIFF
-                                raw_filename = filename.replace(".png", ".tiff")
-                                if not raw_filename.endswith(".tiff"):
-                                    raw_filename += ".tiff"
-                                self.capture_raw_file(raw_filename)
-
-                                console_queue.put("CAM: Captured + Saved")
-                                self._save_next_to = None  # Clear flag
-                            else:
-                                console_queue.put("CAM: Captured")
-
-                        if command.startswith("capture_exp_sweep"):
-                            # Capture exposure sweep - save both RAW and processed images
-                            # at different exposures for SQM testing
-                            # RAW: 16-bit TIFF to preserve full sensor bit depth
-                            # Processed: 8-bit PNG from normal camera.capture() pipeline
-
-                            # Parse reference SQM if provided
-                            reference_sqm = None
-                            if ":" in command:
-                                try:
-                                    reference_sqm = float(command.split(":")[1])
-                                    logger.info(f"Reference SQM: {reference_sqm:.2f}")
-                                except (ValueError, IndexError):
-                                    logger.warning("Invalid reference SQM in command")
-
-                            logger.info(
-                                "Starting exposure sweep capture (100 image pairs)"
-                            )
-                            console_queue.put("CAM: Starting sweep...")
-
-                            # Save current settings
-                            original_exposure = self.exposure_time
-                            original_gain = self.gain
-                            original_ae_enabled = self._auto_exposure_enabled
-
-                            # Disable auto-exposure during sweep
-                            self._auto_exposure_enabled = False
-
-                            # Generate 20 exposure values with logarithmic spacing
-                            # from 25ms (25000µs) to 1s (1000000µs)
-                            min_exp = 25000  # 25ms
-                            max_exp = 1000000  # 1s
-                            num_images = 20
-
-                            # Generate logarithmic sweep using shared utility
-                            sweep_exposures = generate_exposure_sweep(
-                                min_exp, max_exp, num_images
-                            )
-
-                            # Generate timestamp for this sweep session using GPS time
-                            gps_time = shared_state.datetime()
-                            if gps_time:
-                                timestamp = gps_time.strftime("%Y%m%d_%H%M%S")
-                            else:
-                                # Fallback to Pi time if GPS not available
-                                timestamp = datetime.datetime.now().strftime(
-                                    "%Y%m%d_%H%M%S"
-                                )
-                                logger.warning(
-                                    "GPS time not available, using Pi system time for sweep directory name"
-                                )
-
-                            # Create sweep directory
-                            from pathlib import Path
-
-                            sweep_dir = Path(
-                                f"{utils.data_dir}/captures/sweep_{timestamp}"
-                            )
-                            sweep_dir.mkdir(parents=True, exist_ok=True)
-
-                            logger.info(f"Saving sweep to: {sweep_dir}")
-                            console_queue.put("CAM: Starting sweep...")
-
-                            for i, exp_us in enumerate(sweep_exposures, 1):
-                                # Update progress at start of each capture
-                                console_queue.put(f"CAM: Sweep {i}/{num_images}")
-
-                                # Set exposure
-                                self.exposure_time = exp_us
-                                self.set_camera_config(self.exposure_time, self.gain)
-
-                                # Flush camera buffer - discard pre-buffered frames with old exposure
-                                # Picamera2 maintains a frame queue, need to flush frames captured
-                                # before the new exposure setting was applied
-                                logger.debug(
-                                    f"Flushing camera buffer for {exp_us}µs exposure"
-                                )
-                                _ = self.capture()  # Discard buffered frame 1
-                                _ = self.capture()  # Discard buffered frame 2
-
-                                # Now capture both processed and RAW images with correct exposure
-                                exp_ms = exp_us / 1000
-
-                                # Save processed 8-bit PNG (same as production capture() method)
-                                processed_filename = (
-                                    sweep_dir
-                                    / f"img_{i:03d}_{exp_ms:.2f}ms_processed.png"
-                                )
-                                processed_img = (
-                                    self.capture()
-                                )  # Returns 8-bit PIL Image
-                                processed_img.save(str(processed_filename))
-
-                                # Save RAW TIFF (16-bit, from camera.capture_raw_file())
-                                raw_filename = (
-                                    sweep_dir / f"img_{i:03d}_{exp_ms:.2f}ms_raw.tiff"
-                                )
-                                self.capture_raw_file(str(raw_filename))
-
-                                logger.debug(
-                                    f"Captured sweep images {i}/{num_images}: {exp_ms:.2f}ms (PNG+TIFF)"
-                                )
-
-                            # Restore original settings
-                            self.exposure_time = original_exposure
-                            self.gain = original_gain
-                            self._auto_exposure_enabled = original_ae_enabled
-                            self.set_camera_config(self.exposure_time, self.gain)
-
-                            # Save sweep metadata (GPS time, location, altitude)
-                            logger.info("Starting sweep metadata save...")
-                            try:
-                                from PiFinder.sqm.save_sweep_metadata import (
-                                    save_sweep_metadata,
-                                )
-
-                                # Get GPS datetime (not Pi time)
-                                gps_datetime = shared_state.datetime()
-                                logger.debug(f"GPS datetime: {gps_datetime}")
-
-                                # Get observer location
-                                location = shared_state.location()
-                                logger.debug(
-                                    f"Location: lat={location.lat}, lon={location.lon}, alt={location.altitude}"
-                                )
-
-                                # Get current solve with RA/Dec/Alt/Az
-                                solve_state = shared_state.solution()
-                                ra_deg = None
-                                dec_deg = None
-                                altitude_deg = None
-                                azimuth_deg = None
-
-                                if solve_state is not None:
-                                    ra_deg = solve_state.get("RA")
-                                    dec_deg = solve_state.get("Dec")
-                                    altitude_deg = solve_state.get("Alt")
-                                    azimuth_deg = solve_state.get("Az")
-                                    logger.debug(
-                                        f"Solve: RA={ra_deg}, Dec={dec_deg}, Alt={altitude_deg}, Az={azimuth_deg}"
-                                    )
-
-                                # Save metadata
-                                logger.info(
-                                    f"Calling save_sweep_metadata for {sweep_dir}"
-                                )
-                                save_sweep_metadata(
-                                    sweep_dir=sweep_dir,
-                                    observer_lat=location.lat,
-                                    observer_lon=location.lon,
-                                    observer_altitude_m=location.altitude,
-                                    gps_datetime=gps_datetime.isoformat()
-                                    if gps_datetime
-                                    else None,
-                                    reference_sqm=reference_sqm,
-                                    ra_deg=ra_deg,
-                                    dec_deg=dec_deg,
-                                    altitude_deg=altitude_deg,
-                                    azimuth_deg=azimuth_deg,
-                                    notes=f"Exposure sweep: {num_images} images, {min_exp/1000:.1f}-{max_exp/1000:.1f}ms",
-                                )
-                                logger.info(
-                                    f"Successfully saved sweep metadata to {sweep_dir}/sweep_metadata.json"
-                                )
-                            except Exception as e:
-                                logger.error(
-                                    f"Failed to save sweep metadata: {e}", exc_info=True
-                                )
-
-                            console_queue.put("CAM: Sweep done!")
-                            logger.info(
-                                f"Exposure sweep completed: {num_images} image pairs in {sweep_dir}"
-                            )
-
-                        if command.startswith("stop"):
-                            self.stop_camera()
-                            console_queue.put("CAM: Stopped camera")
-                        if command.startswith("start"):
-                            self.start_camera()
-                            console_queue.put("CAM: Started camera")
-                    except ValueError as e:
-                        logger.error(
-                            f"Error processing camera command '{command}': {str(e)}"
-                        )
-                        console_queue.put(
-                            f"CAM ERROR: Invalid command format - {str(e)}"
-                        )
-                    except AttributeError as e:
-                        logger.error(
-                            f"Camera component not initialized for command '{command}': {str(e)}"
-                        )
-                        console_queue.put("CAM ERROR: Camera not properly initialized")
-                    except Exception as e:
-                        logger.error(
-                            f"Unexpected error processing camera command '{command}': {str(e)}"
-                        )
-                        console_queue.put(f"CAM ERROR: {str(e)}")
-            logger.info(
-                f"CameraInterface: Camera loop exited with command: '{command}'"
-            )
+            logger.info("CameraInterface: Camera loop exited")
         except (BrokenPipeError, EOFError, FileNotFoundError):
             logger.exception("Error in Camera Loop")
diff --git a/python/PiFinder/catalog_imports/catalog_import_utils.py b/python/PiFinder/catalog_imports/catalog_import_utils.py
index 279169df3..50fce5d12 100644
--- a/python/PiFinder/catalog_imports/catalog_import_utils.py
+++ b/python/PiFinder/catalog_imports/catalog_import_utils.py
@@ -213,7 +213,8 @@ def insert_catalog_max_sequence(catalog_name):
     if result:
         query = f"""
             update catalogs set max_sequence = {
-            dict(result)['MAX(sequence)']} where catalog_code = '{catalog_name}'
+            dict(result)["MAX(sequence)"]
+        } where catalog_code = '{catalog_name}'
             """
         db_c.execute(query)
         conn.commit()
@@ -322,7 +323,7 @@ def resolve_object_images():
                     ORDER BY {priority_case_sql}
                 ) as priority_rank
             FROM catalog_objects co
-            WHERE co.catalog_code IN ({','.join(['?'] * len(catalog_priority))})
+            WHERE co.catalog_code IN ({",".join(["?"] * len(catalog_priority))})
         )
         SELECT 
             o.id as object_id,
diff --git a/python/PiFinder/catalog_imports/main.py b/python/PiFinder/catalog_imports/main.py
index 4101e5d52..7b6ce300f 100644
--- a/python/PiFinder/catalog_imports/main.py
+++ b/python/PiFinder/catalog_imports/main.py
@@ -33,7 +33,6 @@
     ("specialized_loaders", "load_arp"),
     ("specialized_loaders", "load_tlk_90_vars"),
     ("wds_loader", "load_wds"),
-    ("harris_loader", "load_harris"),
 ]
 
 POST_PROCESSING_FUNCTIONS = [
@@ -121,6 +120,14 @@ def main():
     resolve_object_images()
     print_database()
 
+    # Finalize database for read-only deployment (NixOS)
+    logging.info("Finalizing database for read-only deployment...")
+    conn, _ = objects_db.get_conn_cursor()
+    conn.execute("PRAGMA journal_mode = DELETE")  # Required for read-only FS
+    conn.execute("VACUUM")  # Compact database
+    conn.commit()
+    logging.info("Database finalization complete")
+
 
 if __name__ == "__main__":
     main()
diff --git a/python/PiFinder/catalog_imports/specialized_loaders.py b/python/PiFinder/catalog_imports/specialized_loaders.py
index 5e29e7703..303d5df02 100644
--- a/python/PiFinder/catalog_imports/specialized_loaders.py
+++ b/python/PiFinder/catalog_imports/specialized_loaders.py
@@ -602,7 +602,7 @@ def expand(name):
             for additional in parts[1:]:
                 if additional.isdigit():
                     # If the additional part is a number, add it directly
-                    expanded_list.append(f"{base_part[:-len(additional)]}{additional}")
+                    expanded_list.append(f"{base_part[: -len(additional)]}{additional}")
                 else:
                     expanded_list.append(additional)
         else:
diff --git a/python/PiFinder/catalog_imports/wds_loader.py b/python/PiFinder/catalog_imports/wds_loader.py
index 96d798630..58d0b9e61 100644
--- a/python/PiFinder/catalog_imports/wds_loader.py
+++ b/python/PiFinder/catalog_imports/wds_loader.py
@@ -263,7 +263,7 @@ def handle_multiples(key, values) -> dict:
             coord_2000 = entry["Coordinates_2000"]
             coord_arcsec = entry["Coordinates_Arcsec"]
             logging.error(
-                f"Empty or invalid RA/DEC detected for WDS object at line {i+1}"
+                f"Empty or invalid RA/DEC detected for WDS object at line {i + 1}"
             )
             logging.error(f"  Coordinates_2000: '{coord_2000}'")
             logging.error(f"  Coordinates_Arcsec: '{coord_arcsec}'")
@@ -273,7 +273,7 @@ def handle_multiples(key, values) -> dict:
             )
             logging.error(f"  Final RA: {entry['ra']}, DEC: {entry['dec']}")
             raise ValueError(
-                f"Invalid RA/DEC coordinates for WDS object at line {i+1}: RA={entry['ra']}, DEC={entry['dec']}"
+                f"Invalid RA/DEC coordinates for WDS object at line {i + 1}: RA={entry['ra']}, DEC={entry['dec']}"
             )
 
     # make a dictionary of WDS objects to group duplicates
diff --git a/python/PiFinder/catalogs.py b/python/PiFinder/catalogs.py
index dc2694257..23f3ec599 100644
--- a/python/PiFinder/catalogs.py
+++ b/python/PiFinder/catalogs.py
@@ -1,6 +1,5 @@
 # mypy: ignore-errors
 import logging
-import re
 import time
 import datetime
 import pytz
@@ -27,31 +26,6 @@
 
 logger = logging.getLogger("Catalog")
 
-# Mapping from keypad numbers to characters (non-conventional layout)
-KEYPAD_DIGIT_TO_CHARS = {
-    "7": "abc",
-    "8": "def",
-    "9": "ghi",
-    "4": "jkl",
-    "5": "mno",
-    "6": "pqrs",
-    "1": "tuv",
-    "2": "wxyz",
-    "3": "'-+/",
-}
-
-LETTER_TO_DIGIT_MAP: dict[str, str] = {}
-for _digit, _chars in KEYPAD_DIGIT_TO_CHARS.items():
-    # Map the digit to itself so numbers in names still match
-    LETTER_TO_DIGIT_MAP[_digit] = _digit
-    for _char in _chars:
-        LETTER_TO_DIGIT_MAP[_char] = _digit
-        LETTER_TO_DIGIT_MAP[_char.upper()] = _digit
-
-translator = str.maketrans(LETTER_TO_DIGIT_MAP)
-VALID_T9_DIGITS = "".join(KEYPAD_DIGIT_TO_CHARS.keys())
-INVALID_T9_DIGITS_RE = re.compile(f"[^{VALID_T9_DIGITS}]")
-
 # collection of all catalog-related classes
 
 # CatalogBase : just the CompositeObjects (imported from catalog_base)
@@ -371,8 +345,6 @@ class Catalogs:
     def __init__(self, catalogs: List[Catalog]):
         self.__catalogs: List[Catalog] = catalogs
         self.catalog_filter: Union[CatalogFilter, None] = None
-        self._t9_cache: dict[tuple[str, int], list[str]] = {}
-        self._t9_cache_dirty = True
 
     def filter_catalogs(self):
         """
@@ -428,59 +400,6 @@ def get_object(self, catalog_code: str, sequence: int) -> Optional[CompositeObje
 
     # this is memory efficient and doesn't hit the sdcard, but could be faster
     # also, it could be cached
-    def _name_to_t9_digits(self, name: str) -> str:
-        translated_name = name.translate(translator)
-        return INVALID_T9_DIGITS_RE.sub("", translated_name)
-
-    def _object_cache_key(self, obj: CompositeObject) -> tuple[str, int]:
-        return (obj.catalog_code, obj.sequence)
-
-    def _invalidate_t9_cache(self) -> None:
-        self._t9_cache_dirty = True
-
-    def _rebuild_t9_cache(self, objs: list[CompositeObject]) -> None:
-        self._t9_cache = {}
-        for obj in objs:
-            self._t9_cache[self._object_cache_key(obj)] = [
-                self._name_to_t9_digits(name) for name in obj.names
-            ]
-        self._t9_cache_dirty = False
-
-    def _ensure_t9_cache(self, objs: list[CompositeObject]) -> None:
-        current_keys = {self._object_cache_key(obj) for obj in objs}
-        if self._t9_cache_dirty or current_keys != set(self._t9_cache.keys()):
-            self._rebuild_t9_cache(objs)
-
-    def search_by_t9(self, search_digits: str) -> List[CompositeObject]:
-        """Search catalog objects using keypad digits.
-
-        Uses the existing keypad letter mapping (including its non-conventional
-        layout) to convert object names to their digit representation and
-        returns all objects whose digit string contains the search pattern.
-        """
-
-        objs = self.get_objects(only_selected=False, filtered=False)
-        result: list[CompositeObject] = []
-        if not search_digits:
-            return result
-
-        self._ensure_t9_cache(objs)
-
-        for obj in objs:
-            for digits in self._t9_cache.get(self._object_cache_key(obj), []):
-                if len(digits) < len(search_digits):
-                    continue
-                if search_digits in digits:
-                    result.append(obj)
-                    logger.debug(
-                        "Found %s in %s %i via T9",
-                        digits,
-                        obj.catalog_code,
-                        obj.sequence,
-                    )
-                    break
-        return result
-
     def search_by_text(self, search_text: str) -> List[CompositeObject]:
         objs = self.get_objects(only_selected=False, filtered=False)
         result = []
@@ -500,14 +419,12 @@ def search_by_text(self, search_text: str) -> List[CompositeObject]:
     def set(self, catalogs: List[Catalog]):
         self.__catalogs = catalogs
         self.select_all_catalogs()
-        self._invalidate_t9_cache()
 
     def add(self, catalog: Catalog, select: bool = False):
         if catalog.catalog_code not in [x.catalog_code for x in self.__catalogs]:
             if select:
                 self.catalog_filter.selected_catalogs.add(catalog.catalog_code)
             self.__catalogs.append(catalog)
-            self._invalidate_t9_cache()
         else:
             logger.warning(
                 "Catalog %s already exists, not replaced (in Catalogs.add)",
@@ -518,7 +435,6 @@ def remove(self, catalog_code: str):
         for catalog in self.__catalogs:
             if catalog.catalog_code == catalog_code:
                 self.__catalogs.remove(catalog)
-                self._invalidate_t9_cache()
                 return
 
         logger.warning("Catalog %s does not exist, cannot remove", catalog_code)
@@ -562,6 +478,12 @@ def is_loading(self) -> bool:
             and self._background_loader._thread.is_alive()
         )
 
+    def start_background_loading(self):
+        """Start deferred catalog loading in background thread.
+        Call after event loop is ready to avoid SD I/O contention during startup."""
+        if hasattr(self, "_background_loader") and self._background_loader is not None:
+            self._background_loader.start()
+
     def __repr__(self):
         return f"Catalogs(\n{pformat(self.get_catalogs(only_selected=False))})"
 
@@ -708,21 +630,18 @@ class CatalogBackgroundLoader:
 
     def __init__(
         self,
-        deferred_catalog_objects: List[Dict],
-        objects: Dict[int, Dict],
-        common_names: Names,
-        obs_db: ObservationsDatabase,
+        deferred_catalog_objects: List[Dict] = None,
+        objects: Dict[int, Dict] = None,
+        common_names: Names = None,
+        obs_db: ObservationsDatabase = None,
         on_progress: Optional[callable] = None,
         on_complete: Optional[callable] = None,
+        priority_codes: tuple = None,
     ):
         """
-        Args:
-            deferred_catalog_objects: List of catalog_object dicts to load
-            objects: Object data dict by ID
-            common_names: Names lookup instance
-            obs_db: Observations database instance
-            on_progress: Callback(loaded_count, total_count, catalog_code)
-            on_complete: Callback(loaded_objects: List[CompositeObject])
+        Two modes:
+        1. Pre-loaded data: pass deferred_catalog_objects, objects, common_names
+        2. Self-loading: pass priority_codes (loader queries DB in background thread)
         """
         self._deferred_data = deferred_catalog_objects
         self._objects = objects
@@ -730,6 +649,7 @@ def __init__(
         self._obs_db = obs_db
         self._on_progress = on_progress
         self._on_complete = on_complete
+        self._priority_codes = priority_codes
 
         self._loaded_objects: List[CompositeObject] = []
         self._lock = threading.Lock()
@@ -737,8 +657,8 @@ def __init__(
         self._stop_flag = threading.Event()
 
         # Performance tuning - load in batches with CPU yielding
-        self.batch_size = 100  # Objects per batch before yielding CPU
-        self.yield_time = 0.05  # Seconds to sleep between batches (50ms)
+        self.batch_size = 25  # Objects per batch before yielding CPU
+        self.yield_time = 0.1  # Seconds to sleep between batches (100ms)
 
     def start(self) -> None:
         """Start background loading in daemon thread"""
@@ -765,6 +685,23 @@ def get_loaded_objects(self) -> List[CompositeObject]:
     def _load_deferred_objects(self) -> None:
         """Background worker - loads objects in batches with CPU yielding"""
         try:
+            if self._deferred_data is None and self._priority_codes is not None:
+                # Self-loading mode: query DB for deferred catalog data
+                start = time.time()
+                db = ObjectsDatabase()
+                all_catalog_objects = [dict(row) for row in db.get_catalog_objects()]
+                self._deferred_data = [
+                    co
+                    for co in all_catalog_objects
+                    if co["catalog_code"] not in self._priority_codes
+                ]
+                self._objects = {row["id"]: dict(row) for row in db.get_objects()}
+                self._names = Names()
+                logger.info(
+                    f"Background loader data load took {time.time() - start:.2f}s "
+                    f"for {len(self._deferred_data)} deferred objects"
+                )
+
             total = len(self._deferred_data)
             batch = []
             current_catalog = None
@@ -862,15 +799,24 @@ def build(self, shared_state, ui_queue=None) -> Catalogs:
         db: Database = ObjectsDatabase()
         obs_db: Database = ObservationsDatabase()
 
-        # list of dicts, one dict for each entry in the catalog_objects table
-        catalog_objects: List[Dict] = [dict(row) for row in db.get_catalog_objects()]
-        objects = db.get_objects()
-        common_names = Names()
+        priority_codes = ("NGC", "IC", "M")
+
+        # Fast path: single JOIN query for priority catalog data
+        start = time.time()
+        priority_rows = db.get_priority_catalog_joined(priority_codes)
+        priority_names = db.get_priority_names(priority_codes)
         catalogs_info = db.get_catalogs_dict()
-        objects = {row["id"]: dict(row) for row in objects}
+        logger.info(f"Priority data queries took {time.time() - start:.2f}s")
 
-        composite_objects: List[CompositeObject] = self._build_composite(
-            catalog_objects, objects, common_names, obs_db, ui_queue
+        # Build priority CompositeObjects directly from joined rows
+        start = time.time()
+        composite_objects = []
+        for row in priority_rows:
+            obj = self._create_composite_from_row(row, priority_names, obs_db)
+            composite_objects.append(obj)
+        logger.info(
+            f"Priority object construction took {time.time() - start:.2f}s "
+            f"for {len(composite_objects)} objects"
         )
 
         # This is used for caching catalog dicts
@@ -878,15 +824,25 @@ def build(self, shared_state, ui_queue=None) -> Catalogs:
         self.catalog_dicts = {}
         logger.debug("Loaded %i objects from database", len(composite_objects))
 
+        start = time.time()
         all_catalogs: Catalogs = self._get_catalogs(composite_objects, catalogs_info)
+        logger.info(f"_get_catalogs took {time.time() - start:.2f}s")
 
         # Store catalogs reference for background loader completion
         self._pending_catalogs_ref = all_catalogs
 
-        # Pass background loader reference to Catalogs instance so it can check loading status
-        # This is set in _build_composite() if there are deferred objects
-        if hasattr(self, "_background_loader") and self._background_loader is not None:
-            all_catalogs._background_loader = self._background_loader
+        # Create background loader for deferred catalogs (not started yet —
+        # call catalogs.start_background_loading() after event loop starts
+        # to avoid SD I/O contention during menu init)
+        loader = CatalogBackgroundLoader(
+            priority_codes=priority_codes,
+            obs_db=obs_db,
+            on_progress=self._on_loader_progress,
+            on_complete=lambda objs: self._on_loader_complete(objs, ui_queue),
+        )
+        self._background_loader = loader
+        all_catalogs._background_loader = self._background_loader
+
         # Initialize planet catalog with whatever date we have for now
         # This will be re-initialized on activation of Catalog ui module
         # if we have GPS lock
@@ -896,59 +852,52 @@ def build(self, shared_state, ui_queue=None) -> Catalogs:
         )
         all_catalogs.add(planet_catalog)
 
-        # Import CometCatalog locally to avoid circular import
-        from PiFinder.comet_catalog import CometCatalog
+        # Defer CometCatalog creation to background thread (3-4s init with
+        # network check + ephemeris calculation not needed at startup)
+        def _init_comet_catalog():
+            try:
+                from PiFinder.comet_catalog import CometCatalog
+
+                start = time.time()
+                comet_catalog: Catalog = CometCatalog(
+                    datetime.datetime.now().replace(tzinfo=pytz.timezone("UTC")),
+                    shared_state=shared_state,
+                )
+                all_catalogs.add(comet_catalog)
+                logger.info(f"CometCatalog init took {time.time() - start:.2f}s")
+            except Exception as e:
+                logger.error(f"CometCatalog init failed: {e}")
 
-        comet_catalog: Catalog = CometCatalog(
-            datetime.datetime.now().replace(tzinfo=pytz.timezone("UTC")),
-            shared_state=shared_state,
-        )
-        all_catalogs.add(comet_catalog)
+        threading.Thread(
+            target=_init_comet_catalog, daemon=True, name="CometCatalogInit"
+        ).start()
 
         assert self.check_catalogs_sequences(all_catalogs) is True
         return all_catalogs
 
-    def check_catalogs_sequences(self, catalogs: Catalogs):
-        for catalog in catalogs.get_catalogs(only_selected=False):
-            result = catalog.check_sequences()
-            if not result:
-                logger.error("Duplicate sequence catalog %s!", catalog.catalog_code)
-                return False
-            return True
-
-    def _create_full_composite_object(
-        self,
-        catalog_obj: Dict,
-        objects: Dict[int, Dict],
-        common_names: Names,
-        obs_db: ObservationsDatabase,
-    ) -> CompositeObject:
-        """Create a composite object with all details populated"""
-        object_id = catalog_obj["object_id"]
-        obj_data = objects[object_id]
-
-        # Create composite object with all details
-        composite_data = {
-            "id": catalog_obj["id"],
-            "object_id": object_id,
-            "ra": obj_data["ra"],
-            "dec": obj_data["dec"],
-            "obj_type": obj_data["obj_type"],
-            "catalog_code": catalog_obj["catalog_code"],
-            "sequence": catalog_obj["sequence"],
-            "description": catalog_obj.get("description", ""),
-            "const": obj_data.get("const", ""),
-            "size": obj_data.get("size", ""),
-            "surface_brightness": obj_data.get("surface_brightness", None),
-        }
+    def _create_composite_from_row(self, row, names_dict, obs_db):
+        """Build CompositeObject directly from a joined query row."""
+        object_id = row["object_id"]
+
+        composite_instance = CompositeObject(
+            id=row["id"],
+            object_id=object_id,
+            ra=row["ra"],
+            dec=row["dec"],
+            obj_type=row["obj_type"],
+            catalog_code=row["catalog_code"],
+            sequence=row["sequence"],
+            description=row["description"] or "",
+            const=row["const"] or "",
+            size=row["size"] or "",
+            surface_brightness=row["surface_brightness"],
+        )
 
-        composite_instance = CompositeObject.from_dict(composite_data)
-        composite_instance.names = common_names.id_to_names.get(object_id, [])
+        composite_instance.names = names_dict.get(object_id, [])
         composite_instance.logged = obs_db.check_logged(composite_instance)
 
-        # Parse magnitude
         try:
-            mag = MagnitudeObject.from_json(obj_data.get("mag", ""))
+            mag = MagnitudeObject.from_json(row["mag"] or "")
             composite_instance.mag = mag
             composite_instance.mag_str = mag.calc_two_mag_representation()
         except Exception:
@@ -958,58 +907,13 @@ def _create_full_composite_object(
         composite_instance._details_loaded = True
         return composite_instance
 
-    def _build_composite(
-        self,
-        catalog_objects: List[Dict],
-        objects: Dict[int, Dict],
-        common_names: Names,
-        obs_db: ObservationsDatabase,
-        ui_queue=None,
-    ) -> List[CompositeObject]:
-        """
-        Build composite objects with priority loading.
-        Popular catalogs (M, NGC, IC) are loaded immediately.
-        Other catalogs (WDS, etc.) are loaded in background.
-        """
-        # Separate high-priority catalogs from low-priority ones
-        priority_catalogs = {"NGC", "IC", "M"}  # Most popular catalogs
-
-        priority_objects = []
-        deferred_objects = []
-
-        for catalog_obj in catalog_objects:
-            if catalog_obj["catalog_code"] in priority_catalogs:
-                priority_objects.append(catalog_obj)
-            else:
-                deferred_objects.append(catalog_obj)
-
-        # Load priority catalogs synchronously (fast - ~13K objects)
-        composite_objects = []
-        for catalog_obj in priority_objects:
-            obj = self._create_full_composite_object(
-                catalog_obj, objects, common_names, obs_db
-            )
-            composite_objects.append(obj)
-
-        # Store reference for background loader completion callback
-        self._pending_catalogs_ref = None
-
-        # Start background loader for deferred objects
-        if deferred_objects:
-            loader = CatalogBackgroundLoader(
-                deferred_catalog_objects=deferred_objects,
-                objects=objects,
-                common_names=common_names,
-                obs_db=obs_db,
-                on_progress=self._on_loader_progress,
-                on_complete=lambda objs: self._on_loader_complete(objs, ui_queue),
-            )
-            loader.start()
-
-            # Store loader reference for potential stop/test access
-            self._background_loader = loader
-
-        return composite_objects
+    def check_catalogs_sequences(self, catalogs: Catalogs):
+        for catalog in catalogs.get_catalogs(only_selected=False):
+            result = catalog.check_sequences()
+            if not result:
+                logger.error("Duplicate sequence catalog %s!", catalog.catalog_code)
+                return False
+            return True
 
     def _on_loader_progress(self, loaded: int, total: int, catalog: str) -> None:
         """Progress callback - log every 10K objects"""
diff --git a/python/PiFinder/comets.py b/python/PiFinder/comets.py
index 9430094ff..f4ebec466 100644
--- a/python/PiFinder/comets.py
+++ b/python/PiFinder/comets.py
@@ -8,6 +8,7 @@
 import os
 import logging
 import math
+import time
 
 logger = logging.getLogger("Comets")
 
@@ -212,8 +213,9 @@ def calc_comets(
                 if result:
                     comet_dict[result["name"]] = result
 
-            # Report progress
+            # Yield CPU to UI thread every comet
             processed += 1
+            time.sleep(0.05)
             if progress_callback and total_comets > 0:
                 progress = int((processed / total_comets) * 100)
                 progress_callback(progress)
diff --git a/python/PiFinder/db/objects_db.py b/python/PiFinder/db/objects_db.py
index b52057f41..5156cfa9b 100644
--- a/python/PiFinder/db/objects_db.py
+++ b/python/PiFinder/db/objects_db.py
@@ -11,23 +11,7 @@ class ObjectsDatabase(Database):
     def __init__(self, db_path=utils.pifinder_db):
         conn, cursor = self.get_database(db_path)
         super().__init__(conn, cursor, db_path)
-
-        # Performance optimizations for Pi/SD card environments
-        logging.info("Applying database performance optimizations...")
-        self.cursor.execute("PRAGMA foreign_keys = ON;")
-        self.cursor.execute("PRAGMA mmap_size = 268435456;")  # 256MB memory mapping
-        self.cursor.execute("PRAGMA cache_size = -64000;")  # 64MB cache (negative = KB)
-        self.cursor.execute("PRAGMA temp_store = MEMORY;")  # Keep temporary data in RAM
-        self.cursor.execute(
-            "PRAGMA journal_mode = WAL;"
-        )  # Write-ahead logging for better concurrency
-        self.cursor.execute(
-            "PRAGMA synchronous = NORMAL;"
-        )  # Balanced safety/performance
-        logging.info("Database optimizations applied")
-
-        self.conn.commit()
-        self.bulk_mode = False  # Flag to disable commits during bulk operations
+        self.bulk_mode = False
 
     def create_tables(self):
         # Create objects table
@@ -318,6 +302,53 @@ def get_catalog_objects(self):
         )
         return results
 
+    def get_priority_catalog_joined(self, priority_codes=("NGC", "IC", "M")):
+        """Combined JOIN query: catalog_objects + objects for priority catalogs only."""
+        start_time = time.time()
+        placeholders = ",".join("?" * len(priority_codes))
+        self.cursor.execute(
+            f"""
+            SELECT co.id, co.object_id, co.catalog_code, co.sequence, co.description,
+                   o.ra, o.dec, o.obj_type, o.const, o.size, o.mag, o.surface_brightness
+            FROM catalog_objects co
+            JOIN objects o ON co.object_id = o.id
+            WHERE co.catalog_code IN ({placeholders})
+            """,
+            priority_codes,
+        )
+        rows = self.cursor.fetchall()
+        elapsed = time.time() - start_time
+        logging.info(
+            f"get_priority_catalog_joined took {elapsed:.2f}s, returned {len(rows)} rows"
+        )
+        return rows
+
+    def get_priority_names(self, priority_codes=("NGC", "IC", "M")):
+        """Get names only for objects in priority catalogs (much smaller than full names table)."""
+        start_time = time.time()
+        placeholders = ",".join("?" * len(priority_codes))
+        self.cursor.execute(
+            f"""
+            SELECT n.object_id, n.common_name FROM names n
+            WHERE n.object_id IN (
+                SELECT DISTINCT co.object_id FROM catalog_objects co
+                WHERE co.catalog_code IN ({placeholders})
+            )
+            """,
+            priority_codes,
+        )
+        results = self.cursor.fetchall()
+        name_dict = defaultdict(list)
+        for object_id, common_name in results:
+            name_dict[object_id].append(common_name.strip())
+        for object_id in name_dict:
+            name_dict[object_id] = list(set(name_dict[object_id]))
+        elapsed = time.time() - start_time
+        logging.info(
+            f"get_priority_names took {elapsed:.2f}s, {len(results)} rows for {len(name_dict)} objects"
+        )
+        return name_dict
+
     # ---- IMAGES_OBJECTS methods ----
     def insert_image_object(self, object_id, image_name):
         self.cursor.execute(
diff --git a/python/PiFinder/displays.py b/python/PiFinder/displays.py
index 9b53551b4..fa9f07e28 100644
--- a/python/PiFinder/displays.py
+++ b/python/PiFinder/displays.py
@@ -1,4 +1,5 @@
 import functools
+import logging
 from collections import namedtuple
 
 import numpy as np
@@ -10,7 +11,9 @@
 from luma.lcd.device import st7789
 
 from PiFinder.ui.fonts import Fonts
+from PiFinder.keyboard_interface import KeyboardInterface
 
+logger = logging.getLogger("Display")
 
 ColorMask = namedtuple("ColorMask", ["mask", "mode"])
 RED_RGB: ColorMask = ColorMask(np.array([1, 0, 0]), "RGB")
@@ -64,6 +67,75 @@ def __init__(self):
     def set_brightness(self, brightness: int) -> None:
         return None
 
+    def set_keyboard_queue(self, q) -> None:
+        pass
+
+
+# Pygame key → PiFinder keycode mapping (mirrors keyboard_local.py)
+_PYGAME_KEY_MAP: dict[int, int] = {}
+
+
+def _build_key_map(pg) -> dict[int, int]:
+    if _PYGAME_KEY_MAP:
+        return _PYGAME_KEY_MAP
+    KI = KeyboardInterface
+    m = {
+        pg.K_LEFT: KI.LEFT,
+        pg.K_UP: KI.UP,
+        pg.K_DOWN: KI.DOWN,
+        pg.K_RIGHT: KI.RIGHT,
+        pg.K_q: KI.PLUS,
+        pg.K_a: KI.MINUS,
+        pg.K_z: KI.SQUARE,
+        pg.K_w: KI.ALT_PLUS,
+        pg.K_s: KI.ALT_MINUS,
+        pg.K_d: KI.ALT_LEFT,
+        pg.K_r: KI.ALT_UP,
+        pg.K_f: KI.ALT_DOWN,
+        pg.K_g: KI.ALT_RIGHT,
+        pg.K_e: KI.ALT_0,
+        pg.K_j: KI.LNG_LEFT,
+        pg.K_i: KI.LNG_UP,
+        pg.K_k: KI.LNG_DOWN,
+        pg.K_l: KI.LNG_RIGHT,
+        pg.K_m: KI.LNG_SQUARE,
+        pg.K_0: 0,
+        pg.K_1: 1,
+        pg.K_2: 2,
+        pg.K_3: 3,
+        pg.K_4: 4,
+        pg.K_5: 5,
+        pg.K_6: 6,
+        pg.K_7: 7,
+        pg.K_8: 8,
+        pg.K_9: 9,
+    }
+    _PYGAME_KEY_MAP.update(m)
+    return _PYGAME_KEY_MAP
+
+
+def _patch_pygame_keyboard(display_obj):
+    """Replace luma's _abort on the pygame device to capture keyboard events."""
+    device = display_obj.device
+    pg = device._pygame
+    key_map = _build_key_map(pg)
+
+    def _abort_with_keys():
+        for event in pg.event.get():
+            if event.type == pg.QUIT:
+                return True
+            if event.type == pg.KEYDOWN:
+                if event.key == pg.K_ESCAPE:
+                    return True
+                q = display_obj._keyboard_queue
+                if q is not None:
+                    keycode = key_map.get(event.key)
+                    if keycode is not None:
+                        q.put(keycode)
+        return False
+
+    device._abort = _abort_with_keys
+
 
 class DisplayPygame_128(DisplayBase):
     resolution = (128, 128)
@@ -71,7 +143,7 @@ class DisplayPygame_128(DisplayBase):
     def __init__(self):
         from luma.emulator.device import pygame
 
-        # init display  (SPI hardware)
+        self._keyboard_queue = None
         pygame = pygame(
             width=128,
             height=128,
@@ -82,8 +154,12 @@ def __init__(self):
             frame_rate=60,
         )
         self.device = pygame
+        _patch_pygame_keyboard(self)
         super().__init__()
 
+    def set_keyboard_queue(self, q) -> None:
+        self._keyboard_queue = q
+
 
 class DisplayPygame_320(DisplayBase):
     resolution = (320, 240)
@@ -91,7 +167,7 @@ class DisplayPygame_320(DisplayBase):
     def __init__(self):
         from luma.emulator.device import pygame
 
-        # init display  (SPI hardware)
+        self._keyboard_queue = None
         pygame = pygame(
             width=320,
             height=240,
@@ -100,8 +176,12 @@ def __init__(self):
             frame_rate=60,
         )
         self.device = pygame
+        _patch_pygame_keyboard(self)
         super().__init__()
 
+    def set_keyboard_queue(self, q) -> None:
+        self._keyboard_queue = q
+
 
 class DisplaySSD1351(DisplayBase):
     resolution = (128, 128)
diff --git a/python/PiFinder/gps_ubx_parser.py b/python/PiFinder/gps_ubx_parser.py
index 5627b1af6..36bdb3847 100644
--- a/python/PiFinder/gps_ubx_parser.py
+++ b/python/PiFinder/gps_ubx_parser.py
@@ -159,7 +159,7 @@ async def connect(cls, log_queue, host="127.0.0.1", port=2947, max_attempts=5):
     async def from_file(cls, file_path: str):
         """Create a UBXParser instance from a file."""
         f = await aiofiles.open(file_path, "rb")
-        return cls(log_queue=None, reader=f, file_path=file_path)  # type:ignore[arg-type]
+        return cls(log_queue=None, reader=f, file_path=file_path)
 
     async def close(self):
         """Clean up resources and close the connection."""
diff --git a/python/PiFinder/image_util.py b/python/PiFinder/image_util.py
index 7580c3e01..83815f93f 100644
--- a/python/PiFinder/image_util.py
+++ b/python/PiFinder/image_util.py
@@ -10,7 +10,6 @@
 
 from PIL import Image, ImageChops
 import numpy as np
-import scipy.ndimage
 
 
 def make_red(in_image, colors):
@@ -37,6 +36,8 @@ def gamma_correct(in_value, gamma):
 
 
 def subtract_background(image, percent=1):
+    import scipy.ndimage
+
     image = np.asarray(image, dtype=np.float32)
     if image.ndim == 3:
         assert image.shape[2] in (1, 3), "Colour image must have 1 or 3 colour channels"
diff --git a/python/PiFinder/imu_pi.py b/python/PiFinder/imu_pi.py
index 4e00b3165..4e475cbb8 100644
--- a/python/PiFinder/imu_pi.py
+++ b/python/PiFinder/imu_pi.py
@@ -6,38 +6,62 @@
 """
 
 import time
-from PiFinder import config
 from PiFinder.multiproclogging import MultiprocLogging
 import board
 import adafruit_bno055
 import logging
-import quaternion  # Numpy quaternion
+
+from PiFinder import config
 
 logger = logging.getLogger("IMU.pi")
 
 QUEUE_LEN = 10
+MOVE_CHECK_LEN = 2
 
 
 class Imu:
-    """
-    Previous version modified the IMU axes but the IMU now outputs the
-    measurements using its native axes and the transformation from the IMU
-    axes to the camera frame is done by the IMU dead-reckonig functionality.
-    """
-
     def __init__(self):
         i2c = board.I2C()
         self.sensor = adafruit_bno055.BNO055_I2C(i2c)
-        # IMPLUS mode: Accelerometer + Gyro + Fusion data
         self.sensor.mode = adafruit_bno055.IMUPLUS_MODE
         # self.sensor.mode = adafruit_bno055.NDOF_MODE
-
+        cfg = config.Config()
+        if (
+            cfg.get_option("screen_direction") == "flat"
+            or cfg.get_option("screen_direction") == "straight"
+            or cfg.get_option("screen_direction") == "flat3"
+        ):
+            self.sensor.axis_remap = (
+                adafruit_bno055.AXIS_REMAP_Y,
+                adafruit_bno055.AXIS_REMAP_X,
+                adafruit_bno055.AXIS_REMAP_Z,
+                adafruit_bno055.AXIS_REMAP_POSITIVE,
+                adafruit_bno055.AXIS_REMAP_POSITIVE,
+                adafruit_bno055.AXIS_REMAP_NEGATIVE,
+            )
+        elif cfg.get_option("screen_direction") == "as_bloom":
+            self.sensor.axis_remap = (
+                adafruit_bno055.AXIS_REMAP_X,
+                adafruit_bno055.AXIS_REMAP_Z,
+                adafruit_bno055.AXIS_REMAP_Y,
+                adafruit_bno055.AXIS_REMAP_POSITIVE,
+                adafruit_bno055.AXIS_REMAP_POSITIVE,
+                adafruit_bno055.AXIS_REMAP_POSITIVE,
+            )
+        else:
+            self.sensor.axis_remap = (
+                adafruit_bno055.AXIS_REMAP_Z,
+                adafruit_bno055.AXIS_REMAP_Y,
+                adafruit_bno055.AXIS_REMAP_X,
+                adafruit_bno055.AXIS_REMAP_POSITIVE,
+                adafruit_bno055.AXIS_REMAP_POSITIVE,
+                adafruit_bno055.AXIS_REMAP_POSITIVE,
+            )
         self.quat_history = [(0, 0, 0, 0)] * QUEUE_LEN
         self._flip_count = 0
         self.calibration = 0
-        self.avg_quat = (0, 0, 0, 0)  # Scalar-first quaternion as float: (w, x, y, z)
+        self.avg_quat = (0, 0, 0, 0)
         self.__moving = False
-        self.__reading_diff = 0.0
 
         self.last_sample_time = time.time()
 
@@ -48,13 +72,25 @@ def __init__(self):
         # to start moving, second is threshold to fall below
         # to stop moving.
 
-        cfg = config.Config()
         imu_threshold_scale = cfg.get_option("imu_threshold_scale", 1)
         self.__moving_threshold = (
             0.0005 * imu_threshold_scale,
             0.0003 * imu_threshold_scale,
         )
 
+    def quat_to_euler(self, quat):
+        from scipy.spatial.transform import Rotation
+
+        if quat[0] + quat[1] + quat[2] + quat[3] == 0:
+            return 0, 0, 0
+        rot = Rotation.from_quat(quat)
+        rot_euler = rot.as_euler("xyz", degrees=True)
+        # convert from -180/180 to 0/360
+        rot_euler[0] += 180
+        rot_euler[1] += 180
+        rot_euler[2] += 180
+        return rot_euler
+
     def moving(self):
         """
         Compares most recent reading
@@ -74,7 +110,6 @@ def update(self):
         if self.calibration == 0:
             logger.warning("NOIMU CAL")
             return True
-        # adafruit_bno055 uses quaternion convention (w, x, y, z)
         quat = self.sensor.quaternion
         if quat[0] is None:
             logger.warning("IMU: Failed to get sensor values")
@@ -97,9 +132,6 @@ def update(self):
         # Sometimes the quat output will 'flip' and change by 2.0+
         # from one reading to another.  This is clearly noise or an
         # artifact, so filter them out
-        #
-        # NOTE: This is probably due to the double-cover property of quaternions
-        # where +q and -q describe the same rotation?
         if self.__reading_diff > 1.5:
             self._flip_count += 1
             if self._flip_count > 10:
@@ -116,9 +148,7 @@ def update(self):
             # no flip
             self._flip_count = 0
 
-        # avg_quat is the latest quaternion measurement, not the average
         self.avg_quat = quat
-        # Write over the quat_hisotry queue FIFO:
         if len(self.quat_history) == QUEUE_LEN:
             self.quat_history = self.quat_history[1:]
         self.quat_history.append(quat)
@@ -130,6 +160,9 @@ def update(self):
             if self.__reading_diff > self.__moving_threshold[0]:
                 self.__moving = True
 
+    def get_euler(self):
+        return list(self.quat_to_euler(self.avg_quat))
+
     def __str__(self):
         return (
             f"IMU Information:\n"
@@ -162,40 +195,35 @@ def imu_monitor(shared_state, console_queue, log_queue):
 
     imu = Imu()
     imu_calibrated = False
-    # TODO: Remove move_start, move_end
     imu_data = {
         "moving": False,
         "move_start": None,
         "move_end": None,
-        "quat": quaternion.quaternion(
-            0, 0, 0, 0
-        ),  # Scalar-first numpy quaternion(w, x, y, z) - Init to invalid quaternion
-        "status": 0,  # IMU Status: 3=Calibrated
+        "pos": [0, 0, 0],
+        "quat": [0, 0, 0, 0],
+        "start_pos": [0, 0, 0],
+        "status": 0,
     }
-
     while True:
         imu.update()
         imu_data["status"] = imu.calibration
-
-        # TODO: move_start and move_end don't seem to be used?
         if imu.moving():
             if not imu_data["moving"]:
                 logger.debug("IMU: move start")
                 imu_data["moving"] = True
+                imu_data["start_pos"] = imu_data["pos"]
                 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)
+            imu_data["pos"] = imu.get_euler()
+            imu_data["quat"] = imu.avg_quat
+
         else:
             if imu_data["moving"]:
                 # If we were moving and we now stopped
                 logger.debug("IMU: move end")
                 imu_data["moving"] = False
+                imu_data["pos"] = imu.get_euler()
+                imu_data["quat"] = imu.avg_quat
                 imu_data["move_end"] = time.time()
-                imu_data["quat"] = quaternion.from_float_array(
-                    imu.avg_quat
-                )  # Scalar-first (w, x, y, z)
 
         if not imu_calibrated:
             if imu_data["status"] == 3:
@@ -214,7 +242,6 @@ def imu_monitor(shared_state, console_queue, log_queue):
         imu = Imu()
         for i in range(10):
             imu.update()
-            print(imu)
             time.sleep(0.5)
     except Exception as e:
         logger.exception("Error starting phyiscal IMU", e)
diff --git a/python/PiFinder/integrator.py b/python/PiFinder/integrator.py
index 2457f4872..3e74d595a 100644
--- a/python/PiFinder/integrator.py
+++ b/python/PiFinder/integrator.py
@@ -221,9 +221,9 @@ def update_imu(
     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
+    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
diff --git a/python/PiFinder/keyboard_none.py b/python/PiFinder/keyboard_none.py
index 96d433077..e65efa662 100644
--- a/python/PiFinder/keyboard_none.py
+++ b/python/PiFinder/keyboard_none.py
@@ -20,7 +20,7 @@ def callback(self, key):
         self.q.put(key)
 
 
-def run_keyboard(q, shared_state, log_queue):
+def run_keyboard(q, shared_state, log_queue, bloom_remap=False):
     MultiprocLogging.configurer(log_queue)
     KeyboardNone(q)
 
diff --git a/python/PiFinder/main.py b/python/PiFinder/main.py
index d447bf66c..4a733a86a 100644
--- a/python/PiFinder/main.py
+++ b/python/PiFinder/main.py
@@ -32,6 +32,7 @@
 
 import PiFinder.i18n  # noqa: F401
 from PiFinder import solver
+from PiFinder import integrator
 from PiFinder import config
 from PiFinder import pos_server
 from PiFinder import utils
@@ -238,53 +239,11 @@ def sleep_screen(self):
         self.display_device.device.show()
 
 
-def start_profiling():
-    """Start profiling for performance analysis"""
-    import cProfile
-
-    profiler = cProfile.Profile()
-    profiler.enable()
-    startup_profile_start = time.time()
-    return profiler, startup_profile_start
-
-
-def stop_profiling(profiler, startup_profile_start):
-    """Stop profiling and save results"""
-    import pstats
-
-    profiler.disable()
-    startup_profile_time = time.time() - startup_profile_start
-    profile_path = utils.data_dir / "startup_profile.prof"
-    profiler.dump_stats(str(profile_path))
-
-    logger = logging.getLogger("Main.Profiling")
-    logger.info(f"=== Startup Profiling Complete ({startup_profile_time:.2f}s) ===")
-    logger.info(f"Profile saved to: {profile_path}")
-    logger.info("To analyze, run:")
-    logger.info(
-        f"  python -c \"import pstats; p = pstats.Stats('{profile_path}'); p.sort_stats('cumulative').print_stats(30)\""
-    )
-
-    summary_path = utils.data_dir / "startup_profile.txt"
-    with open(summary_path, "w") as f:
-        ps = pstats.Stats(profiler, stream=f)
-        f.write(f"=== STARTUP PROFILING ({startup_profile_time:.2f}s) ===\n\n")
-        f.write("Top 30 functions by cumulative time:\n")
-        f.write("=" * 80 + "\n")
-        ps.sort_stats("cumulative").print_stats(30)
-        f.write("\n" + "=" * 80 + "\n")
-        f.write("Top 30 functions by internal time:\n")
-        f.write("=" * 80 + "\n")
-        ps.sort_stats("time").print_stats(30)
-    logger.info(f"Text summary saved to: {summary_path}")
-
-
 def main(
     log_helper: MultiprocLogging,
     script_name=None,
     show_fps=False,
     verbose=False,
-    profile_startup=False,
 ) -> None:
     """
     Get this show on the road!
@@ -301,6 +260,7 @@ def main(
     # init queues
     console_queue: Queue = Queue()
     keyboard_queue: Queue = Queue()
+    display_device.set_keyboard_queue(keyboard_queue)
     gps_queue: Queue = Queue()
     camera_command_queue: Queue = Queue()
     solver_queue: Queue = Queue()
@@ -504,14 +464,10 @@ def main(
         )
         posserver_process.start()
 
-        # Initialize Catalogs
         console.write("   Catalogs")
         logger.info("   Catalogs")
         console.update()
 
-        # Start profiling (uncomment to enable performance analysis)
-        # profiler, startup_profile_start = start_profiling()
-
         # Initialize Catalogs (pass ui_queue for background loading completion signal)
         catalogs: Catalogs = CatalogBuilder().build(shared_state, ui_queue)
 
@@ -535,13 +491,14 @@ def main(
         # Initialize power manager
         power_manager = PowerManager(cfg, shared_state, display_device)
 
-        # Start main event loop
-        console.write("   Event Loop")
-        logger.info("   Event Loop")
+        # Startup complete — clear welcome backdrop
+        console.write("   Ready")
         console.update()
+        console.finish_startup()
 
-        # Stop profiling (uncomment to analyze startup performance)
-        # stop_profiling(profiler, startup_profile_start)
+        # Start deferred catalog loading now that UI is ready
+        logger.info("   Event Loop")
+        catalogs.start_background_loading()
 
         log_time = True
         # Start of main except handler / loop
@@ -952,13 +909,6 @@ def main(
         help="Force user interface language (iso2 code). Changes configuration",
         type=str,
     )
-    parser.add_argument(
-        "--profile-startup",
-        help="Profile startup performance (catalog/menu loading)",
-        default=False,
-        action="store_true",
-        required=False,
-    )
     args = parser.parse_args()
     # add the handlers to the logger
     if args.verbose:
@@ -970,25 +920,18 @@ def main(
         hardware_platform = "Fake"
         display_hardware = "pg_128"
         imu = importlib.import_module("PiFinder.imu_fake")
-        integrator = importlib.import_module("PiFinder.integrator_classic")
         gps_monitor = importlib.import_module("PiFinder.gps_fake")
     else:
         hardware_platform = "Pi"
         display_hardware = "ssd1351"
         from rpi_hardware_pwm import HardwarePWM
 
+        imu = importlib.import_module("PiFinder.imu_pi")
         cfg = config.Config()
-        if cfg.get_option("imu_integrator") == "quaternion":
-            imu = importlib.import_module("PiFinder.imu_pi")
-            integrator = importlib.import_module("PiFinder.integrator")
-        else:
-            imu = importlib.import_module("PiFinder.imu_pi_classic")
-            integrator = importlib.import_module("PiFinder.integrator_classic")
 
         # verify and sync GPSD baud rate
         try:
-            from PiFinder import sys_utils
-
+            sys_utils = utils.get_sys_utils()
             baud_rate = cfg.get_option(
                 "gps_baud_rate", 9600
             )  # Default to 9600 if not set
@@ -1023,9 +966,14 @@ def main(
 
         rlogger.info("using pi keyboard hat")
     elif args.keyboard.lower() == "local":
-        from PiFinder import keyboard_local as keyboard  # type: ignore[no-redef]
+        if display_hardware.startswith("pg_"):
+            from PiFinder import keyboard_none as keyboard  # type: ignore[no-redef]
+
+            rlogger.info("using pygame keyboard (display captures keys)")
+        else:
+            from PiFinder import keyboard_local as keyboard  # type: ignore[no-redef]
 
-        rlogger.info("using local keyboard")
+            rlogger.info("using local keyboard")
     elif args.keyboard.lower() == "none":
         from PiFinder import keyboard_none as keyboard  # type: ignore[no-redef]
 
@@ -1038,7 +986,7 @@ def main(
             config.Config().set_option("language", args.lang)
 
     try:
-        main(log_helper, args.script, args.fps, args.verbose, args.profile_startup)
+        main(log_helper, args.script, args.fps, args.verbose)
     except Exception:
         rlogger.exception("Exception in main(). Aborting program.")
         os._exit(1)
diff --git a/python/PiFinder/multiproclogging.py b/python/PiFinder/multiproclogging.py
index 92d36dccd..2f8bee958 100644
--- a/python/PiFinder/multiproclogging.py
+++ b/python/PiFinder/multiproclogging.py
@@ -10,7 +10,6 @@
 import multiprocessing.queues
 from pathlib import Path
 from multiprocessing import Queue, Process
-import multiprocessing
 from queue import Empty
 from time import sleep
 from typing import TextIO, List, Optional
@@ -83,9 +82,9 @@ def apply_config(self):
 
     def start(self, initial_queue: Optional[Queue] = None):
         assert self._proc is None, "You should only start once!"
-        assert (
-            len(self._queues) >= 1
-        ), "No queues in use. You should have requested at least one queue."
+        assert len(self._queues) >= 1, (
+            "No queues in use. You should have requested at least one queue."
+        )
 
         self._proc = Process(
             target=self._run_sink,
@@ -170,9 +169,9 @@ def configurer(queue: Queue):
         log messages.
         """
         assert queue is not None, "You passed a None to configurer! You cannot do that"
-        assert isinstance(
-            queue, multiprocessing.queues.Queue
-        ), "That's not a Queue! You have to pass a queue"
+        assert isinstance(queue, multiprocessing.queues.Queue), (
+            "That's not a Queue! You have to pass a queue"
+        )
 
         log_conf_file = Path("pifinder_logconf.json")
         with open(log_conf_file, "r") as logconf:
diff --git a/python/PiFinder/nearby.py b/python/PiFinder/nearby.py
index f2ac7448d..d285b1fbc 100644
--- a/python/PiFinder/nearby.py
+++ b/python/PiFinder/nearby.py
@@ -2,7 +2,6 @@
 from typing import List
 import time
 import numpy as np
-from sklearn.neighbors import BallTree
 import logging
 
 logger = logging.getLogger("Catalog.Nearby")
@@ -74,6 +73,8 @@ def calculate_objects_balltree(self, objects: list[CompositeObject]) -> None:
         object_radecs = np.array(
             [[np.deg2rad(x.ra), np.deg2rad(x.dec)] for x in deduplicated_objects]
         )
+        from sklearn.neighbors import BallTree
+
         self._objects = np.array(deduplicated_objects)
         self._objects_balltree = BallTree(
             object_radecs, leaf_size=20, metric="haversine"
diff --git a/python/PiFinder/plot.py b/python/PiFinder/plot.py
index 0e4c8a403..2a0596e61 100644
--- a/python/PiFinder/plot.py
+++ b/python/PiFinder/plot.py
@@ -8,7 +8,6 @@
 import os
 import datetime
 import numpy as np
-import pandas
 from pathlib import Path
 from PiFinder import utils
 from PIL import Image, ImageDraw, ImageChops
@@ -133,6 +132,8 @@ def radec_to_xy(self, ra: float, dec: float) -> tuple[float, float]:
         """
         Converts and RA/DEC to screen space x/y for the current projection
         """
+        import pandas
+
         markers = pandas.DataFrame(
             [(Angle(degrees=ra)._hours, dec)], columns=["ra_hours", "dec_degrees"]
         )
@@ -168,6 +169,8 @@ def plot_markers(self, marker_list):
         Marker list should be a list of
         (RA_Hours/DEC_degrees, symbol) tuples
         """
+        import pandas
+
         ret_image = Image.new("RGB", self.render_size)
         idraw = ImageDraw.Draw(ret_image)
 
diff --git a/python/PiFinder/server.py b/python/PiFinder/server.py
index ff9db6d14..3f095cbd4 100644
--- a/python/PiFinder/server.py
+++ b/python/PiFinder/server.py
@@ -57,7 +57,7 @@ def __init__(
         shared_state,
         is_debug=False,
     ):
-        self.version_txt = f"{utils.pifinder_dir}/version.txt"
+        self._software_version = utils.get_version()
         self.keyboard_queue = keyboard_queue
         self.ui_queue = ui_queue
         self.gps_queue = gps_queue
@@ -115,13 +115,7 @@ def send_css(filename):
         @app.route("/")
         def home():
             logger.debug("/ called")
-            # Get version info
-            software_version = "Unknown"
-            try:
-                with open(self.version_txt, "r") as ver_f:
-                    software_version = ver_f.read()
-            except (FileNotFoundError, IOError) as e:
-                logger.warning(f"Could not read version file: {str(e)}")
+            software_version = self._software_version
 
             # Try to update GPS state
             try:
@@ -423,7 +417,12 @@ def network_update():
             self.network.set_wifi_mode(wifi_mode)
             self.network.set_ap_name(ap_name)
             self.network.set_host_name(host_name)
-            return template("restart")
+            return template(
+                "network",
+                net=self.network,
+                show_new_form=0,
+                status_message="Network settings updated. You may need to reconnect.",
+            )
 
         @app.route("/tools/pwchange", method="post")
         @auth_required
@@ -571,7 +570,7 @@ def equipment_import():
                     try:
                         cfg.equipment.eyepieces.index(new_eyepiece)
                     except ValueError:
-                        cfg.equipment.add_eyepiece(new_eyepiece)
+                        cfg.equipment.eyepieces.append(new_eyepiece)
 
                 cfg.save_equipment()
                 self.ui_queue.put("reload_config")
@@ -608,13 +607,13 @@ def equipment_add_eyepiece(eyepiece_id: int):
                 )
 
                 if eyepiece_id >= 0:
-                    cfg.equipment.update_eyepiece(eyepiece_id, eyepiece)
+                    cfg.equipment.eyepieces[eyepiece_id] = eyepiece
                 else:
                     try:
                         index = cfg.equipment.telescopes.index(eyepiece)
-                        cfg.equipment.update_eyepiece(index, eyepiece)
+                        cfg.equipment.eyepieces[index] = eyepiece
                     except ValueError:
-                        cfg.equipment.add_eyepiece(eyepiece)
+                        cfg.equipment.eyepieces.append(eyepiece)
 
                 cfg.save_equipment()
                 self.ui_queue.put("reload_config")
@@ -631,7 +630,7 @@ def equipment_add_eyepiece(eyepiece_id: int):
         @auth_required
         def equipment_delete_eyepiece(eyepiece_id: int):
             cfg = config.Config()
-            cfg.equipment.remove_eyepiece(eyepiece_id)
+            cfg.equipment.eyepieces.pop(eyepiece_id)
             cfg.save_equipment()
             self.ui_queue.put("reload_config")
             return template(
diff --git a/python/PiFinder/solver.py b/python/PiFinder/solver.py
index 69a0cb251..26c1de24f 100644
--- a/python/PiFinder/solver.py
+++ b/python/PiFinder/solver.py
@@ -25,6 +25,7 @@
 from PiFinder.state import SQM as SQMState
 
 sys.path.append(str(utils.tetra3_dir))
+sys.path.append(str(utils.tetra3_dir / "tetra3"))
 import tetra3
 from tetra3 import cedar_detect_client
 
@@ -159,13 +160,31 @@ class CedarConnectionError(Exception):
 
 class PFCedarDetectClient(cedar_detect_client.CedarDetectClient):
     def __init__(self, port=50551):
-        """Set up the client without spawning the server as we
-        run this as a service on the PiFinder
+        """Connect to cedar-detect-server.
 
-        Also changing this to a different default port
+        On the Pi the server runs as a systemd service.
+        In dev mode we spawn it as a subprocess (like upstream does).
         """
         self._port = port
-        time.sleep(2)
+        self._subprocess = None
+
+        # Check if the server is already listening (systemd service on Pi)
+        if not self._server_reachable():
+            # Dev mode: spawn the server ourselves
+            import shutil
+
+            binary = shutil.which("cedar-detect-server")
+            if binary is None:
+                raise FileNotFoundError("cedar-detect-server")
+            my_env = os.environ.copy()
+            my_env["RUST_BACKTRACE"] = "1"
+            import subprocess
+
+            self._subprocess = subprocess.Popen(
+                [binary, "--port", str(self._port)], env=my_env
+            )
+            time.sleep(1)
+
         # Will initialize on first use.
         self._stub = None
         self._shmem = None
@@ -173,6 +192,19 @@ def __init__(self, port=50551):
         # Try shared memory, fall back if an error occurs.
         self._use_shmem = True
 
+    def __del__(self):
+        if self._subprocess is not None:
+            self._subprocess.kill()
+        self._del_shmem()
+
+    def _server_reachable(self):
+        """Quick check if cedar-detect-server is already listening."""
+        import socket
+
+        with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
+            s.settimeout(0.2)
+            return s.connect_ex(("127.0.0.1", self._port)) == 0
+
     def _get_stub(self):
         if self._stub is None:
             channel = grpc.insecure_channel("127.0.0.1:%d" % self._port)
@@ -181,6 +213,31 @@ def _get_stub(self):
             )
         return self._stub
 
+    def _alloc_shmem(self, size):
+        """Override to fix shared memory name (no leading / for Python's SharedMemory)."""
+        from multiprocessing import shared_memory
+
+        if self._shmem is not None and size > self._shmem_size:
+            self._shmem.close()
+            self._shmem.unlink()
+            self._shmem = None
+        if self._shmem is None:
+            # Use name without leading / - Python's SharedMemory adds it automatically
+            self._shmem = shared_memory.SharedMemory(
+                "cedar_detect_image", create=True, size=size
+            )
+            self._shmem_size = size
+
+    def _del_shmem(self):
+        """Override to match _alloc_shmem naming."""
+        if self._shmem is not None:
+            self._shmem.close()
+            try:
+                self._shmem.unlink()
+            except FileNotFoundError:
+                pass
+            self._shmem = None
+
     def extract_centroids(
         self, image, sigma, max_size, use_binned, detect_hot_pixels=True
     ):
@@ -247,9 +304,6 @@ def extract_centroids(
                 tetra_centroids.append((sc.centroid_position.y, sc.centroid_position.x))
         return tetra_centroids
 
-    def __del__(self):
-        self._del_shmem()
-
 
 def solver(
     shared_state,
@@ -261,7 +315,6 @@ def solver(
     align_result_queue,
     camera_command_queue,
     is_debug=False,
-    max_imu_ang_during_exposure=1.0,  # Max allowed turn during exp [degrees]
 ):
     MultiprocLogging.configurer(log_queue)
     logger.debug("Starting Solver")
@@ -270,9 +323,34 @@ def solver(
     )
     align_ra = 0
     align_dec = 0
-    # Dict of RA, Dec, etc. initialized to None:
-    solved = get_initialized_solved_dict()
     solution = {}
+    solved = {
+        # RA, Dec, Roll solved at the center of the camera FoV
+        # update by integrator
+        "camera_center": {
+            "RA": None,
+            "Dec": None,
+            "Roll": None,
+            "Alt": None,
+            "Az": None,
+        },
+        # RA, Dec, Roll from the camera, not
+        # affected by IMU in integrator
+        "camera_solve": {
+            "RA": None,
+            "Dec": None,
+            "Roll": None,
+        },
+        # RA, Dec, Roll at the target pixel
+        "RA": None,
+        "Dec": None,
+        "Roll": None,
+        "imu_pos": None,
+        "solve_time": None,
+        "cam_solve_time": 0,
+        "last_solve_attempt": 0,  # Timestamp of last solve attempt - tracks exposure_end of last processed image
+        "last_solve_success": None,  # Timestamp of last successful solve
+    }
 
     centroids = []
     log_no_stars_found = True
@@ -337,8 +415,14 @@ def solver(
                 is_new_image = (
                     last_image_metadata["exposure_end"] > solved["last_solve_attempt"]
                 )
+                is_stationary = last_image_metadata["imu_delta"] < 1
+
+                if is_new_image and not is_stationary:
+                    logger.debug(
+                        f"Skipping image - IMU delta {last_image_metadata['imu_delta']:.2f}° >= 1° (moving)"
+                    )
 
-                if is_new_image:
+                if is_new_image and is_stationary:
                     try:
                         img = camera_image.copy()
                         img = img.convert(mode="L")
@@ -441,25 +525,19 @@ def solver(
                             solved["camera_center"]["Dec"] = solved["Dec"]
                             solved["camera_center"]["Roll"] = solved["Roll"]
 
-                            # RA, Dec, Roll at the camera center from plate-solve (no IMU compensation)
+                            # RA, Dec, Roll at the center of the camera's not imu:
                             solved["camera_solve"]["RA"] = solved["RA"]
                             solved["camera_solve"]["Dec"] = solved["Dec"]
                             solved["camera_solve"]["Roll"] = solved["Roll"]
-
                             # RA, Dec, Roll at the target pixel:
-                            # Replace the camera center RA/Dec with the RA/Dec for the target pixel
                             solved["RA"] = solved["RA_target"]
                             solved["Dec"] = solved["Dec_target"]
-
-                            if last_image_metadata.get("imu"):
+                            if last_image_metadata["imu"]:
+                                solved["imu_pos"] = last_image_metadata["imu"]["pos"]
                                 solved["imu_quat"] = last_image_metadata["imu"]["quat"]
-                                solved["imu_pos"] = last_image_metadata["imu"].get(
-                                    "pos"
-                                )
                             else:
-                                solved["imu_quat"] = None
                                 solved["imu_pos"] = None
-
+                                solved["imu_quat"] = None
                             solved["solve_time"] = time.time()
                             solved["cam_solve_time"] = solved["solve_time"]
                             # Mark successful solve - use same timestamp as last_solve_attempt for comparison
@@ -531,45 +609,35 @@ def solver(
 
 def get_initialized_solved_dict() -> dict:
     """
-    Returns an initialized 'solved' dictionary with cooridnate and other
+    Returns an initialized 'solved' dictionary with coordinate and other
     information.
-
-    TODO: Update solver_main.py with this
-    TODO: use RaDecRoll class for the RA, Dec, Roll coordinates here?
-    TODO: "Alt" and "Az" could be removed but seems to be required by catalogs?
     """
     solved = {
-        # RA, Dec, Roll [deg] of the scope at the target pixel
         "RA": None,
         "Dec": None,
         "Roll": None,
-        # RA, Dec, Roll [deg] solved at the center of the camera FoV
-        # update by the IMU in the integrator
         "camera_center": {
             "RA": None,
             "Dec": None,
             "Roll": None,
-            "Alt": None,  # NOTE: Altaz needed by catalogs for altaz mounts
+            "Alt": None,
             "Az": None,
         },
-        # RA, Dec, Roll [deg] from the camera, not updated by IMU in integrator
         "camera_solve": {
             "RA": None,
             "Dec": None,
             "Roll": None,
         },
-        "imu_pos": None,  # IMU euler angles (classic integrator)
-        "imu_quat": None,  # IMU quaternion as numpy quaternion (scalar-first)
-        "Roll_offset": 0,  # Roll offset for classic integrator
-        # Alt, Az [deg] of scope:
+        "imu_pos": None,
+        "imu_quat": None,
+        "Roll_offset": 0,
         "Alt": None,
         "Az": None,
-        # Diagnostics:
-        "solve_source": None,  # Source of the solve ("CAM", "CAM_FAILED", "IMU")
+        "solve_source": None,
         "solve_time": None,
         "cam_solve_time": 0,
-        "last_solve_attempt": 0,  # Timestamp of last solve attempt - tracks exposure_end of last processed image
-        "last_solve_success": None,  # Timestamp of last successful solve
+        "last_solve_attempt": 0,
+        "last_solve_success": None,
         "constellation": None,
     }
 
diff --git a/python/PiFinder/splash.py b/python/PiFinder/splash.py
index fc2a55ce8..a351e955f 100644
--- a/python/PiFinder/splash.py
+++ b/python/PiFinder/splash.py
@@ -33,8 +33,9 @@ def show_splash():
     screen_draw = ImageDraw.Draw(welcome_image)
 
     # Display version and Wifi mode
-    with open(os.path.join(root_dir, "version.txt"), "r") as ver_f:
-        version = "v" + ver_f.read()
+    from PiFinder import utils
+
+    version = utils.get_version()
 
     with open(os.path.join(root_dir, "wifi_status.txt"), "r") as wifi_f:
         wifi_mode = wifi_f.read()
diff --git a/python/PiFinder/sqm/sqm.ipynb b/python/PiFinder/sqm/sqm.ipynb
index 490d27c57..cd956e870 100644
--- a/python/PiFinder/sqm/sqm.ipynb
+++ b/python/PiFinder/sqm/sqm.ipynb
@@ -32,9 +32,11 @@
     "import logging as logger\n",
     "from pathlib import Path\n",
     "import matplotlib.pyplot as plt\n",
+    "\n",
     "%matplotlib inline\n",
     "import pprint\n",
-    "pp = pprint.PrettyPrinter(depth=5)\n"
+    "\n",
+    "pp = pprint.PrettyPrinter(depth=5)"
    ]
   },
   {
@@ -70,11 +72,11 @@
     }
    ],
    "source": [
-    "os.chdir('/Users/mike/dev/amateur_astro/myPiFinder/wt-sqm/python')\n",
+    "os.chdir(\"/Users/mike/dev/amateur_astro/myPiFinder/wt-sqm/python\")\n",
     "cwd = Path(os.getcwd())\n",
     "print(cwd)\n",
     "tetra3_path = cwd / \"PiFinder/tetra3/tetra3\"\n",
-    "root_path = cwd / '..'\n",
+    "root_path = cwd / \"..\"\n",
     "\n",
     "# Add it only once if it's not already there\n",
     "if str(tetra3_path) not in sys.path:\n",
@@ -82,9 +84,10 @@
     "\n",
     "# Silence tetra3 DEBUG output BEFORE importing tetra3\n",
     "import logging\n",
+    "\n",
     "logging.basicConfig(level=logging.WARNING)\n",
-    "logging.getLogger('tetra3.Tetra3').setLevel(logging.WARNING)\n",
-    "logging.getLogger('Solver').setLevel(logging.WARNING)\n",
+    "logging.getLogger(\"tetra3.Tetra3\").setLevel(logging.WARNING)\n",
+    "logging.getLogger(\"Solver\").setLevel(logging.WARNING)\n",
     "\n",
     "# Now try importing\n",
     "\n",
@@ -92,11 +95,10 @@
     "import PiFinder.tetra3.tetra3 as tetra3\n",
     "from PiFinder.tetra3.tetra3 import cedar_detect_client\n",
     "from PiFinder import utils\n",
+    "\n",
     "os_detail, platform, arch = utils.get_os_info()\n",
     "\n",
-    "t3 = tetra3.Tetra3(\n",
-    "    str(tetra3_path / \"data/default_database.npz\")\n",
-    ")\n",
+    "t3 = tetra3.Tetra3(str(tetra3_path / \"data/default_database.npz\"))\n",
     "\n",
     "logger.info(\"Starting Solver Loop\")\n",
     "# Start cedar detect server\n",
@@ -160,26 +162,26 @@
    "outputs": [],
    "source": [
     "images = {\n",
-    "    'sqm1833.png': {'realsqm': 18.33},\n",
-    "    'sqm1837.png': {'realsqm': 18.37},\n",
-    "    'sqm1845.png': {'realsqm': 18.45},\n",
-    "    'sqm1855.png': {'realsqm': 18.55},\n",
-    "    'sqm1860.png': {'realsqm': 18.60},\n",
-    "    'sqm1870.png': {'realsqm': 18.70},\n",
-    "    'sqm1980.png': {'realsqm': 19.80},\n",
-    "    'sqm2000_0.8-4.png': {'realsqm': 20.00},\n",
-    "    'sqm2000_0.8-3.png': {'realsqm': 20.00},\n",
-    "    'sqm1818_raw_new_0.2.png': {'realsqm': 18.18},    \n",
-    "    'sqm1818_raw_new_1.png': {'realsqm': 18.18}\n",
+    "    \"sqm1833.png\": {\"realsqm\": 18.33},\n",
+    "    \"sqm1837.png\": {\"realsqm\": 18.37},\n",
+    "    \"sqm1845.png\": {\"realsqm\": 18.45},\n",
+    "    \"sqm1855.png\": {\"realsqm\": 18.55},\n",
+    "    \"sqm1860.png\": {\"realsqm\": 18.60},\n",
+    "    \"sqm1870.png\": {\"realsqm\": 18.70},\n",
+    "    \"sqm1980.png\": {\"realsqm\": 19.80},\n",
+    "    \"sqm2000_0.8-4.png\": {\"realsqm\": 20.00},\n",
+    "    \"sqm2000_0.8-3.png\": {\"realsqm\": 20.00},\n",
+    "    \"sqm1818_raw_new_0.2.png\": {\"realsqm\": 18.18},\n",
+    "    \"sqm1818_raw_new_1.png\": {\"realsqm\": 18.18},\n",
     "}\n",
     "\n",
     "#\n",
     "# {\n",
-    "#   'sqmbla.png' : {'realsqm': 18.44, \n",
+    "#   'sqmbla.png' : {'realsqm': 18.44,\n",
     "#\n",
     "#\n",
-    "#images = {'sqm1833.png': images['sqm1833.png']}\n",
-    "#images = {'sqm1837.png': images['sqm1837.png']}"
+    "# images = {'sqm1833.png': images['sqm1833.png']}\n",
+    "# images = {'sqm1837.png': images['sqm1837.png']}"
    ]
   },
   {
@@ -197,7 +199,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "def load_image(current_image, image_path = Path('../test_images/')):\n",
+    "def load_image(current_image, image_path=Path(\"../test_images/\")):\n",
     "    img = Image.open(image_path / current_image)\n",
     "    rgb_np_image = np.asarray(img, dtype=np.uint8)\n",
     "    np_image = rgb_np_image[:, :, 0]  # Takes just the red values\n",
@@ -205,16 +207,18 @@
     "    # np_image = ((stretched - stretched.min()) * (255.0/(stretched.max() - stretched.min()))).astype(np.uint8)\n",
     "    return np_image, img\n",
     "\n",
+    "\n",
     "def show_image(image):\n",
-    "    plt.imshow(image, cmap='gray')\n",
+    "    plt.imshow(image, cmap=\"gray\")\n",
     "    plt.title(\"Test image\")\n",
     "    plt.colorbar()\n",
-    "    plt.show() \n",
+    "    plt.show()\n",
+    "\n",
     "\n",
     "# To use just one specific method:\n",
     "def percentile_stretch(image, name, low=5, high=99):\n",
     "    p_low, p_high = np.percentile(image, (low, high))\n",
-    "    plt.imshow(image, cmap='gray', vmin=p_low, vmax=p_high)\n",
+    "    plt.imshow(image, cmap=\"gray\", vmin=p_low, vmax=p_high)\n",
     "    plt.title(name)\n",
     "    plt.colorbar()\n",
     "    plt.show()"
@@ -536,7 +540,7 @@
     "for filename in images:\n",
     "    print(f\"{filename}\")\n",
     "    np_image, image = load_image(filename)\n",
-    "    images[filename]['np_image'] = np_image\n",
+    "    images[filename][\"np_image\"] = np_image\n",
     "    show_image(np_image)\n",
     "    percentile_stretch(np_image, filename)"
    ]
@@ -592,10 +596,10 @@
     "        fov_max_error=4.0,\n",
     "        match_max_error=0.005,\n",
     "        return_matches=True,\n",
-    "        target_pixel=(128,128),\n",
+    "        target_pixel=(128, 128),\n",
     "        solve_timeout=1000,\n",
     "    )\n",
-    "    \n",
+    "\n",
     "    if \"matched_centroids\" in solution:\n",
     "        # Don't clutter printed solution with these fields.\n",
     "        # del solution['matched_centroids']\n",
@@ -607,13 +611,16 @@
     "        del solution[\"cache_hit_fraction\"]\n",
     "    return centroids, solution\n",
     "\n",
-    "for key, value in images.items():    \n",
-    "    centroids, solution = detect(value['np_image'])\n",
-    "    value['centroids'] = centroids  # Store ALL detected centroids\n",
-    "    value['matched_stars'] = solution['matched_stars']\n",
-    "    value['matched_centroids'] = solution['matched_centroids']\n",
-    "    value['fov'] = solution['FOV']\n",
-    "    print(f\"For {key}, there are {len(value['matched_stars'])} matched_stars and {len(centroids)} total centroids\")"
+    "\n",
+    "for key, value in images.items():\n",
+    "    centroids, solution = detect(value[\"np_image\"])\n",
+    "    value[\"centroids\"] = centroids  # Store ALL detected centroids\n",
+    "    value[\"matched_stars\"] = solution[\"matched_stars\"]\n",
+    "    value[\"matched_centroids\"] = solution[\"matched_centroids\"]\n",
+    "    value[\"fov\"] = solution[\"FOV\"]\n",
+    "    print(\n",
+    "        f\"For {key}, there are {len(value['matched_stars'])} matched_stars and {len(centroids)} total centroids\"\n",
+    "    )"
    ]
   },
   {
@@ -632,11 +639,11 @@
    "outputs": [],
    "source": [
     "def enhance_centroids(value: dict):\n",
-    "    matched_centroids = value['matched_centroids']\n",
-    "    matched_stars = value['matched_stars']\n",
+    "    matched_centroids = value[\"matched_centroids\"]\n",
+    "    matched_stars = value[\"matched_stars\"]\n",
     "    xymags = []\n",
     "    for centr, stars in zip(matched_centroids, matched_stars):\n",
-    "        xymags.append([*centr,*stars])\n",
+    "        xymags.append([*centr, *stars])\n",
     "    xymags = np.array(xymags)\n",
     "    xymags_sorted = xymags[xymags[:, 4].argsort()]\n",
     "    # pixel_x, pixel_y - sorted\n",
@@ -645,16 +652,16 @@
     "    matched_stars_s = [[x[2], x[3], x[4]] for x in xymags_sorted]\n",
     "    # pixel_x, pixel_y, mag - sorted\n",
     "    matched = [[x[0], x[1], x[4]] for x in xymags_sorted]\n",
-    "    value['matched_centroids'] = matched_centroids_s\n",
-    "    value['matched_stars'] = matched_stars_s\n",
-    "    value['matched'] = matched\n",
+    "    value[\"matched_centroids\"] = matched_centroids_s\n",
+    "    value[\"matched_stars\"] = matched_stars_s\n",
+    "    value[\"matched\"] = matched\n",
     "    return value\n",
-    "    \n",
+    "\n",
+    "\n",
     "for key, value in images.items():\n",
     "    images[key] = enhance_centroids(value)\n",
     "\n",
-    "#pp.pprint(images)\n",
-    "\n"
+    "# pp.pprint(images)"
    ]
   },
   {
@@ -685,15 +692,16 @@
    "source": [
     "radius = 4\n",
     "plt.title(f\"circles with radius {radius}\")\n",
-    "plt.imshow(np.log1p(np_image), cmap='gray')\n",
+    "plt.imshow(np.log1p(np_image), cmap=\"gray\")\n",
     "plt.colorbar()\n",
     "# Add circles\n",
     "for i, (y, x) in enumerate(centroids):\n",
-    "    circle = plt.Circle((x, y), radius, fill=False, color='red')\n",
+    "    circle = plt.Circle((x, y), radius, fill=False, color=\"red\")\n",
     "    plt.gca().add_artist(circle)\n",
-    "     # Add number annotation\n",
-    "    plt.annotate(str(i), (x, y), color='yellow', fontsize=8, \n",
-    "                ha='right', va='top')  # ha/va center the text on the point\n",
+    "    # Add number annotation\n",
+    "    plt.annotate(\n",
+    "        str(i), (x, y), color=\"yellow\", fontsize=8, ha=\"right\", va=\"top\"\n",
+    "    )  # ha/va center the text on the point\n",
     "plt.show()"
    ]
   },
@@ -729,31 +737,38 @@
     "def histogram(image):\n",
     "    # Method 1: Using PIL's built-in histogram\n",
     "    hist = image.histogram()\n",
-    "    \n",
+    "\n",
     "    # Method 2: Better visualization with matplotlib\n",
     "    np_image = np.array(image)\n",
-    "    \n",
+    "\n",
     "    plt.figure(figsize=(10, 6))\n",
     "    plt.hist(np_image.ravel(), bins=256, range=(0, 256), density=True, alpha=0.75)\n",
-    "    plt.xlabel('Pixel Value')\n",
-    "    plt.ylabel('Frequency')\n",
-    "    plt.title('Image Histogram')\n",
+    "    plt.xlabel(\"Pixel Value\")\n",
+    "    plt.ylabel(\"Frequency\")\n",
+    "    plt.title(\"Image Histogram\")\n",
     "    plt.grid(True, alpha=0.2)\n",
-    "    \n",
+    "\n",
     "    # Optional: Add vertical line for mean\n",
     "    mean_val = np_image.mean()\n",
-    "    plt.axvline(mean_val, color='r', linestyle='dashed', alpha=0.5, \n",
-    "                label=f'Mean: {mean_val:.1f}')\n",
+    "    plt.axvline(\n",
+    "        mean_val,\n",
+    "        color=\"r\",\n",
+    "        linestyle=\"dashed\",\n",
+    "        alpha=0.5,\n",
+    "        label=f\"Mean: {mean_val:.1f}\",\n",
+    "    )\n",
     "    plt.legend()\n",
-    "    \n",
+    "\n",
     "    plt.show()\n",
-    "    \n",
+    "\n",
     "    # Print some statistics\n",
     "    print(f\"Min: {np_image.min()}\")\n",
     "    print(f\"Max: {np_image.max()}\")\n",
     "    print(f\"Mean: {np_image.mean():.2f}\")\n",
     "    print(f\"Median: {np.median(np_image):.2f}\")\n",
     "    print(f\"Std Dev: {np_image.std():.2f}\")\n",
+    "\n",
+    "\n",
     "histogram(image)"
    ]
   },
@@ -795,19 +810,21 @@
     "\n",
     "plt.subplot(121)\n",
     "plt.hist(np_array.ravel(), bins=256, range=(0, 256), density=True, alpha=0.75)\n",
-    "plt.title('Original Histogram')\n",
-    "plt.xlabel('Pixel Value')\n",
-    "plt.ylabel('Frequency')\n",
+    "plt.title(\"Original Histogram\")\n",
+    "plt.xlabel(\"Pixel Value\")\n",
+    "plt.ylabel(\"Frequency\")\n",
     "\n",
     "# Linear stretch (normalize to 0-255)\n",
     "stretched = np_array.astype(float)\n",
-    "stretched = ((stretched - stretched.min()) * (255.0/(stretched.max() - stretched.min()))).astype(np.uint8)\n",
+    "stretched = (\n",
+    "    (stretched - stretched.min()) * (255.0 / (stretched.max() - stretched.min()))\n",
+    ").astype(np.uint8)\n",
     "\n",
     "plt.subplot(122)\n",
     "plt.hist(stretched.ravel(), bins=256, range=(0, 256), density=True, alpha=0.75)\n",
-    "plt.title('Stretched Histogram')\n",
-    "plt.xlabel('Pixel Value')\n",
-    "plt.ylabel('Frequency')\n",
+    "plt.title(\"Stretched Histogram\")\n",
+    "plt.xlabel(\"Pixel Value\")\n",
+    "plt.ylabel(\"Frequency\")\n",
     "\n",
     "plt.tight_layout()\n",
     "plt.show()\n",
@@ -910,46 +927,52 @@
     "\n",
     "# Parameters for local background measurement\n",
     "APERTURE_RADIUS = 5  # Star flux aperture (pixels)\n",
-    "ANNULUS_INNER = 6    # Inner radius of background annulus (pixels)\n",
-    "ANNULUS_OUTER = 14   # Outer radius of background annulus (pixels)\n",
-    "ALTITUDE = 90        # Zenith for now (no extinction correction until we have real altitude)\n",
-    "PEDESTAL = 0         # No pedestal correction for now\n",
+    "ANNULUS_INNER = 6  # Inner radius of background annulus (pixels)\n",
+    "ANNULUS_OUTER = 14  # Outer radius of background annulus (pixels)\n",
+    "ALTITUDE = 90  # Zenith for now (no extinction correction until we have real altitude)\n",
+    "PEDESTAL = 0  # No pedestal correction for now\n",
     "\n",
     "print(\"Production SQM Implementation Results (Local Annulus Backgrounds)\")\n",
     "print(\"=\" * 100)\n",
-    "print(f\"{'Image':<25} {'Expected':<12} {'Calculated':<12} {'Error':<12} {'Error %':<12}\")\n",
+    "print(\n",
+    "    f\"{'Image':<25} {'Expected':<12} {'Calculated':<12} {'Error':<12} {'Error %':<12}\"\n",
+    ")\n",
     "print(\"-\" * 100)\n",
     "\n",
     "for key, value in images.items():\n",
     "    # Build solution dict from the existing data\n",
     "    solution = {\n",
-    "        'FOV': value['fov'],\n",
-    "        'matched_centroids': value['matched_centroids'],\n",
-    "        'matched_stars': value['matched_stars']\n",
+    "        \"FOV\": value[\"fov\"],\n",
+    "        \"matched_centroids\": value[\"matched_centroids\"],\n",
+    "        \"matched_stars\": value[\"matched_stars\"],\n",
     "    }\n",
-    "    \n",
+    "\n",
     "    # Calculate SQM using local annulus backgrounds\n",
     "    sqm_val, details = sqm.calculate(\n",
-    "        centroids=value['centroids'],\n",
+    "        centroids=value[\"centroids\"],\n",
     "        solution=solution,\n",
-    "        image=value['np_image'], \n",
+    "        image=value[\"np_image\"],\n",
     "        altitude_deg=ALTITUDE,\n",
     "        aperture_radius=APERTURE_RADIUS,\n",
     "        annulus_inner_radius=ANNULUS_INNER,\n",
     "        annulus_outer_radius=ANNULUS_OUTER,\n",
-    "        pedestal=PEDESTAL\n",
+    "        pedestal=PEDESTAL,\n",
     "    )\n",
-    "    \n",
+    "\n",
     "    if sqm_val is not None:\n",
-    "        value['sqm_calculated'] = sqm_val\n",
-    "        value['sqm_details'] = details\n",
-    "        \n",
-    "        expected = value['realsqm']\n",
+    "        value[\"sqm_calculated\"] = sqm_val\n",
+    "        value[\"sqm_details\"] = details\n",
+    "\n",
+    "        expected = value[\"realsqm\"]\n",
     "        calc_err = sqm_val - expected\n",
     "        err_pct = 100 * calc_err / expected\n",
-    "        \n",
-    "        print(f\"{key:<25} {expected:>10.2f}  {sqm_val:>10.2f}  {calc_err:>10.2f}  {err_pct:>10.1f}%\")\n",
-    "        print(f\"{'':>25} mzero={details['mzero']:>6.2f}, bg={details['background_per_pixel']:>6.1f} ADU/px, {details['n_matched_stars']} stars\")\n",
+    "\n",
+    "        print(\n",
+    "            f\"{key:<25} {expected:>10.2f}  {sqm_val:>10.2f}  {calc_err:>10.2f}  {err_pct:>10.1f}%\"\n",
+    "        )\n",
+    "        print(\n",
+    "            f\"{'':>25} mzero={details['mzero']:>6.2f}, bg={details['background_per_pixel']:>6.1f} ADU/px, {details['n_matched_stars']} stars\"\n",
+    "        )\n",
     "    else:\n",
     "        print(f\"{key:<25} FAILED\")\n",
     "\n",
@@ -1053,17 +1076,17 @@
     "\n",
     "# Define all test images\n",
     "all_images = {\n",
-    "    'sqm1833.png': {'realsqm': 18.33},\n",
-    "    'sqm1837.png': {'realsqm': 18.37},\n",
-    "    'sqm1845.png': {'realsqm': 18.45},\n",
-    "    'sqm1855.png': {'realsqm': 18.55},\n",
-    "    'sqm1860.png': {'realsqm': 18.60},\n",
-    "    'sqm1870.png': {'realsqm': 18.70},\n",
-    "    'sqm1980.png': {'realsqm': 19.80},\n",
-    "    'sqm2000_0.8-4.png': {'realsqm': 20.00},\n",
-    "    'sqm2000_0.8-3.png': {'realsqm': 20.00},\n",
-    "    'sqm1818_raw_new_0.2.png': {'realsqm': 18.18},    \n",
-    "    'sqm1818_raw_new_1.png': {'realsqm': 18.18}\n",
+    "    \"sqm1833.png\": {\"realsqm\": 18.33},\n",
+    "    \"sqm1837.png\": {\"realsqm\": 18.37},\n",
+    "    \"sqm1845.png\": {\"realsqm\": 18.45},\n",
+    "    \"sqm1855.png\": {\"realsqm\": 18.55},\n",
+    "    \"sqm1860.png\": {\"realsqm\": 18.60},\n",
+    "    \"sqm1870.png\": {\"realsqm\": 18.70},\n",
+    "    \"sqm1980.png\": {\"realsqm\": 19.80},\n",
+    "    \"sqm2000_0.8-4.png\": {\"realsqm\": 20.00},\n",
+    "    \"sqm2000_0.8-3.png\": {\"realsqm\": 20.00},\n",
+    "    \"sqm1818_raw_new_0.2.png\": {\"realsqm\": 18.18},\n",
+    "    \"sqm1818_raw_new_1.png\": {\"realsqm\": 18.18},\n",
     "}\n",
     "\n",
     "# Parameters for local annulus background\n",
@@ -1081,25 +1104,27 @@
     "\n",
     "for filename, info in all_images.items():\n",
     "    print(f\"\\nProcessing {filename}...\")\n",
-    "    \n",
+    "\n",
     "    # Load image\n",
     "    np_image, _ = load_image(filename)\n",
-    "    \n",
+    "\n",
     "    # Detect stars and solve\n",
     "    centroids, solution = detect(np_image)\n",
-    "    \n",
+    "\n",
     "    # Check if solve succeeded\n",
-    "    if 'matched_centroids' not in solution or len(solution['matched_centroids']) == 0:\n",
+    "    if \"matched_centroids\" not in solution or len(solution[\"matched_centroids\"]) == 0:\n",
     "        print(\"  ❌ Failed to solve\")\n",
-    "        results_summary.append({\n",
-    "            'filename': filename,\n",
-    "            'expected': info['realsqm'],\n",
-    "            'calculated': None,\n",
-    "            'error': None,\n",
-    "            'status': 'SOLVE_FAILED'\n",
-    "        })\n",
+    "        results_summary.append(\n",
+    "            {\n",
+    "                \"filename\": filename,\n",
+    "                \"expected\": info[\"realsqm\"],\n",
+    "                \"calculated\": None,\n",
+    "                \"error\": None,\n",
+    "                \"status\": \"SOLVE_FAILED\",\n",
+    "            }\n",
+    "        )\n",
     "        continue\n",
-    "    \n",
+    "\n",
     "    # Calculate SQM\n",
     "    sqm_val, details = sqm.calculate(\n",
     "        centroids=centroids,\n",
@@ -1109,33 +1134,41 @@
     "        aperture_radius=APERTURE_RADIUS,\n",
     "        annulus_inner_radius=ANNULUS_INNER,\n",
     "        annulus_outer_radius=ANNULUS_OUTER,\n",
-    "        pedestal=PEDESTAL\n",
+    "        pedestal=PEDESTAL,\n",
     "    )\n",
-    "    \n",
+    "\n",
     "    if sqm_val is not None:\n",
-    "        error = sqm_val - info['realsqm']\n",
-    "        print(f\"  ✓ SQM: {sqm_val:.2f} (expected: {info['realsqm']:.2f}, error: {error:+.2f})\")\n",
-    "        print(f\"    mzero={details['mzero']:.2f}, stars={details['n_matched_stars']}, centroids={details['n_centroids']}\")\n",
-    "        \n",
-    "        results_summary.append({\n",
-    "            'filename': filename,\n",
-    "            'expected': info['realsqm'],\n",
-    "            'calculated': sqm_val,\n",
-    "            'error': error,\n",
-    "            'mzero': details['mzero'],\n",
-    "            'n_stars': details['n_matched_stars'],\n",
-    "            'n_centroids': details['n_centroids'],\n",
-    "            'status': 'OK'\n",
-    "        })\n",
+    "        error = sqm_val - info[\"realsqm\"]\n",
+    "        print(\n",
+    "            f\"  ✓ SQM: {sqm_val:.2f} (expected: {info['realsqm']:.2f}, error: {error:+.2f})\"\n",
+    "        )\n",
+    "        print(\n",
+    "            f\"    mzero={details['mzero']:.2f}, stars={details['n_matched_stars']}, centroids={details['n_centroids']}\"\n",
+    "        )\n",
+    "\n",
+    "        results_summary.append(\n",
+    "            {\n",
+    "                \"filename\": filename,\n",
+    "                \"expected\": info[\"realsqm\"],\n",
+    "                \"calculated\": sqm_val,\n",
+    "                \"error\": error,\n",
+    "                \"mzero\": details[\"mzero\"],\n",
+    "                \"n_stars\": details[\"n_matched_stars\"],\n",
+    "                \"n_centroids\": details[\"n_centroids\"],\n",
+    "                \"status\": \"OK\",\n",
+    "            }\n",
+    "        )\n",
     "    else:\n",
     "        print(\"  ❌ Failed to calculate SQM\")\n",
-    "        results_summary.append({\n",
-    "            'filename': filename,\n",
-    "            'expected': info['realsqm'],\n",
-    "            'calculated': None,\n",
-    "            'error': None,\n",
-    "            'status': 'CALC_FAILED'\n",
-    "        })\n",
+    "        results_summary.append(\n",
+    "            {\n",
+    "                \"filename\": filename,\n",
+    "                \"expected\": info[\"realsqm\"],\n",
+    "                \"calculated\": None,\n",
+    "                \"error\": None,\n",
+    "                \"status\": \"CALC_FAILED\",\n",
+    "            }\n",
+    "        )\n",
     "\n",
     "print(\"\\n\" + \"=\" * 100)\n",
     "print(\"SUMMARY\")\n",
@@ -1144,22 +1177,28 @@
     "print(\"-\" * 100)\n",
     "\n",
     "for result in results_summary:\n",
-    "    if result['status'] == 'OK':\n",
-    "        print(f\"{result['filename']:<30} {result['expected']:>10.2f}  {result['calculated']:>10.2f}  {result['error']:>10.2f}  {result['status']:<15}\")\n",
+    "    if result[\"status\"] == \"OK\":\n",
+    "        print(\n",
+    "            f\"{result['filename']:<30} {result['expected']:>10.2f}  {result['calculated']:>10.2f}  {result['error']:>10.2f}  {result['status']:<15}\"\n",
+    "        )\n",
     "    else:\n",
-    "        print(f\"{result['filename']:<30} {result['expected']:>10.2f}  {'---':>10}  {'---':>10}  {result['status']:<15}\")\n",
+    "        print(\n",
+    "            f\"{result['filename']:<30} {result['expected']:>10.2f}  {'---':>10}  {'---':>10}  {result['status']:<15}\"\n",
+    "        )\n",
     "\n",
     "# Calculate statistics for successful measurements\n",
-    "successful = [r for r in results_summary if r['status'] == 'OK']\n",
+    "successful = [r for r in results_summary if r[\"status\"] == \"OK\"]\n",
     "if successful:\n",
-    "    errors = [r['error'] for r in successful]\n",
+    "    errors = [r[\"error\"] for r in successful]\n",
     "    print(\"\\n\" + \"=\" * 100)\n",
     "    print(\"STATISTICS\")\n",
     "    print(\"=\" * 100)\n",
     "    print(f\"Successful measurements: {len(successful)}/{len(results_summary)}\")\n",
     "    print(f\"Mean error:              {np.mean(errors):+.2f} mag/arcsec²\")\n",
     "    print(f\"Std dev:                 {np.std(errors):.2f} mag/arcsec²\")\n",
-    "    print(f\"RMS error:               {np.sqrt(np.mean(np.array(errors)**2)):.2f} mag/arcsec²\")\n",
+    "    print(\n",
+    "        f\"RMS error:               {np.sqrt(np.mean(np.array(errors) ** 2)):.2f} mag/arcsec²\"\n",
+    "    )\n",
     "    print(f\"Max error:               {np.max(np.abs(errors)):.2f} mag/arcsec²\")"
    ]
   },
@@ -1329,36 +1368,40 @@
     "from matplotlib.gridspec import GridSpec\n",
     "from scipy import stats\n",
     "\n",
+    "\n",
     "def sigma_clip_mean(data, sigma=2.0, max_iter=3):\n",
     "    \"\"\"Calculate mean after sigma clipping outliers. Returns mean, std, and mask matching input size.\"\"\"\n",
     "    data = np.array(data)\n",
     "    original_indices = np.arange(len(data))\n",
     "    mask = np.ones(len(data), dtype=bool)\n",
-    "    \n",
+    "\n",
     "    current_data = data.copy()\n",
     "    current_indices = original_indices.copy()\n",
-    "    \n",
+    "\n",
     "    for _ in range(max_iter):\n",
     "        mean = np.mean(current_data)\n",
     "        std = np.std(current_data)\n",
     "        keep = np.abs(current_data - mean) < sigma * std\n",
-    "        \n",
+    "\n",
     "        if np.sum(keep) == len(current_data):\n",
     "            break\n",
-    "            \n",
+    "\n",
     "        current_data = current_data[keep]\n",
     "        current_indices = current_indices[keep]\n",
-    "    \n",
+    "\n",
     "    # Create mask for original array\n",
     "    final_mask = np.zeros(len(data), dtype=bool)\n",
     "    final_mask[current_indices] = True\n",
-    "    \n",
+    "\n",
     "    return np.mean(current_data), np.std(current_data), final_mask\n",
     "\n",
-    "def detect_aperture_overlaps(star_centroids, aperture_radius, annulus_inner, annulus_outer):\n",
+    "\n",
+    "def detect_aperture_overlaps(\n",
+    "    star_centroids, aperture_radius, annulus_inner, annulus_outer\n",
+    "):\n",
     "    \"\"\"\n",
     "    Detect overlapping apertures and annuli between star pairs.\n",
-    "    \n",
+    "\n",
     "    Returns list of overlaps with format:\n",
     "    {\n",
     "        'star1_idx': int,\n",
@@ -1370,61 +1413,68 @@
     "    \"\"\"\n",
     "    overlaps = []\n",
     "    n_stars = len(star_centroids)\n",
-    "    \n",
+    "\n",
     "    for i in range(n_stars):\n",
-    "        for j in range(i+1, n_stars):\n",
+    "        for j in range(i + 1, n_stars):\n",
     "            x1, y1 = star_centroids[i]\n",
     "            x2, y2 = star_centroids[j]\n",
-    "            distance = np.sqrt((x2 - x1)**2 + (y2 - y1)**2)\n",
-    "            \n",
+    "            distance = np.sqrt((x2 - x1) ** 2 + (y2 - y1) ** 2)\n",
+    "\n",
     "            # Check different overlap types\n",
     "            if distance < 2 * aperture_radius:\n",
     "                # CRITICAL: Aperture-aperture overlap (star flux contamination)\n",
-    "                overlaps.append({\n",
-    "                    'star1_idx': i,\n",
-    "                    'star2_idx': j,\n",
-    "                    'distance': distance,\n",
-    "                    'type': 'CRITICAL',\n",
-    "                    'description': f'Aperture overlap (d={distance:.1f}px < {2*aperture_radius}px)'\n",
-    "                })\n",
+    "                overlaps.append(\n",
+    "                    {\n",
+    "                        \"star1_idx\": i,\n",
+    "                        \"star2_idx\": j,\n",
+    "                        \"distance\": distance,\n",
+    "                        \"type\": \"CRITICAL\",\n",
+    "                        \"description\": f\"Aperture overlap (d={distance:.1f}px < {2 * aperture_radius}px)\",\n",
+    "                    }\n",
+    "                )\n",
     "            elif distance < aperture_radius + annulus_outer:\n",
     "                # HIGH: Aperture inside another star's annulus (background contamination)\n",
-    "                overlaps.append({\n",
-    "                    'star1_idx': i,\n",
-    "                    'star2_idx': j,\n",
-    "                    'distance': distance,\n",
-    "                    'type': 'HIGH',\n",
-    "                    'description': f'Aperture-annulus overlap (d={distance:.1f}px < {aperture_radius + annulus_outer}px)'\n",
-    "                })\n",
+    "                overlaps.append(\n",
+    "                    {\n",
+    "                        \"star1_idx\": i,\n",
+    "                        \"star2_idx\": j,\n",
+    "                        \"distance\": distance,\n",
+    "                        \"type\": \"HIGH\",\n",
+    "                        \"description\": f\"Aperture-annulus overlap (d={distance:.1f}px < {aperture_radius + annulus_outer}px)\",\n",
+    "                    }\n",
+    "                )\n",
     "            elif distance < 2 * annulus_outer:\n",
     "                # MEDIUM: Annulus-annulus overlap (less critical)\n",
-    "                overlaps.append({\n",
-    "                    'star1_idx': i,\n",
-    "                    'star2_idx': j,\n",
-    "                    'distance': distance,\n",
-    "                    'type': 'MEDIUM',\n",
-    "                    'description': f'Annulus overlap (d={distance:.1f}px < {2*annulus_outer}px)'\n",
-    "                })\n",
-    "    \n",
+    "                overlaps.append(\n",
+    "                    {\n",
+    "                        \"star1_idx\": i,\n",
+    "                        \"star2_idx\": j,\n",
+    "                        \"distance\": distance,\n",
+    "                        \"type\": \"MEDIUM\",\n",
+    "                        \"description\": f\"Annulus overlap (d={distance:.1f}px < {2 * annulus_outer}px)\",\n",
+    "                    }\n",
+    "                )\n",
+    "\n",
     "    return overlaps\n",
     "\n",
+    "\n",
     "# Process each image with full diagnostics\n",
     "for filename, info in all_images.items():\n",
-    "    print(f\"\\n{'='*100}\")\n",
+    "    print(f\"\\n{'=' * 100}\")\n",
     "    print(f\"Processing: {filename}\")\n",
     "    print(f\"Expected SQM: {info['realsqm']:.2f} mag/arcsec²\")\n",
-    "    print(f\"{'='*100}\\n\")\n",
-    "    \n",
+    "    print(f\"{'=' * 100}\\n\")\n",
+    "\n",
     "    # Load image\n",
     "    np_image, _ = load_image(filename)\n",
-    "    \n",
+    "\n",
     "    # Detect stars and solve\n",
     "    centroids, solution = detect(np_image)\n",
-    "    \n",
-    "    if 'matched_centroids' not in solution or len(solution['matched_centroids']) == 0:\n",
+    "\n",
+    "    if \"matched_centroids\" not in solution or len(solution[\"matched_centroids\"]) == 0:\n",
     "        print(f\"❌ Failed to solve {filename}\\n\")\n",
     "        continue\n",
-    "    \n",
+    "\n",
     "    # Calculate SQM WITHOUT overlap correction\n",
     "    sqm_val, details = sqm.calculate(\n",
     "        centroids=centroids,\n",
@@ -1435,9 +1485,9 @@
     "        annulus_inner_radius=ANNULUS_INNER,\n",
     "        annulus_outer_radius=ANNULUS_OUTER,\n",
     "        pedestal=PEDESTAL,\n",
-    "        correct_overlaps=False\n",
+    "        correct_overlaps=False,\n",
     "    )\n",
-    "    \n",
+    "\n",
     "    # Calculate SQM WITH overlap correction\n",
     "    sqm_val_corrected, details_corrected = sqm.calculate(\n",
     "        centroids=centroids,\n",
@@ -1448,90 +1498,102 @@
     "        annulus_inner_radius=ANNULUS_INNER,\n",
     "        annulus_outer_radius=ANNULUS_OUTER,\n",
     "        pedestal=PEDESTAL,\n",
-    "        correct_overlaps=True\n",
+    "        correct_overlaps=True,\n",
     "    )\n",
-    "    \n",
+    "\n",
     "    if sqm_val is None:\n",
     "        print(f\"❌ Failed to calculate SQM for {filename}\\n\")\n",
     "        continue\n",
-    "    \n",
+    "\n",
     "    # Extract details (use non-corrected for visualization, but we have both)\n",
-    "    star_centroids = np.array(details['star_centroids'])\n",
-    "    star_mags = details['star_mags']\n",
-    "    star_fluxes = details['star_fluxes']\n",
-    "    star_mzeros = details['star_mzeros']\n",
-    "    star_local_bgs = details.get('star_local_backgrounds', [None] * len(star_mags))\n",
-    "    \n",
+    "    star_centroids = np.array(details[\"star_centroids\"])\n",
+    "    star_mags = details[\"star_mags\"]\n",
+    "    star_fluxes = details[\"star_fluxes\"]\n",
+    "    star_mzeros = details[\"star_mzeros\"]\n",
+    "    star_local_bgs = details.get(\"star_local_backgrounds\", [None] * len(star_mags))\n",
+    "\n",
     "    # ========== APERTURE OVERLAP DETECTION ==========\n",
-    "    overlaps = detect_aperture_overlaps(star_centroids, APERTURE_RADIUS, ANNULUS_INNER, ANNULUS_OUTER)\n",
-    "    \n",
+    "    overlaps = detect_aperture_overlaps(\n",
+    "        star_centroids, APERTURE_RADIUS, ANNULUS_INNER, ANNULUS_OUTER\n",
+    "    )\n",
+    "\n",
     "    # Build set of stars affected by overlaps\n",
     "    overlapping_stars = set()\n",
     "    for overlap in overlaps:\n",
-    "        overlapping_stars.add(overlap['star1_idx'])\n",
-    "        overlapping_stars.add(overlap['star2_idx'])\n",
-    "    \n",
+    "        overlapping_stars.add(overlap[\"star1_idx\"])\n",
+    "        overlapping_stars.add(overlap[\"star2_idx\"])\n",
+    "\n",
     "    # Categorize overlaps by severity\n",
-    "    critical_overlaps = [o for o in overlaps if o['type'] == 'CRITICAL']\n",
-    "    high_overlaps = [o for o in overlaps if o['type'] == 'HIGH']\n",
-    "    medium_overlaps = [o for o in overlaps if o['type'] == 'MEDIUM']\n",
-    "    \n",
+    "    critical_overlaps = [o for o in overlaps if o[\"type\"] == \"CRITICAL\"]\n",
+    "    high_overlaps = [o for o in overlaps if o[\"type\"] == \"HIGH\"]\n",
+    "    medium_overlaps = [o for o in overlaps if o[\"type\"] == \"MEDIUM\"]\n",
+    "\n",
     "    # Print overlap summary\n",
     "    if overlaps:\n",
     "        print(f\"⚠️  OVERLAPS DETECTED: {len(overlaps)} total\")\n",
     "        print(f\"   CRITICAL (aperture-aperture): {len(critical_overlaps)}\")\n",
     "        print(f\"   HIGH (aperture-annulus):      {len(high_overlaps)}\")\n",
     "        print(f\"   MEDIUM (annulus-annulus):     {len(medium_overlaps)}\")\n",
-    "        print(f\"   Stars affected: {len(overlapping_stars)}/{len(star_centroids)} ({100*len(overlapping_stars)/len(star_centroids):.0f}%)\")\n",
+    "        print(\n",
+    "            f\"   Stars affected: {len(overlapping_stars)}/{len(star_centroids)} ({100 * len(overlapping_stars) / len(star_centroids):.0f}%)\"\n",
+    "        )\n",
     "        print()\n",
     "    else:\n",
     "        print(\"✓ No aperture overlaps detected\\n\")\n",
-    "    \n",
+    "\n",
     "    # Calculate alternative mzero methods - filter for valid stars (flux > 0 and mzero not None)\n",
-    "    valid_indices = [i for i in range(len(star_fluxes)) \n",
-    "                     if star_fluxes[i] > 0 and star_mzeros[i] is not None]\n",
+    "    valid_indices = [\n",
+    "        i\n",
+    "        for i in range(len(star_fluxes))\n",
+    "        if star_fluxes[i] > 0 and star_mzeros[i] is not None\n",
+    "    ]\n",
     "    valid_mzeros = np.array([star_mzeros[i] for i in valid_indices])\n",
     "    valid_mags = np.array([star_mags[i] for i in valid_indices])\n",
     "    valid_fluxes = np.array([star_fluxes[i] for i in valid_indices])\n",
-    "    \n",
-    "    \n",
+    "\n",
     "    if len(valid_mzeros) > 0:\n",
     "        mzero_mean = np.mean(valid_mzeros)\n",
     "        mzero_median = np.median(valid_mzeros)\n",
     "        mzero_std = np.std(valid_mzeros)\n",
-    "        \n",
+    "\n",
     "        # Sigma clipping\n",
     "        if len(valid_mzeros) >= 3:\n",
-    "            mzero_sigclip, mzero_sigclip_std, sigclip_mask = sigma_clip_mean(valid_mzeros, sigma=2.0)\n",
+    "            mzero_sigclip, mzero_sigclip_std, sigclip_mask = sigma_clip_mean(\n",
+    "                valid_mzeros, sigma=2.0\n",
+    "            )\n",
     "            n_clipped = len(valid_mzeros) - np.sum(sigclip_mask)\n",
     "        else:\n",
     "            mzero_sigclip = mzero_mean\n",
     "            mzero_sigclip_std = mzero_std\n",
     "            n_clipped = 0\n",
     "            sigclip_mask = np.ones(len(valid_mzeros), dtype=bool)\n",
-    "        \n",
+    "\n",
     "        # Trendline correction methods\n",
     "        if len(valid_mzeros) >= 3:\n",
     "            # Method 1: Trendline on all valid stars\n",
-    "            slope_all, intercept_all, r_value_all, _, _ = stats.linregress(valid_mags, valid_mzeros)\n",
+    "            slope_all, intercept_all, r_value_all, _, _ = stats.linregress(\n",
+    "                valid_mags, valid_mzeros\n",
+    "            )\n",
     "            # Evaluate trend at median magnitude\n",
     "            median_mag = np.median(valid_mags)\n",
     "            mzero_trend = slope_all * median_mag + intercept_all\n",
-    "            \n",
+    "\n",
     "            # Calculate residuals for quality metric\n",
     "            predicted_all = slope_all * valid_mags + intercept_all\n",
     "            residuals_all = valid_mzeros - predicted_all\n",
     "            trend_rms_all = np.sqrt(np.mean(residuals_all**2))\n",
-    "            \n",
+    "\n",
     "            # Method 2: Sigma clip THEN fit trendline\n",
     "            clipped_mags = valid_mags[sigclip_mask]\n",
     "            clipped_mzeros = valid_mzeros[sigclip_mask]\n",
-    "            \n",
+    "\n",
     "            if len(clipped_mzeros) >= 3:\n",
-    "                slope_clip, intercept_clip, r_value_clip, _, _ = stats.linregress(clipped_mags, clipped_mzeros)\n",
+    "                slope_clip, intercept_clip, r_value_clip, _, _ = stats.linregress(\n",
+    "                    clipped_mags, clipped_mzeros\n",
+    "                )\n",
     "                median_mag_clip = np.median(clipped_mags)\n",
     "                mzero_trend_sigclip = slope_clip * median_mag_clip + intercept_clip\n",
-    "                \n",
+    "\n",
     "                predicted_clip = slope_clip * clipped_mags + intercept_clip\n",
     "                residuals_clip = clipped_mzeros - predicted_clip\n",
     "                trend_rms_clip = np.sqrt(np.mean(residuals_clip**2))\n",
@@ -1552,398 +1614,632 @@
     "            r_value_clip = 0\n",
     "            trend_rms_all = mzero_std\n",
     "            trend_rms_clip = mzero_sigclip_std\n",
-    "        \n",
+    "\n",
     "        # Calculate SQM with alternative methods\n",
-    "        bg_flux_density = details['background_flux_density']\n",
-    "        extinction = details['extinction_correction']\n",
-    "        \n",
+    "        bg_flux_density = details[\"background_flux_density\"]\n",
+    "        extinction = details[\"extinction_correction\"]\n",
+    "\n",
     "        sqm_median = mzero_median - 2.5 * np.log10(bg_flux_density) + extinction\n",
     "        sqm_sigclip = mzero_sigclip - 2.5 * np.log10(bg_flux_density) + extinction\n",
     "        sqm_trend = mzero_trend - 2.5 * np.log10(bg_flux_density) + extinction\n",
-    "        sqm_trend_sigclip = mzero_trend_sigclip - 2.5 * np.log10(bg_flux_density) + extinction\n",
+    "        sqm_trend_sigclip = (\n",
+    "            mzero_trend_sigclip - 2.5 * np.log10(bg_flux_density) + extinction\n",
+    "        )\n",
     "    else:\n",
-    "        mzero_mean = mzero_median = mzero_sigclip = mzero_trend = mzero_trend_sigclip = None\n",
+    "        mzero_mean = mzero_median = mzero_sigclip = mzero_trend = (\n",
+    "            mzero_trend_sigclip\n",
+    "        ) = None\n",
     "        sqm_median = sqm_sigclip = sqm_trend = sqm_trend_sigclip = None\n",
     "        n_clipped = 0\n",
     "        slope_all = slope_clip = 0\n",
     "        r_value_all = r_value_clip = 0\n",
-    "    \n",
+    "\n",
     "    # Create comprehensive figure with 4x3 grid\n",
     "    fig = plt.figure(figsize=(24, 16))\n",
     "    gs = GridSpec(4, 3, figure=fig, hspace=0.35, wspace=0.3)\n",
-    "    \n",
+    "\n",
     "    # ========== Panel 1: Image with apertures (spans 2x2) ==========\n",
     "    ax1 = fig.add_subplot(gs[0:2, 0:2])\n",
-    "    \n",
+    "\n",
     "    # Display image with log stretch\n",
     "    vmin, vmax = np.percentile(np_image, [1, 99.5])\n",
-    "    im = ax1.imshow(np_image, cmap='gray', vmin=vmin, vmax=vmax, origin='lower')\n",
-    "    \n",
+    "    im = ax1.imshow(np_image, cmap=\"gray\", vmin=vmin, vmax=vmax, origin=\"lower\")\n",
+    "\n",
     "    # Draw connecting lines for overlaps FIRST (so they appear behind circles)\n",
     "    for overlap in overlaps:\n",
-    "        x1, y1 = star_centroids[overlap['star1_idx']]\n",
-    "        x2, y2 = star_centroids[overlap['star2_idx']]\n",
-    "        \n",
+    "        x1, y1 = star_centroids[overlap[\"star1_idx\"]]\n",
+    "        x2, y2 = star_centroids[overlap[\"star2_idx\"]]\n",
+    "\n",
     "        # Color by severity\n",
-    "        if overlap['type'] == 'CRITICAL':\n",
-    "            line_color = 'red'\n",
-    "        elif overlap['type'] == 'HIGH':\n",
-    "            line_color = 'orange'\n",
+    "        if overlap[\"type\"] == \"CRITICAL\":\n",
+    "            line_color = \"red\"\n",
+    "        elif overlap[\"type\"] == \"HIGH\":\n",
+    "            line_color = \"orange\"\n",
     "        else:\n",
-    "            line_color = 'yellow'\n",
-    "        \n",
-    "        ax1.plot([x1, x2], [y1, y2], color=line_color, linestyle=':', linewidth=2, alpha=0.7)\n",
-    "    \n",
+    "            line_color = \"yellow\"\n",
+    "\n",
+    "        ax1.plot(\n",
+    "            [x1, x2], [y1, y2], color=line_color, linestyle=\":\", linewidth=2, alpha=0.7\n",
+    "        )\n",
+    "\n",
     "    # Draw apertures on matched stars\n",
-    "    for i, (centroid, flux, mag, local_bg) in enumerate(zip(star_centroids, star_fluxes, star_mags, star_local_bgs)):\n",
+    "    for i, (centroid, flux, mag, local_bg) in enumerate(\n",
+    "        zip(star_centroids, star_fluxes, star_mags, star_local_bgs)\n",
+    "    ):\n",
     "        x, y = centroid\n",
-    "        \n",
+    "\n",
     "        # Color code by flux status, outlier detection, and overlap\n",
     "        is_outlier = False\n",
     "        if flux > 0 and mzero_mean is not None and len(star_mzeros) > i:\n",
     "            mzero_val = star_mzeros[i]\n",
     "            is_outlier = abs(mzero_val - mzero_mean) > 2.0 * mzero_std\n",
-    "        \n",
+    "\n",
     "        is_overlapping = i in overlapping_stars\n",
-    "        \n",
+    "\n",
     "        if flux <= 0:\n",
-    "            color = 'red'\n",
+    "            color = \"red\"\n",
     "            alpha = 0.8\n",
     "        elif is_overlapping:\n",
-    "            color = 'magenta'  # Magenta for overlapping stars\n",
+    "            color = \"magenta\"  # Magenta for overlapping stars\n",
     "            alpha = 0.8\n",
     "        elif is_outlier:\n",
-    "            color = 'orange'\n",
+    "            color = \"orange\"\n",
     "            alpha = 0.7\n",
     "        else:\n",
-    "            color = 'lime'\n",
+    "            color = \"lime\"\n",
     "            alpha = 0.6\n",
-    "        \n",
+    "\n",
     "        # Draw aperture circle (solid)\n",
-    "        circle = mpatches.Circle((x, y), APERTURE_RADIUS, \n",
-    "                                 fill=False, edgecolor=color, linewidth=2, alpha=alpha)\n",
+    "        circle = mpatches.Circle(\n",
+    "            (x, y),\n",
+    "            APERTURE_RADIUS,\n",
+    "            fill=False,\n",
+    "            edgecolor=color,\n",
+    "            linewidth=2,\n",
+    "            alpha=alpha,\n",
+    "        )\n",
     "        ax1.add_patch(circle)\n",
-    "        \n",
+    "\n",
     "        # Draw annulus inner (dashed)\n",
-    "        annulus_inner = mpatches.Circle((x, y), ANNULUS_INNER,\n",
-    "                                       fill=False, edgecolor=color, linewidth=1, \n",
-    "                                       linestyle='--', alpha=0.4)\n",
+    "        annulus_inner = mpatches.Circle(\n",
+    "            (x, y),\n",
+    "            ANNULUS_INNER,\n",
+    "            fill=False,\n",
+    "            edgecolor=color,\n",
+    "            linewidth=1,\n",
+    "            linestyle=\"--\",\n",
+    "            alpha=0.4,\n",
+    "        )\n",
     "        ax1.add_patch(annulus_inner)\n",
-    "        \n",
+    "\n",
     "        # Draw annulus outer (dashed)\n",
-    "        annulus_outer_circle = mpatches.Circle((x, y), ANNULUS_OUTER,\n",
-    "                                       fill=False, edgecolor=color, linewidth=1, \n",
-    "                                       linestyle='--', alpha=0.4)\n",
+    "        annulus_outer_circle = mpatches.Circle(\n",
+    "            (x, y),\n",
+    "            ANNULUS_OUTER,\n",
+    "            fill=False,\n",
+    "            edgecolor=color,\n",
+    "            linewidth=1,\n",
+    "            linestyle=\"--\",\n",
+    "            alpha=0.4,\n",
+    "        )\n",
     "        ax1.add_patch(annulus_outer_circle)\n",
-    "        \n",
+    "\n",
     "        # Label star\n",
-    "        label_text = f'{i}\\nm={mag:.1f}\\nf={flux:.0f}\\nbg={local_bg:.0f}' if local_bg else f'{i}\\nm={mag:.1f}'\n",
-    "        ax1.text(x + ANNULUS_OUTER + 3, y, label_text,\n",
-    "                color=color, fontsize=7, va='center', weight='bold',\n",
-    "                bbox=dict(boxstyle='round,pad=0.3', facecolor='black', alpha=0.5))\n",
-    "    \n",
-    "    ax1.set_title(f'{filename}\\nSQM: {sqm_val:.2f} (expected: {info[\"realsqm\"]:.2f}, error: {sqm_val - info[\"realsqm\"]:+.2f})',\n",
-    "                 fontsize=14, weight='bold')\n",
-    "    ax1.set_xlabel('X (pixels)', fontsize=11)\n",
-    "    ax1.set_ylabel('Y (pixels)', fontsize=11)\n",
-    "    plt.colorbar(im, ax=ax1, label='ADU')\n",
-    "    \n",
+    "        label_text = (\n",
+    "            f\"{i}\\nm={mag:.1f}\\nf={flux:.0f}\\nbg={local_bg:.0f}\"\n",
+    "            if local_bg\n",
+    "            else f\"{i}\\nm={mag:.1f}\"\n",
+    "        )\n",
+    "        ax1.text(\n",
+    "            x + ANNULUS_OUTER + 3,\n",
+    "            y,\n",
+    "            label_text,\n",
+    "            color=color,\n",
+    "            fontsize=7,\n",
+    "            va=\"center\",\n",
+    "            weight=\"bold\",\n",
+    "            bbox=dict(boxstyle=\"round,pad=0.3\", facecolor=\"black\", alpha=0.5),\n",
+    "        )\n",
+    "\n",
+    "    ax1.set_title(\n",
+    "        f\"{filename}\\nSQM: {sqm_val:.2f} (expected: {info['realsqm']:.2f}, error: {sqm_val - info['realsqm']:+.2f})\",\n",
+    "        fontsize=14,\n",
+    "        weight=\"bold\",\n",
+    "    )\n",
+    "    ax1.set_xlabel(\"X (pixels)\", fontsize=11)\n",
+    "    ax1.set_ylabel(\"Y (pixels)\", fontsize=11)\n",
+    "    plt.colorbar(im, ax=ax1, label=\"ADU\")\n",
+    "\n",
     "    # Legend\n",
     "    legend_elements = [\n",
-    "        mpatches.Patch(color='lime', label='Valid star'),\n",
-    "        mpatches.Patch(color='magenta', label='Overlapping'),\n",
-    "        mpatches.Patch(color='orange', label='Outlier (|Δmzero| > 2σ)'),\n",
-    "        mpatches.Patch(color='red', label='Bad flux (≤ 0)'),\n",
-    "        mpatches.Circle((0, 0), 1, fill=False, edgecolor='white', linewidth=2, label=f'Aperture (r={APERTURE_RADIUS}px)'),\n",
-    "        mpatches.Circle((0, 0), 1, fill=False, edgecolor='white', linewidth=1, linestyle='--', label=f'Annulus ({ANNULUS_INNER}-{ANNULUS_OUTER}px)')\n",
+    "        mpatches.Patch(color=\"lime\", label=\"Valid star\"),\n",
+    "        mpatches.Patch(color=\"magenta\", label=\"Overlapping\"),\n",
+    "        mpatches.Patch(color=\"orange\", label=\"Outlier (|Δmzero| > 2σ)\"),\n",
+    "        mpatches.Patch(color=\"red\", label=\"Bad flux (≤ 0)\"),\n",
+    "        mpatches.Circle(\n",
+    "            (0, 0),\n",
+    "            1,\n",
+    "            fill=False,\n",
+    "            edgecolor=\"white\",\n",
+    "            linewidth=2,\n",
+    "            label=f\"Aperture (r={APERTURE_RADIUS}px)\",\n",
+    "        ),\n",
+    "        mpatches.Circle(\n",
+    "            (0, 0),\n",
+    "            1,\n",
+    "            fill=False,\n",
+    "            edgecolor=\"white\",\n",
+    "            linewidth=1,\n",
+    "            linestyle=\"--\",\n",
+    "            label=f\"Annulus ({ANNULUS_INNER}-{ANNULUS_OUTER}px)\",\n",
+    "        ),\n",
     "    ]\n",
-    "    ax1.legend(handles=legend_elements, loc='upper right', fontsize=9)\n",
-    "    \n",
+    "    ax1.legend(handles=legend_elements, loc=\"upper right\", fontsize=9)\n",
+    "\n",
     "    # ========== Panel 2: Per-Star Statistics Table ==========\n",
     "    ax2 = fig.add_subplot(gs[0:2, 2])\n",
-    "    ax2.axis('off')\n",
-    "    \n",
+    "    ax2.axis(\"off\")\n",
+    "\n",
     "    # Build table data\n",
-    "    table_data = [['#', 'Mag', 'Flux\\n(ADU)', 'Bg\\n(ADU)', 'mzero', 'Δmz', 'OK']]\n",
-    "    for i, (mag, flux, local_bg, mzero) in enumerate(zip(star_mags, star_fluxes, star_local_bgs, star_mzeros)):\n",
-    "        status = '✓' if flux > 0 else '✗'\n",
+    "    table_data = [[\"#\", \"Mag\", \"Flux\\n(ADU)\", \"Bg\\n(ADU)\", \"mzero\", \"Δmz\", \"OK\"]]\n",
+    "    for i, (mag, flux, local_bg, mzero) in enumerate(\n",
+    "        zip(star_mags, star_fluxes, star_local_bgs, star_mzeros)\n",
+    "    ):\n",
+    "        status = \"✓\" if flux > 0 else \"✗\"\n",
     "        delta_mzero = (mzero - mzero_mean) if (flux > 0 and mzero_mean) else None\n",
-    "        \n",
-    "        table_data.append([\n",
-    "            f'{i}',\n",
-    "            f'{mag:.2f}',\n",
-    "            f'{flux:.0f}',\n",
-    "            f'{local_bg:.0f}' if local_bg is not None else 'N/A',\n",
-    "            f'{mzero:.2f}' if flux > 0 else 'N/A',\n",
-    "            f'{delta_mzero:+.2f}' if delta_mzero is not None else 'N/A',\n",
-    "            status\n",
-    "        ])\n",
-    "    \n",
+    "\n",
+    "        table_data.append(\n",
+    "            [\n",
+    "                f\"{i}\",\n",
+    "                f\"{mag:.2f}\",\n",
+    "                f\"{flux:.0f}\",\n",
+    "                f\"{local_bg:.0f}\" if local_bg is not None else \"N/A\",\n",
+    "                f\"{mzero:.2f}\" if flux > 0 else \"N/A\",\n",
+    "                f\"{delta_mzero:+.2f}\" if delta_mzero is not None else \"N/A\",\n",
+    "                status,\n",
+    "            ]\n",
+    "        )\n",
+    "\n",
     "    # Create table\n",
-    "    table = ax2.table(cellText=table_data, cellLoc='center', loc='center',\n",
-    "                     colWidths=[0.08, 0.12, 0.15, 0.12, 0.12, 0.10, 0.08])\n",
+    "    table = ax2.table(\n",
+    "        cellText=table_data,\n",
+    "        cellLoc=\"center\",\n",
+    "        loc=\"center\",\n",
+    "        colWidths=[0.08, 0.12, 0.15, 0.12, 0.12, 0.10, 0.08],\n",
+    "    )\n",
     "    table.auto_set_font_size(False)\n",
     "    table.set_fontsize(7)\n",
     "    table.scale(1, 1.8)\n",
-    "    \n",
+    "\n",
     "    # Style header row\n",
     "    for i in range(7):\n",
-    "        table[(0, i)].set_facecolor('#4CAF50')\n",
-    "        table[(0, i)].set_text_props(weight='bold', color='white')\n",
-    "    \n",
+    "        table[(0, i)].set_facecolor(\"#4CAF50\")\n",
+    "        table[(0, i)].set_text_props(weight=\"bold\", color=\"white\")\n",
+    "\n",
     "    # Color code rows\n",
     "    for i in range(1, len(table_data)):\n",
-    "        flux = star_fluxes[i-1]\n",
-    "        is_overlapping = (i-1) in overlapping_stars\n",
-    "        \n",
+    "        flux = star_fluxes[i - 1]\n",
+    "        is_overlapping = (i - 1) in overlapping_stars\n",
+    "\n",
     "        if flux <= 0:\n",
-    "            color = '#FFCDD2'  # Red\n",
+    "            color = \"#FFCDD2\"  # Red\n",
     "        elif is_overlapping:\n",
-    "            color = '#F8BBD0'  # Magenta/pink\n",
-    "        elif i-1 < len(star_mzeros) and mzero_mean is not None:\n",
-    "            delta = abs(star_mzeros[i-1] - mzero_mean)\n",
+    "            color = \"#F8BBD0\"  # Magenta/pink\n",
+    "        elif i - 1 < len(star_mzeros) and mzero_mean is not None:\n",
+    "            delta = abs(star_mzeros[i - 1] - mzero_mean)\n",
     "            if delta > 2.0 * mzero_std:\n",
-    "                color = '#FFE0B2'  # Orange\n",
+    "                color = \"#FFE0B2\"  # Orange\n",
     "            elif delta > 1.0 * mzero_std:\n",
-    "                color = '#FFF9C4'  # Yellow\n",
+    "                color = \"#FFF9C4\"  # Yellow\n",
     "            else:\n",
-    "                color = '#E8F5E9'  # Green\n",
+    "                color = \"#E8F5E9\"  # Green\n",
     "        else:\n",
-    "            color = 'white'\n",
-    "        \n",
+    "            color = \"white\"\n",
+    "\n",
     "        for j in range(7):\n",
     "            table[(i, j)].set_facecolor(color)\n",
-    "    \n",
-    "    ax2.set_title('Per-Star Breakdown\\n(Δmz = deviation from mean)', fontsize=11, weight='bold', pad=20)\n",
-    "    \n",
+    "\n",
+    "    ax2.set_title(\n",
+    "        \"Per-Star Breakdown\\n(Δmz = deviation from mean)\",\n",
+    "        fontsize=11,\n",
+    "        weight=\"bold\",\n",
+    "        pad=20,\n",
+    "    )\n",
+    "\n",
     "    # ========== Panel 3: mzero Values vs Magnitude with Trendlines ==========\n",
     "    ax3 = fig.add_subplot(gs[2, 0])\n",
-    "    \n",
+    "\n",
     "    if len(valid_mzeros) > 0:\n",
     "        # Scatter plot of individual mzero values\n",
-    "        colors = ['red' if not sigclip_mask[i] else 'blue' for i in range(len(valid_mzeros))]\n",
-    "        ax3.scatter(valid_mags, valid_mzeros, s=80, alpha=0.7, c=colors, edgecolors='black', linewidths=1, label='Stars', zorder=3)\n",
-    "        \n",
+    "        colors = [\n",
+    "            \"red\" if not sigclip_mask[i] else \"blue\" for i in range(len(valid_mzeros))\n",
+    "        ]\n",
+    "        ax3.scatter(\n",
+    "            valid_mags,\n",
+    "            valid_mzeros,\n",
+    "            s=80,\n",
+    "            alpha=0.7,\n",
+    "            c=colors,\n",
+    "            edgecolors=\"black\",\n",
+    "            linewidths=1,\n",
+    "            label=\"Stars\",\n",
+    "            zorder=3,\n",
+    "        )\n",
+    "\n",
     "        # Horizontal lines for different methods\n",
-    "        ax3.axhline(mzero_mean, color='blue', linestyle='-', linewidth=2, label=f'Mean: {mzero_mean:.3f}', alpha=0.6)\n",
-    "        ax3.axhline(mzero_median, color='green', linestyle='--', linewidth=2, label=f'Median: {mzero_median:.3f}', alpha=0.6)\n",
-    "        \n",
+    "        ax3.axhline(\n",
+    "            mzero_mean,\n",
+    "            color=\"blue\",\n",
+    "            linestyle=\"-\",\n",
+    "            linewidth=2,\n",
+    "            label=f\"Mean: {mzero_mean:.3f}\",\n",
+    "            alpha=0.6,\n",
+    "        )\n",
+    "        ax3.axhline(\n",
+    "            mzero_median,\n",
+    "            color=\"green\",\n",
+    "            linestyle=\"--\",\n",
+    "            linewidth=2,\n",
+    "            label=f\"Median: {mzero_median:.3f}\",\n",
+    "            alpha=0.6,\n",
+    "        )\n",
+    "\n",
     "        # Trendlines\n",
     "        if len(valid_mzeros) >= 3:\n",
     "            mag_range = np.array([valid_mags.min(), valid_mags.max()])\n",
-    "            \n",
+    "\n",
     "            # All stars trend\n",
     "            trend_line_all = slope_all * mag_range + intercept_all\n",
-    "            ax3.plot(mag_range, trend_line_all, 'purple', linestyle='-.', linewidth=2.5, \n",
-    "                    label=f'Trend (all): R²={r_value_all**2:.3f}', zorder=2)\n",
-    "            \n",
+    "            ax3.plot(\n",
+    "                mag_range,\n",
+    "                trend_line_all,\n",
+    "                \"purple\",\n",
+    "                linestyle=\"-.\",\n",
+    "                linewidth=2.5,\n",
+    "                label=f\"Trend (all): R²={r_value_all**2:.3f}\",\n",
+    "                zorder=2,\n",
+    "            )\n",
+    "\n",
     "            # Sigma-clipped trend\n",
     "            if n_clipped > 0:\n",
     "                trend_line_clip = slope_clip * mag_range + intercept_clip\n",
-    "                ax3.plot(mag_range, trend_line_clip, 'red', linestyle=':', linewidth=2.5, \n",
-    "                        label=f'Trend (σ-clip): R²={r_value_clip**2:.3f}', zorder=2)\n",
-    "            \n",
+    "                ax3.plot(\n",
+    "                    mag_range,\n",
+    "                    trend_line_clip,\n",
+    "                    \"red\",\n",
+    "                    linestyle=\":\",\n",
+    "                    linewidth=2.5,\n",
+    "                    label=f\"Trend (σ-clip): R²={r_value_clip**2:.3f}\",\n",
+    "                    zorder=2,\n",
+    "                )\n",
+    "\n",
     "            # Mark median magnitude\n",
-    "            ax3.axvline(np.median(valid_mags), color='gray', linestyle='--', linewidth=1, alpha=0.5, zorder=1)\n",
-    "        \n",
+    "            ax3.axvline(\n",
+    "                np.median(valid_mags),\n",
+    "                color=\"gray\",\n",
+    "                linestyle=\"--\",\n",
+    "                linewidth=1,\n",
+    "                alpha=0.5,\n",
+    "                zorder=1,\n",
+    "            )\n",
+    "\n",
     "        # Std deviation bands\n",
-    "        ax3.axhspan(mzero_mean - mzero_std, mzero_mean + mzero_std, alpha=0.15, color='blue', zorder=0)\n",
-    "        \n",
-    "        ax3.set_xlabel('Catalog Magnitude', fontsize=10)\n",
-    "        ax3.set_ylabel('mzero', fontsize=10)\n",
-    "        ax3.set_title(f'mzero vs Magnitude\\nσ = {mzero_std:.3f}, Trend slope = {slope_all:.4f}', fontsize=10, weight='bold')\n",
-    "        ax3.legend(fontsize=7, loc='best')\n",
+    "        ax3.axhspan(\n",
+    "            mzero_mean - mzero_std,\n",
+    "            mzero_mean + mzero_std,\n",
+    "            alpha=0.15,\n",
+    "            color=\"blue\",\n",
+    "            zorder=0,\n",
+    "        )\n",
+    "\n",
+    "        ax3.set_xlabel(\"Catalog Magnitude\", fontsize=10)\n",
+    "        ax3.set_ylabel(\"mzero\", fontsize=10)\n",
+    "        ax3.set_title(\n",
+    "            f\"mzero vs Magnitude\\nσ = {mzero_std:.3f}, Trend slope = {slope_all:.4f}\",\n",
+    "            fontsize=10,\n",
+    "            weight=\"bold\",\n",
+    "        )\n",
+    "        ax3.legend(fontsize=7, loc=\"best\")\n",
     "        ax3.grid(True, alpha=0.3)\n",
     "        ax3.invert_xaxis()  # Brighter stars on right\n",
     "    else:\n",
-    "        ax3.text(0.5, 0.5, 'No valid stars', transform=ax3.transAxes, ha='center', va='center')\n",
-    "    \n",
+    "        ax3.text(\n",
+    "            0.5,\n",
+    "            0.5,\n",
+    "            \"No valid stars\",\n",
+    "            transform=ax3.transAxes,\n",
+    "            ha=\"center\",\n",
+    "            va=\"center\",\n",
+    "        )\n",
+    "\n",
     "    # ========== Panel 4: mzero Values vs Flux ==========\n",
     "    ax4 = fig.add_subplot(gs[2, 1])\n",
-    "    \n",
+    "\n",
     "    if len(valid_mzeros) > 0:\n",
     "        # Scatter plot of mzero vs log(flux)\n",
     "        log_fluxes = np.log10(valid_fluxes)\n",
-    "        colors = ['red' if not sigclip_mask[i] else 'blue' for i in range(len(valid_mzeros))]\n",
-    "        ax4.scatter(log_fluxes, valid_mzeros, s=80, alpha=0.7, c=colors, edgecolors='black', linewidths=1)\n",
-    "        \n",
+    "        colors = [\n",
+    "            \"red\" if not sigclip_mask[i] else \"blue\" for i in range(len(valid_mzeros))\n",
+    "        ]\n",
+    "        ax4.scatter(\n",
+    "            log_fluxes,\n",
+    "            valid_mzeros,\n",
+    "            s=80,\n",
+    "            alpha=0.7,\n",
+    "            c=colors,\n",
+    "            edgecolors=\"black\",\n",
+    "            linewidths=1,\n",
+    "        )\n",
+    "\n",
     "        # Horizontal lines\n",
-    "        ax4.axhline(mzero_mean, color='blue', linestyle='-', linewidth=2, label='Mean', alpha=0.6)\n",
-    "        ax4.axhline(mzero_median, color='green', linestyle='--', linewidth=2, label='Median', alpha=0.6)\n",
-    "        \n",
+    "        ax4.axhline(\n",
+    "            mzero_mean,\n",
+    "            color=\"blue\",\n",
+    "            linestyle=\"-\",\n",
+    "            linewidth=2,\n",
+    "            label=\"Mean\",\n",
+    "            alpha=0.6,\n",
+    "        )\n",
+    "        ax4.axhline(\n",
+    "            mzero_median,\n",
+    "            color=\"green\",\n",
+    "            linestyle=\"--\",\n",
+    "            linewidth=2,\n",
+    "            label=\"Median\",\n",
+    "            alpha=0.6,\n",
+    "        )\n",
+    "\n",
     "        # Check for trend with flux\n",
     "        if len(valid_mzeros) >= 3:\n",
-    "            slope_flux, intercept_flux, r_value_flux, _, _ = stats.linregress(log_fluxes, valid_mzeros)\n",
+    "            slope_flux, intercept_flux, r_value_flux, _, _ = stats.linregress(\n",
+    "                log_fluxes, valid_mzeros\n",
+    "            )\n",
     "            if abs(r_value_flux) > 0.3:  # Significant correlation\n",
     "                x_fit = np.array([log_fluxes.min(), log_fluxes.max()])\n",
     "                y_fit = slope_flux * x_fit + intercept_flux\n",
-    "                ax4.plot(x_fit, y_fit, 'orange', linestyle=':', linewidth=2, \n",
-    "                        label=f'Flux trend: R²={r_value_flux**2:.3f}')\n",
-    "        \n",
-    "        ax4.set_xlabel('log₁₀(Flux [ADU])', fontsize=10)\n",
-    "        ax4.set_ylabel('mzero', fontsize=10)\n",
-    "        ax4.set_title('mzero vs Flux\\n(Should be flat if aperture correct)', fontsize=10, weight='bold')\n",
-    "        ax4.legend(fontsize=8, loc='best')\n",
+    "                ax4.plot(\n",
+    "                    x_fit,\n",
+    "                    y_fit,\n",
+    "                    \"orange\",\n",
+    "                    linestyle=\":\",\n",
+    "                    linewidth=2,\n",
+    "                    label=f\"Flux trend: R²={r_value_flux**2:.3f}\",\n",
+    "                )\n",
+    "\n",
+    "        ax4.set_xlabel(\"log₁₀(Flux [ADU])\", fontsize=10)\n",
+    "        ax4.set_ylabel(\"mzero\", fontsize=10)\n",
+    "        ax4.set_title(\n",
+    "            \"mzero vs Flux\\n(Should be flat if aperture correct)\",\n",
+    "            fontsize=10,\n",
+    "            weight=\"bold\",\n",
+    "        )\n",
+    "        ax4.legend(fontsize=8, loc=\"best\")\n",
     "        ax4.grid(True, alpha=0.3)\n",
     "    else:\n",
-    "        ax4.text(0.5, 0.5, 'No valid stars', transform=ax4.transAxes, ha='center', va='center')\n",
-    "    \n",
+    "        ax4.text(\n",
+    "            0.5,\n",
+    "            0.5,\n",
+    "            \"No valid stars\",\n",
+    "            transform=ax4.transAxes,\n",
+    "            ha=\"center\",\n",
+    "            va=\"center\",\n",
+    "        )\n",
+    "\n",
     "    # ========== Panel 5: mzero Distribution Histogram ==========\n",
     "    ax5 = fig.add_subplot(gs[2, 2])\n",
-    "    \n",
+    "\n",
     "    if len(valid_mzeros) > 0:\n",
     "        # Histogram\n",
-    "        ax5.hist(valid_mzeros, bins=min(15, len(valid_mzeros)), \n",
-    "                color='steelblue', alpha=0.7, edgecolor='black')\n",
-    "        \n",
+    "        ax5.hist(\n",
+    "            valid_mzeros,\n",
+    "            bins=min(15, len(valid_mzeros)),\n",
+    "            color=\"steelblue\",\n",
+    "            alpha=0.7,\n",
+    "            edgecolor=\"black\",\n",
+    "        )\n",
+    "\n",
     "        # Mark different estimators\n",
-    "        ax5.axvline(mzero_mean, color='blue', linestyle='-', linewidth=2, label='Mean')\n",
-    "        ax5.axvline(mzero_median, color='green', linestyle='--', linewidth=2, label='Median')\n",
+    "        ax5.axvline(mzero_mean, color=\"blue\", linestyle=\"-\", linewidth=2, label=\"Mean\")\n",
+    "        ax5.axvline(\n",
+    "            mzero_median, color=\"green\", linestyle=\"--\", linewidth=2, label=\"Median\"\n",
+    "        )\n",
     "        if n_clipped > 0:\n",
-    "            ax5.axvline(mzero_sigclip, color='red', linestyle='-.', linewidth=2, label='σ-clip')\n",
+    "            ax5.axvline(\n",
+    "                mzero_sigclip, color=\"red\", linestyle=\"-.\", linewidth=2, label=\"σ-clip\"\n",
+    "            )\n",
     "        if len(valid_mzeros) >= 3:\n",
-    "            ax5.axvline(mzero_trend, color='purple', linestyle=':', linewidth=2, label='Trend')\n",
-    "        \n",
-    "        ax5.set_xlabel('mzero', fontsize=10)\n",
-    "        ax5.set_ylabel('Count', fontsize=10)\n",
-    "        ax5.set_title(f'mzero Distribution\\nRange: [{np.min(valid_mzeros):.2f}, {np.max(valid_mzeros):.2f}]', \n",
-    "                     fontsize=10, weight='bold')\n",
+    "            ax5.axvline(\n",
+    "                mzero_trend, color=\"purple\", linestyle=\":\", linewidth=2, label=\"Trend\"\n",
+    "            )\n",
+    "\n",
+    "        ax5.set_xlabel(\"mzero\", fontsize=10)\n",
+    "        ax5.set_ylabel(\"Count\", fontsize=10)\n",
+    "        ax5.set_title(\n",
+    "            f\"mzero Distribution\\nRange: [{np.min(valid_mzeros):.2f}, {np.max(valid_mzeros):.2f}]\",\n",
+    "            fontsize=10,\n",
+    "            weight=\"bold\",\n",
+    "        )\n",
     "        ax5.legend(fontsize=8)\n",
-    "        ax5.grid(True, alpha=0.3, axis='y')\n",
+    "        ax5.grid(True, alpha=0.3, axis=\"y\")\n",
     "    else:\n",
-    "        ax5.text(0.5, 0.5, 'No valid stars', transform=ax5.transAxes, ha='center', va='center')\n",
-    "    \n",
+    "        ax5.text(\n",
+    "            0.5,\n",
+    "            0.5,\n",
+    "            \"No valid stars\",\n",
+    "            transform=ax5.transAxes,\n",
+    "            ha=\"center\",\n",
+    "            va=\"center\",\n",
+    "        )\n",
+    "\n",
     "    # ========== Panel 6: SQM Comparison Table with Overlap Correction ==========\n",
     "    ax6 = fig.add_subplot(gs[3, 0])\n",
-    "    ax6.axis('off')\n",
-    "    \n",
+    "    ax6.axis(\"off\")\n",
+    "\n",
     "    # Compare different methods INCLUDING overlap-corrected\n",
-    "    comparison_data = [['Method', 'mzero', 'SQM', 'Error', 'Note']]\n",
-    "    \n",
+    "    comparison_data = [[\"Method\", \"mzero\", \"SQM\", \"Error\", \"Note\"]]\n",
+    "\n",
     "    if mzero_mean is not None:\n",
-    "        comparison_data.append([\n",
-    "            'Mean',\n",
-    "            f'{mzero_mean:.3f}',\n",
-    "            f'{sqm_val:.2f}',\n",
-    "            f'{sqm_val - info[\"realsqm\"]:+.2f}',\n",
-    "            '← Current'\n",
-    "        ])\n",
-    "        comparison_data.append([\n",
-    "            'Median',\n",
-    "            f'{mzero_median:.3f}',\n",
-    "            f'{sqm_median:.2f}',\n",
-    "            f'{sqm_median - info[\"realsqm\"]:+.2f}',\n",
-    "            ''\n",
-    "        ])\n",
+    "        comparison_data.append(\n",
+    "            [\n",
+    "                \"Mean\",\n",
+    "                f\"{mzero_mean:.3f}\",\n",
+    "                f\"{sqm_val:.2f}\",\n",
+    "                f\"{sqm_val - info['realsqm']:+.2f}\",\n",
+    "                \"← Current\",\n",
+    "            ]\n",
+    "        )\n",
+    "        comparison_data.append(\n",
+    "            [\n",
+    "                \"Median\",\n",
+    "                f\"{mzero_median:.3f}\",\n",
+    "                f\"{sqm_median:.2f}\",\n",
+    "                f\"{sqm_median - info['realsqm']:+.2f}\",\n",
+    "                \"\",\n",
+    "            ]\n",
+    "        )\n",
     "        if n_clipped > 0:\n",
-    "            comparison_data.append([\n",
-    "                'σ-clipped',\n",
-    "                f'{mzero_sigclip:.3f}',\n",
-    "                f'{sqm_sigclip:.2f}',\n",
-    "                f'{sqm_sigclip - info[\"realsqm\"]:+.2f}',\n",
-    "                f'-{n_clipped} star'\n",
-    "            ])\n",
+    "            comparison_data.append(\n",
+    "                [\n",
+    "                    \"σ-clipped\",\n",
+    "                    f\"{mzero_sigclip:.3f}\",\n",
+    "                    f\"{sqm_sigclip:.2f}\",\n",
+    "                    f\"{sqm_sigclip - info['realsqm']:+.2f}\",\n",
+    "                    f\"-{n_clipped} star\",\n",
+    "                ]\n",
+    "            )\n",
     "        if len(valid_mzeros) >= 3:\n",
-    "            comparison_data.append([\n",
-    "                'Trend (all)',\n",
-    "                f'{mzero_trend:.3f}',\n",
-    "                f'{sqm_trend:.2f}',\n",
-    "                f'{sqm_trend - info[\"realsqm\"]:+.2f}',\n",
-    "                f'R²={r_value_all**2:.2f}'\n",
-    "            ])\n",
+    "            comparison_data.append(\n",
+    "                [\n",
+    "                    \"Trend (all)\",\n",
+    "                    f\"{mzero_trend:.3f}\",\n",
+    "                    f\"{sqm_trend:.2f}\",\n",
+    "                    f\"{sqm_trend - info['realsqm']:+.2f}\",\n",
+    "                    f\"R²={r_value_all**2:.2f}\",\n",
+    "                ]\n",
+    "            )\n",
     "            if n_clipped > 0:\n",
-    "                comparison_data.append([\n",
-    "                    'Trend+σ-clip',\n",
-    "                    f'{mzero_trend_sigclip:.3f}',\n",
-    "                    f'{sqm_trend_sigclip:.2f}',\n",
-    "                    f'{sqm_trend_sigclip - info[\"realsqm\"]:+.2f}',\n",
-    "                    f'R²={r_value_clip**2:.2f}'\n",
-    "                ])\n",
-    "        \n",
+    "                comparison_data.append(\n",
+    "                    [\n",
+    "                        \"Trend+σ-clip\",\n",
+    "                        f\"{mzero_trend_sigclip:.3f}\",\n",
+    "                        f\"{sqm_trend_sigclip:.2f}\",\n",
+    "                        f\"{sqm_trend_sigclip - info['realsqm']:+.2f}\",\n",
+    "                        f\"R²={r_value_clip**2:.2f}\",\n",
+    "                    ]\n",
+    "                )\n",
+    "\n",
     "        # Add overlap-corrected result\n",
-    "        if sqm_val_corrected is not None and details_corrected.get('n_stars_excluded_overlaps', 0) > 0:\n",
-    "            n_excl = details_corrected['n_stars_excluded_overlaps']\n",
-    "            comparison_data.append([\n",
-    "                'Overlap-corrected',\n",
-    "                f'{details_corrected[\"mzero\"]:.3f}',\n",
-    "                f'{sqm_val_corrected:.2f}',\n",
-    "                f'{sqm_val_corrected - info[\"realsqm\"]:+.2f}',\n",
-    "                f'-{n_excl} overlap'\n",
-    "            ])\n",
-    "        \n",
-    "        comparison_data.append([\n",
-    "            'Expected',\n",
-    "            '—',\n",
-    "            f'{info[\"realsqm\"]:.2f}',\n",
-    "            '0.00',\n",
-    "            'Target'\n",
-    "        ])\n",
-    "    \n",
-    "    comp_table = ax6.table(cellText=comparison_data, cellLoc='center', loc='center',\n",
-    "                          colWidths=[0.23, 0.18, 0.15, 0.15, 0.29])\n",
+    "        if (\n",
+    "            sqm_val_corrected is not None\n",
+    "            and details_corrected.get(\"n_stars_excluded_overlaps\", 0) > 0\n",
+    "        ):\n",
+    "            n_excl = details_corrected[\"n_stars_excluded_overlaps\"]\n",
+    "            comparison_data.append(\n",
+    "                [\n",
+    "                    \"Overlap-corrected\",\n",
+    "                    f\"{details_corrected['mzero']:.3f}\",\n",
+    "                    f\"{sqm_val_corrected:.2f}\",\n",
+    "                    f\"{sqm_val_corrected - info['realsqm']:+.2f}\",\n",
+    "                    f\"-{n_excl} overlap\",\n",
+    "                ]\n",
+    "            )\n",
+    "\n",
+    "        comparison_data.append(\n",
+    "            [\"Expected\", \"—\", f\"{info['realsqm']:.2f}\", \"0.00\", \"Target\"]\n",
+    "        )\n",
+    "\n",
+    "    comp_table = ax6.table(\n",
+    "        cellText=comparison_data,\n",
+    "        cellLoc=\"center\",\n",
+    "        loc=\"center\",\n",
+    "        colWidths=[0.23, 0.18, 0.15, 0.15, 0.29],\n",
+    "    )\n",
     "    comp_table.auto_set_font_size(False)\n",
     "    comp_table.set_fontsize(8)\n",
     "    comp_table.scale(1, 2.2)\n",
-    "    \n",
+    "\n",
     "    # Style header\n",
     "    for i in range(5):\n",
-    "        comp_table[(0, i)].set_facecolor('#2196F3')\n",
-    "        comp_table[(0, i)].set_text_props(weight='bold', color='white')\n",
-    "    \n",
+    "        comp_table[(0, i)].set_facecolor(\"#2196F3\")\n",
+    "        comp_table[(0, i)].set_text_props(weight=\"bold\", color=\"white\")\n",
+    "\n",
     "    # Highlight best method\n",
     "    if len(comparison_data) > 2:\n",
     "        errors = [abs(float(row[3])) for row in comparison_data[1:-1]]\n",
     "        best_idx = np.argmin(errors) + 1\n",
     "        for j in range(5):\n",
-    "            comp_table[(best_idx, j)].set_facecolor('#C8E6C9')\n",
-    "    \n",
-    "    ax6.set_title('mzero Method Comparison', fontsize=11, weight='bold', pad=20)\n",
-    "    \n",
+    "            comp_table[(best_idx, j)].set_facecolor(\"#C8E6C9\")\n",
+    "\n",
+    "    ax6.set_title(\"mzero Method Comparison\", fontsize=11, weight=\"bold\", pad=20)\n",
+    "\n",
     "    # ========== Panel 7: Background Annuli ==========\n",
     "    ax7 = fig.add_subplot(gs[3, 1])\n",
-    "    \n",
+    "\n",
     "    # Create visualization showing annulus regions\n",
     "    height, width = np_image.shape\n",
     "    y, x = np.ogrid[:height, :width]\n",
     "    annulus_mask_img = np.zeros((height, width), dtype=bool)\n",
     "    for centroid in star_centroids:\n",
     "        cx, cy = centroid\n",
-    "        dist_sq = (x - cx)**2 + (y - cy)**2\n",
+    "        dist_sq = (x - cx) ** 2 + (y - cy) ** 2\n",
     "        star_annulus = (dist_sq > ANNULUS_INNER**2) & (dist_sq <= ANNULUS_OUTER**2)\n",
     "        annulus_mask_img |= star_annulus\n",
-    "    \n",
+    "\n",
     "    annulus_display = np.where(annulus_mask_img, np_image, np.nan)\n",
-    "    ax7.imshow(annulus_display, cmap='viridis', vmin=vmin, vmax=vmax, origin='lower')\n",
-    "    ax7.set_title(f'Background Annuli\\n(median={details[\"background_per_pixel\"]:.1f} ADU)', \n",
-    "                 fontsize=10, weight='bold')\n",
-    "    ax7.set_xlabel('X (pixels)', fontsize=9)\n",
-    "    ax7.set_ylabel('Y (pixels)', fontsize=9)\n",
-    "    \n",
+    "    ax7.imshow(annulus_display, cmap=\"viridis\", vmin=vmin, vmax=vmax, origin=\"lower\")\n",
+    "    ax7.set_title(\n",
+    "        f\"Background Annuli\\n(median={details['background_per_pixel']:.1f} ADU)\",\n",
+    "        fontsize=10,\n",
+    "        weight=\"bold\",\n",
+    "    )\n",
+    "    ax7.set_xlabel(\"X (pixels)\", fontsize=9)\n",
+    "    ax7.set_ylabel(\"Y (pixels)\", fontsize=9)\n",
+    "\n",
     "    # ========== Panel 8: Calculation Summary with Overlap Info ==========\n",
     "    ax8 = fig.add_subplot(gs[3, 2])\n",
-    "    ax8.axis('off')\n",
-    "    \n",
+    "    ax8.axis(\"off\")\n",
+    "\n",
     "    # Find best method\n",
     "    if mzero_mean is not None:\n",
-    "        methods = ['Mean', 'Median', 'σ-clip', 'Trend', 'Trend+σ-clip', 'Overlap-corrected']\n",
-    "        sqm_values = [sqm_val, sqm_median, sqm_sigclip, sqm_trend, sqm_trend_sigclip, sqm_val_corrected]\n",
-    "        errors = [abs(sqm - info['realsqm']) for sqm in sqm_values if sqm is not None]\n",
+    "        methods = [\n",
+    "            \"Mean\",\n",
+    "            \"Median\",\n",
+    "            \"σ-clip\",\n",
+    "            \"Trend\",\n",
+    "            \"Trend+σ-clip\",\n",
+    "            \"Overlap-corrected\",\n",
+    "        ]\n",
+    "        sqm_values = [\n",
+    "            sqm_val,\n",
+    "            sqm_median,\n",
+    "            sqm_sigclip,\n",
+    "            sqm_trend,\n",
+    "            sqm_trend_sigclip,\n",
+    "            sqm_val_corrected,\n",
+    "        ]\n",
+    "        errors = [abs(sqm - info[\"realsqm\"]) for sqm in sqm_values if sqm is not None]\n",
     "        valid_methods = [m for m, sqm in zip(methods, sqm_values) if sqm is not None]\n",
     "        if errors:\n",
     "            best_method = valid_methods[np.argmin(errors)]\n",
     "        else:\n",
-    "            best_method = 'Mean'\n",
+    "            best_method = \"Mean\"\n",
     "    else:\n",
-    "        best_method = 'N/A'\n",
-    "    \n",
-    "    corrected_str = f\"{sqm_val_corrected:.2f}\" if sqm_val_corrected is not None else \"N/A\"\n",
-    "    error_str = f\"{sqm_val_corrected - info['realsqm']:+.2f}\" if sqm_val_corrected is not None else \"N/A\"\n",
+    "        best_method = \"N/A\"\n",
+    "\n",
+    "    corrected_str = (\n",
+    "        f\"{sqm_val_corrected:.2f}\" if sqm_val_corrected is not None else \"N/A\"\n",
+    "    )\n",
+    "    error_str = (\n",
+    "        f\"{sqm_val_corrected - info['realsqm']:+.2f}\"\n",
+    "        if sqm_val_corrected is not None\n",
+    "        else \"N/A\"\n",
+    "    )\n",
     "\n",
     "    summary_text = f\"\"\"CALCULATION SUMMARY\n",
-    "{'='*35}\n",
+    "{\"=\" * 35}\n",
     "\n",
-    "Stars: {details['n_matched_stars']} matched\n",
-    "       {details['n_centroids']} total centroids\n",
+    "Stars: {details[\"n_matched_stars\"]} matched\n",
+    "       {details[\"n_centroids\"]} total centroids\n",
     "\n",
     "OVERLAPS: {len(overlaps)} total\n",
     "  CRITICAL:  {len(critical_overlaps)}\n",
@@ -1954,7 +2250,7 @@
     "Background: Local annuli\n",
     "  Aperture: {APERTURE_RADIUS} px\n",
     "  Annulus: {ANNULUS_INNER}-{ANNULUS_OUTER} px\n",
-    "  Sky: {details['background_per_pixel']:.2f} ADU/px\n",
+    "  Sky: {details[\"background_per_pixel\"]:.2f} ADU/px\n",
     "\n",
     "mzero Statistics:\n",
     "  Mean:      {mzero_mean:.3f} ± {mzero_std:.3f}\n",
@@ -1967,60 +2263,86 @@
     "Trend Analysis:\n",
     "  Slope:     {slope_all:.4f} mag/mag\n",
     "  R²:        {r_value_all**2:.4f}\n",
-    "  Sig?       {'YES' if abs(r_value_all) > 0.5 else 'NO'}\n",
+    "  Sig?       {\"YES\" if abs(r_value_all) > 0.5 else \"NO\"}\n",
     "\n",
     "SQM Results:\n",
     "  Without overlap correction:\n",
     "    Current:   {sqm_val:.2f} mag/arcsec²\n",
-    "    Error:     {sqm_val - info['realsqm']:+.2f}\n",
+    "    Error:     {sqm_val - info[\"realsqm\"]:+.2f}\n",
     "  \n",
     "  With overlap correction:\n",
     "    Corrected: {corrected_str} mag/arcsec²\n",
     "    Error:     {error_str}\n",
-    "    Excluded:  {details_corrected.get('n_stars_excluded_overlaps', 0)} stars\n",
+    "    Excluded:  {details_corrected.get(\"n_stars_excluded_overlaps\", 0)} stars\n",
     "\n",
-    "Expected:    {info['realsqm']:.2f}\n",
+    "Expected:    {info[\"realsqm\"]:.2f}\n",
     "\n",
     "Best Method: {best_method}\n",
     "\"\"\"\n",
-    "    \n",
-    "    ax8.text(0.05, 0.95, summary_text, \n",
-    "            transform=ax8.transAxes, fontsize=7.5, \n",
-    "            verticalalignment='top', fontfamily='monospace',\n",
-    "            bbox=dict(boxstyle='round', facecolor='lightyellow', alpha=0.8))\n",
-    "    \n",
+    "\n",
+    "    ax8.text(\n",
+    "        0.05,\n",
+    "        0.95,\n",
+    "        summary_text,\n",
+    "        transform=ax8.transAxes,\n",
+    "        fontsize=7.5,\n",
+    "        verticalalignment=\"top\",\n",
+    "        fontfamily=\"monospace\",\n",
+    "        bbox=dict(boxstyle=\"round\", facecolor=\"lightyellow\", alpha=0.8),\n",
+    "    )\n",
+    "\n",
     "    plt.tight_layout()\n",
     "    plt.show()\n",
-    "    \n",
+    "\n",
     "    # Print detailed overlap information\n",
     "    if overlaps:\n",
     "        print(\"\\nDETAILED OVERLAP INFORMATION:\")\n",
-    "        print(f\"{'='*100}\")\n",
+    "        print(f\"{'=' * 100}\")\n",
     "        for overlap in overlaps:\n",
-    "            i, j = overlap['star1_idx'], overlap['star2_idx']\n",
+    "            i, j = overlap[\"star1_idx\"], overlap[\"star2_idx\"]\n",
     "            print(f\"  [{overlap['type']:8}] Stars {i} ↔ {j}: {overlap['description']}\")\n",
-    "            print(f\"              Star {i}: mag={star_mags[i]:.2f}, flux={star_fluxes[i]:.0f} ADU\")\n",
-    "            print(f\"              Star {j}: mag={star_mags[j]:.2f}, flux={star_fluxes[j]:.0f} ADU\")\n",
-    "        print(f\"{'='*100}\\n\")\n",
-    "    \n",
+    "            print(\n",
+    "                f\"              Star {i}: mag={star_mags[i]:.2f}, flux={star_fluxes[i]:.0f} ADU\"\n",
+    "            )\n",
+    "            print(\n",
+    "                f\"              Star {j}: mag={star_mags[j]:.2f}, flux={star_fluxes[j]:.0f} ADU\"\n",
+    "            )\n",
+    "        print(f\"{'=' * 100}\\n\")\n",
+    "\n",
     "    # Print summary\n",
     "    print(f\"\\n✓ Processed {filename}\")\n",
     "    print(\"\\n  WITHOUT overlap correction:\")\n",
-    "    print(f\"    SQM (mean):           {sqm_val:.2f} (error: {sqm_val - info['realsqm']:+.2f})\")\n",
-    "    print(f\"    SQM (median):         {sqm_median:.2f} (error: {sqm_median - info['realsqm']:+.2f})\")\n",
-    "    print(f\"    SQM (σ-clipped):      {sqm_sigclip:.2f} (error: {sqm_sigclip - info['realsqm']:+.2f})\")\n",
-    "    print(f\"    SQM (trend):          {sqm_trend:.2f} (error: {sqm_trend - info['realsqm']:+.2f})\")\n",
-    "    print(f\"    SQM (trend+σ-clip):   {sqm_trend_sigclip:.2f} (error: {sqm_trend_sigclip - info['realsqm']:+.2f})\")\n",
-    "    \n",
+    "    print(\n",
+    "        f\"    SQM (mean):           {sqm_val:.2f} (error: {sqm_val - info['realsqm']:+.2f})\"\n",
+    "    )\n",
+    "    print(\n",
+    "        f\"    SQM (median):         {sqm_median:.2f} (error: {sqm_median - info['realsqm']:+.2f})\"\n",
+    "    )\n",
+    "    print(\n",
+    "        f\"    SQM (σ-clipped):      {sqm_sigclip:.2f} (error: {sqm_sigclip - info['realsqm']:+.2f})\"\n",
+    "    )\n",
+    "    print(\n",
+    "        f\"    SQM (trend):          {sqm_trend:.2f} (error: {sqm_trend - info['realsqm']:+.2f})\"\n",
+    "    )\n",
+    "    print(\n",
+    "        f\"    SQM (trend+σ-clip):   {sqm_trend_sigclip:.2f} (error: {sqm_trend_sigclip - info['realsqm']:+.2f})\"\n",
+    "    )\n",
+    "\n",
     "    if sqm_val_corrected is not None:\n",
     "        print(\"\\n  WITH overlap correction:\")\n",
-    "        print(f\"    SQM (overlap-corr):   {sqm_val_corrected:.2f} (error: {sqm_val_corrected - info['realsqm']:+.2f})\")\n",
-    "        print(f\"    Stars excluded:       {details_corrected.get('n_stars_excluded_overlaps', 0)}/{details_corrected.get('n_matched_stars_original', 0)}\")\n",
-    "        print(f\"    Improvement:          {(sqm_val_corrected - sqm_val):+.2f} mag/arcsec²\")\n",
-    "    \n",
+    "        print(\n",
+    "            f\"    SQM (overlap-corr):   {sqm_val_corrected:.2f} (error: {sqm_val_corrected - info['realsqm']:+.2f})\"\n",
+    "        )\n",
+    "        print(\n",
+    "            f\"    Stars excluded:       {details_corrected.get('n_stars_excluded_overlaps', 0)}/{details_corrected.get('n_matched_stars_original', 0)}\"\n",
+    "        )\n",
+    "        print(\n",
+    "            f\"    Improvement:          {(sqm_val_corrected - sqm_val):+.2f} mag/arcsec²\"\n",
+    "        )\n",
+    "\n",
     "    print(f\"\\n  Trend: slope={slope_all:.4f}, R²={r_value_all**2:.4f}\")\n",
     "    print(f\"  Best method: {best_method}\")\n",
-    "    \n",
+    "\n",
     "    # Flag issues\n",
     "    issues = []\n",
     "    if any(f <= 0 for f in star_fluxes):\n",
@@ -2030,19 +2352,23 @@
     "        issues.append(f\"⚠️  High mzero scatter: {mzero_std:.3f}\")\n",
     "    if abs(r_value_all) > 0.5:\n",
     "        issues.append(f\"⚠️  Significant magnitude trend: R²={r_value_all**2:.3f}\")\n",
-    "    if abs(sqm_val - info['realsqm']) > 0.5:\n",
-    "        issues.append(f\"⚠️  Large error (no corr): {sqm_val - info['realsqm']:+.2f} mag/arcsec²\")\n",
+    "    if abs(sqm_val - info[\"realsqm\"]) > 0.5:\n",
+    "        issues.append(\n",
+    "            f\"⚠️  Large error (no corr): {sqm_val - info['realsqm']:+.2f} mag/arcsec²\"\n",
+    "        )\n",
     "    if n_clipped > 0:\n",
     "        issues.append(f\"ℹ️  {n_clipped} outliers removed by σ-clipping\")\n",
     "    if overlaps:\n",
-    "        issues.append(f\"⚠️  {len(overlaps)} aperture overlaps detected ({len(overlapping_stars)} stars affected)\")\n",
-    "    \n",
+    "        issues.append(\n",
+    "            f\"⚠️  {len(overlaps)} aperture overlaps detected ({len(overlapping_stars)} stars affected)\"\n",
+    "        )\n",
+    "\n",
     "    if issues:\n",
     "        print(\"\\n  Notes:\")\n",
     "        for issue in issues:\n",
     "            print(f\"  {issue}\")\n",
-    "    \n",
-    "    print(\"\")\n"
+    "\n",
+    "    print(\"\")"
    ]
   },
   {
diff --git a/python/PiFinder/sqm/sqm.py b/python/PiFinder/sqm/sqm.py
index 1ed8c8d6b..889a0203d 100644
--- a/python/PiFinder/sqm/sqm.py
+++ b/python/PiFinder/sqm/sqm.py
@@ -263,7 +263,7 @@ def _detect_aperture_overlaps(
                     excluded_stars.add(i)
                     excluded_stars.add(j)
                     logger.debug(
-                        f"CRITICAL overlap: stars {i} and {j} (d={distance:.1f}px < {2*aperture_radius}px)"
+                        f"CRITICAL overlap: stars {i} and {j} (d={distance:.1f}px < {2 * aperture_radius}px)"
                     )
                 # HIGH: Aperture inside another star's annulus (background contamination)
                 elif distance < aperture_radius + annulus_outer_radius:
@@ -406,7 +406,7 @@ def calculate(
 
                 logger.info(
                     f"Overlap correction: excluded {n_stars_excluded}/{n_stars_original} stars "
-                    f"({n_stars_excluded*100//n_stars_original}%), using {len(valid_indices)} stars"
+                    f"({n_stars_excluded * 100 // n_stars_original}%), using {len(valid_indices)} stars"
                 )
 
                 if len(valid_indices) < 3:
diff --git a/python/PiFinder/state.py b/python/PiFinder/state.py
index e96b1825b..73baf08d4 100644
--- a/python/PiFinder/state.py
+++ b/python/PiFinder/state.py
@@ -16,7 +16,6 @@
 from typing import Optional
 from dataclasses import dataclass, asdict
 import json
-from timezonefinder import TimezoneFinder
 
 logger = logging.getLogger("SharedState")
 
@@ -126,12 +125,12 @@ def __repr__(self):
 SharedStateObj(
     power_state=1,
     solve_state=True,
-    solution={'RA': 22.86683471463411, 'Dec': 15.347716050003328, 
+    solution={'RA': 22.86683471463411, 'Dec': 15.347716050003328, 'imu_pos': [171.39798541261814, 202.7646132036331, 358.2794741322842],
               'solve_time': 1695297930.5532792, 'cam_solve_time': 1695297930.5532837, 'Roll': 306.2951794424281, 'FOV': 10.200729425086111,
               'RMSE': 21.995567413046142, 'Matches': 12, 'Prob': 6.987725483613384e-13, 'T_solve': 15.00384000246413, 'RA_target': 22.86683471463411,
               'Dec_target': 15.347716050003328, 'T_extract': 75.79255499877036, 'Alt': None, 'Az': None, 'solve_source': 'CAM', 'constellation': 'Psc'},
-    imu={'moving': False, 'move_start': 1695297928.69749, 'move_end': 1695297928.764207,
-         'status': 3},
+    imu={'moving': False, 'move_start': 1695297928.69749, 'move_end': 1695297928.764207, 'pos': [171.39798541261814, 202.7646132036331, 358.2794741322842],
+         'start_pos': [171.4009455613444, 202.76321535004726, 358.2587208386012], 'status': 3},
     location={'lat': 59.05139745, 'lon': 7.987654, 'altitude': 151.4, 'source': 'GPS', gps_lock': False, 'timezone': 'Europe/Stockholm', 'last_gps_lock': None},
     datetime=None,
     screen=<PIL.Image.Image image mode=RGB size=128x128 at 0xE693C910>,
@@ -239,7 +238,7 @@ def from_json(cls, json_str):
 
 class SharedStateObj:
     def __init__(self):
-        self.__power_state = 1  # 0 = sleep state, 1 = awake state
+        self.__power_state = 1
         # self.__solve_state
         # None = No solve attempted yet
         # True = Valid solve data from either IMU or Camera
@@ -251,7 +250,7 @@ def __init__(self):
             "exposure_end": 0,
             "exposure_time": 500000,  # Default exposure time in microseconds (0.5s)
             "imu": None,
-            "imu_delta": 0.0,  # Angle between quaternion at start and end of exposure [deg]
+            "imu_delta": 0,
         }
         self.__solution = None
         self.__sats = None
@@ -272,7 +271,7 @@ def __init__(self):
         self.__cam_raw = None
         # Are we prepared to do alt/az math
         # We need gps lock and datetime
-        self.__tz_finder = TimezoneFinder()
+        self.__tz_finder = None
 
     def serialize(self, output_file):
         with open(output_file, "wb") as f:
@@ -298,16 +297,7 @@ def power_state(self):
         return self.__power_state
 
     def set_power_state(self, v):
-        """
-        Sets the power_state. Allowed states are 0 (sleep) or 1 (awake). If
-        the input v is any other value, power_state will be unchanged.
-        """
-        if v in (0, 1):
-            self.__power_state = v
-        else:
-            logger.error(
-                f"Invalid value for set_power_state: {v}. power_state not changed."
-            )
+        self.__power_state = v
 
     def arch(self):
         return self.__arch
@@ -359,6 +349,10 @@ def set_location(self, v):
         # if value is not none, set the timezone
         # before saving the value
         if v:
+            if self.__tz_finder is None:
+                from timezonefinder import TimezoneFinder
+
+                self.__tz_finder = TimezoneFinder()
             v.timezone = self.__tz_finder.timezone_at(lat=v.lat, lng=v.lon)
         self.__location = v
 
diff --git a/python/PiFinder/sys_utils.py b/python/PiFinder/sys_utils.py
index 6db15d5fa..37f1970a5 100644
--- a/python/PiFinder/sys_utils.py
+++ b/python/PiFinder/sys_utils.py
@@ -1,410 +1,592 @@
-import glob
+"""
+NixOS system utilities for PiFinder.
+
+Uses:
+- NetworkManager GLib bindings (gi.repository.NM) for WiFi management
+- python-pam for password verification
+- D-Bus for hostname/reboot/shutdown
+- stdlib zipfile for backup/restore
+- NixOS specialisations for camera switching
+- systemd service for software updates
+"""
+
+import os
 import re
-from typing import Dict, Any
+import subprocess
+import logging
+from pathlib import Path
+from typing import Optional
 
-import sh
-from sh import wpa_cli, unzip, passwd
+import dbus
 import pam
+import gi
 
-import socket
-from PiFinder import utils
-import logging
+gi.require_version("NM", "1.0")
+from gi.repository import GLib, NM  # noqa: E402
 
-BACKUP_PATH = "/home/pifinder/PiFinder_data/PiFinder_backup.zip"
+from PiFinder.sys_utils_base import (  # noqa: E402
+    NetworkBase,
+    BACKUP_PATH,  # noqa: F401
+    remove_backup,  # noqa: F401
+    backup_userdata,  # noqa: F401
+    restore_userdata,  # noqa: F401
+    restart_pifinder,  # noqa: F401
+)
 
-logger = logging.getLogger("SysUtils")
+AP_CONNECTION_NAME = "PiFinder-AP"
 
+logger = logging.getLogger("SysUtils.NixOS")
 
-class Network:
-    """
-    Provides wifi network info
-    """
 
-    def __init__(self):
-        self.wifi_txt = f"{utils.pifinder_dir}/wifi_status.txt"
-        with open(self.wifi_txt, "r") as wifi_f:
-            self._wifi_mode = wifi_f.read()
+# ---------------------------------------------------------------------------
+# Internal helpers
+# ---------------------------------------------------------------------------
 
-        self.populate_wifi_networks()
 
-    def populate_wifi_networks(self) -> None:
-        wpa_supplicant_path = "/etc/wpa_supplicant/wpa_supplicant.conf"
-        self._wifi_networks = []
-        try:
-            with open(wpa_supplicant_path, "r") as wpa_conf:
-                contents = wpa_conf.readlines()
-        except IOError as e:
-            logger.error(f"Error reading wpa_supplicant.conf: {e}")
-            return
+def _run(cmd: list[str], **kwargs) -> subprocess.CompletedProcess:
+    """Run a command, logging failures."""
+    result = subprocess.run(cmd, capture_output=True, text=True, **kwargs)
+    if result.returncode != 0:
+        logger.error(
+            "Command %s failed (rc=%d): %s",
+            cmd,
+            result.returncode,
+            result.stderr.strip(),
+        )
+    return result
 
-        self._wifi_networks = Network._parse_wpa_supplicant(contents)
 
-    @staticmethod
-    def _parse_wpa_supplicant(contents: list[str]) -> list:
-        """
-        Parses wpa_supplicant.conf to get current config
-        """
-        wifi_networks = []
-        network_dict: Dict[str, Any] = {}
-        network_id = 0
-        in_network_block = False
-        for line in contents:
-            line = line.strip()
-            if line.startswith("network={"):
-                in_network_block = True
-                network_dict = {
-                    "id": network_id,
-                    "ssid": None,
-                    "psk": None,
-                    "key_mgmt": None,
-                }
+def _nm_client() -> NM.Client:
+    """Create a NetworkManager client (synchronous)."""
+    return NM.Client.new(None)
 
-            elif line == "}" and in_network_block:
-                in_network_block = False
-                wifi_networks.append(network_dict)
-                network_id += 1
 
-            elif in_network_block:
-                match = re.match(r"(\w+)=(.+)", line)
-                if match:
-                    key, value = match.groups()
-                    if key in network_dict:
-                        network_dict[key] = value.strip('"')
+def _nm_run_async(async_fn, *args):
+    """
+    Run an async NM operation synchronously by spinning a local GLib MainLoop.
+    """
+    loop = GLib.MainLoop.new(None, False)
+    state = {"result": None, "error": None}
 
-        return wifi_networks
+    def callback(source, async_result, _user_data):
+        try:
+            method_name = async_fn.__name__.replace("_async", "_finish")
+            finish_fn = getattr(source, method_name)
+            state["result"] = finish_fn(async_result)
+        except Exception as e:
+            state["error"] = e
+        finally:
+            loop.quit()
 
-    def get_wifi_networks(self):
-        return self._wifi_networks
+    async_fn(*args, callback, None)
+    loop.run()
 
-    def delete_wifi_network(self, network_id):
-        """
-        Immediately deletes a wifi network
-        """
-        self._wifi_networks.pop(network_id)
+    if state["error"]:
+        raise state["error"]
+    return state["result"]
 
-        with open("/etc/wpa_supplicant/wpa_supplicant.conf", "r") as wpa_conf:
-            wpa_contents = list(wpa_conf)
 
-        with open("/etc/wpa_supplicant/wpa_supplicant.conf", "w") as wpa_conf:
-            in_networks = False
-            for line in wpa_contents:
-                if not in_networks:
-                    if line.startswith("network={"):
-                        in_networks = True
-                    else:
-                        wpa_conf.write(line)
+def _get_system_bus() -> dbus.SystemBus:
+    return dbus.SystemBus()
 
-            for network in self._wifi_networks:
-                ssid = network["ssid"]
-                key_mgmt = network["key_mgmt"]
-                psk = network["psk"]
 
-                wpa_conf.write("\nnetwork={\n")
-                wpa_conf.write(f'\tssid="{ssid}"\n')
-                if key_mgmt == "WPA-PSK":
-                    wpa_conf.write(f'\tpsk="{psk}"\n')
-                wpa_conf.write(f"\tkey_mgmt={key_mgmt}\n")
+# ---------------------------------------------------------------------------
+# Network class — WiFi management via NM GLib bindings
+# ---------------------------------------------------------------------------
 
-                wpa_conf.write("}\n")
 
+class Network(NetworkBase):
+    """
+    Provides wifi network info via NetworkManager GLib bindings (libnm).
+    """
+
+    def __init__(self):
+        self._client = _nm_client()
+        self._wifi_networks: list[dict] = []
+        self._wifi_mode = self._detect_wifi_mode()
+        self.populate_wifi_networks()
+
+    def _detect_wifi_mode(self) -> str:
+        """Detect whether we're in AP or Client mode."""
+        for ac in self._client.get_active_connections():
+            if ac.get_id() == AP_CONNECTION_NAME:
+                return "AP"
+        return "Client"
+
+    def populate_wifi_networks(self) -> None:
+        """Get saved WiFi connections from NetworkManager."""
+        self._wifi_networks = []
+        network_id = 0
+        for conn in self._client.get_connections():
+            s_wifi = conn.get_setting_wireless()
+            if s_wifi is None:
+                continue
+            if conn.get_id() == AP_CONNECTION_NAME:
+                continue
+            ssid_bytes = s_wifi.get_ssid()
+            ssid = ssid_bytes.get_data().decode("utf-8") if ssid_bytes else ""
+            self._wifi_networks.append(
+                {
+                    "id": network_id,
+                    "ssid": ssid,
+                    "psk": None,
+                    "key_mgmt": "WPA-PSK",
+                }
+            )
+            network_id += 1
+
+    def delete_wifi_network(self, network_id):
+        """Delete a saved WiFi connection."""
+        if network_id < 0 or network_id >= len(self._wifi_networks):
+            logger.error("Invalid network_id: %d", network_id)
+            return
+        ssid = self._wifi_networks[network_id]["ssid"]
+        for conn in self._client.get_connections():
+            if conn.get_id() == ssid:
+                try:
+                    _nm_run_async(conn.delete_async, None)
+                except Exception as e:
+                    logger.error("Failed to delete connection '%s': %s", ssid, e)
+                break
         self.populate_wifi_networks()
 
     def add_wifi_network(self, ssid, key_mgmt, psk=None):
-        """
-        Add a wifi network
-        """
-        with open("/etc/wpa_supplicant/wpa_supplicant.conf", "a") as wpa_conf:
-            wpa_conf.write("\nnetwork={\n")
-            wpa_conf.write(f'\tssid="{ssid}"\n')
-            if key_mgmt == "WPA-PSK":
-                wpa_conf.write(f'\tpsk="{psk}"\n')
-            wpa_conf.write(f"\tkey_mgmt={key_mgmt}\n")
+        """Add and connect to a WiFi network."""
+        profile = NM.SimpleConnection.new()
+
+        s_con = NM.SettingConnection.new()
+        s_con.set_property(NM.SETTING_CONNECTION_ID, ssid)
+        s_con.set_property(NM.SETTING_CONNECTION_TYPE, "802-11-wireless")
+        s_con.set_property(NM.SETTING_CONNECTION_AUTOCONNECT, True)
+        profile.add_setting(s_con)
+
+        s_wifi = NM.SettingWireless.new()
+        s_wifi.set_property(
+            NM.SETTING_WIRELESS_SSID,
+            GLib.Bytes.new(ssid.encode("utf-8")),
+        )
+        s_wifi.set_property(NM.SETTING_WIRELESS_MODE, "infrastructure")
+        profile.add_setting(s_wifi)
+
+        if key_mgmt == "WPA-PSK" and psk:
+            s_wsec = NM.SettingWirelessSecurity.new()
+            s_wsec.set_property(NM.SETTING_WIRELESS_SECURITY_KEY_MGMT, "wpa-psk")
+            s_wsec.set_property(NM.SETTING_WIRELESS_SECURITY_PSK, psk)
+            profile.add_setting(s_wsec)
+
+        s_ip4 = NM.SettingIP4Config.new()
+        s_ip4.set_property(NM.SETTING_IP_CONFIG_METHOD, "auto")
+        profile.add_setting(s_ip4)
 
-            wpa_conf.write("}\n")
+        try:
+            _nm_run_async(
+                self._client.add_and_activate_connection_async,
+                profile,
+                self._client.get_device_by_iface("wlan0"),
+                None,
+                None,
+            )
+        except Exception as e:
+            logger.error("Failed to add WiFi network '%s': %s", ssid, e)
 
         self.populate_wifi_networks()
-        if self._wifi_mode == "Client":
-            # Restart the supplicant
-            wpa_cli("reconfigure")
-
-    def get_ap_name(self):
-        with open("/etc/hostapd/hostapd.conf", "r") as conf:
-            for line in conf:
-                if line.startswith("ssid="):
-                    return line[5:-1]
-        return "UNKN"
-
-    def set_ap_name(self, ap_name):
+
+    def get_ap_name(self) -> str:
+        """Get the current AP SSID from the PiFinder-AP profile."""
+        for conn in self._client.get_connections():
+            if conn.get_id() == AP_CONNECTION_NAME:
+                s_wifi = conn.get_setting_wireless()
+                if s_wifi:
+                    ssid_bytes = s_wifi.get_ssid()
+                    if ssid_bytes:
+                        return ssid_bytes.get_data().decode("utf-8")
+        return "PiFinderAP"
+
+    def set_ap_name(self, ap_name: str) -> None:
+        """Change the AP SSID."""
         if ap_name == self.get_ap_name():
             return
-        with open("/tmp/hostapd.conf", "w") as new_conf:
-            with open("/etc/hostapd/hostapd.conf", "r") as conf:
-                for line in conf:
-                    if line.startswith("ssid="):
-                        line = f"ssid={ap_name}\n"
-                    new_conf.write(line)
-        sh.sudo("cp", "/tmp/hostapd.conf", "/etc/hostapd/hostapd.conf")
-
-    def get_host_name(self):
-        return socket.gethostname()
+        for conn in self._client.get_connections():
+            if conn.get_id() == AP_CONNECTION_NAME:
+                s_wifi = conn.get_setting_wireless()
+                if s_wifi:
+                    s_wifi.set_property(
+                        NM.SETTING_WIRELESS_SSID,
+                        GLib.Bytes.new(ap_name.encode("utf-8")),
+                    )
+                    try:
+                        _nm_run_async(conn.commit_changes_async, True, None)
+                    except Exception as e:
+                        logger.error("Failed to update AP SSID: %s", e)
+                return
 
     def get_connected_ssid(self) -> str:
-        """
-        Returns the SSID of the connected wifi network or
-        None if not connected or in AP mode
-        """
+        """Returns the SSID of the connected wifi network."""
         if self.wifi_mode() == "AP":
             return ""
-        # get output from iwgetid
-        try:
-            iwgetid = sh.Command("iwgetid")
-            _t = iwgetid(_ok_code=(0, 255)).strip()
-            return _t.split(":")[-1].strip('"')
-        except sh.CommandNotFound:
-            return "ssid_not_found"
+        device = self._client.get_device_by_iface("wlan0")
+        if device is None:
+            return ""
+        ac = device.get_active_connection()
+        if ac is None:
+            return ""
+        conn = ac.get_connection()
+        if conn is None:
+            return ""
+        s_wifi = conn.get_setting_wireless()
+        if s_wifi is None:
+            return ""
+        ssid_bytes = s_wifi.get_ssid()
+        if ssid_bytes is None:
+            return ""
+        return ssid_bytes.get_data().decode("utf-8")
 
-    def set_host_name(self, hostname) -> None:
-        if hostname == self.get_host_name():
-            return
-        _result = sh.sudo("hostnamectl", "set-hostname", hostname)
+    _HOSTNAME_RE = re.compile(r"^[a-zA-Z0-9]([a-zA-Z0-9-]{0,61}[a-zA-Z0-9])?$")
 
-    def wifi_mode(self):
-        return self._wifi_mode
+    def set_host_name(self, hostname: str) -> None:
+        """Set kernel hostname and update avahi mDNS announcement.
 
-    def set_wifi_mode(self, mode):
-        if mode == self._wifi_mode:
+        NixOS makes /etc/hostname read-only (nix store symlink), so we set
+        the kernel hostname directly and persist to a file that a boot
+        service reads on startup.
+        """
+        hostname = hostname.strip()
+        if not self._HOSTNAME_RE.match(hostname):
+            logger.warning("Invalid hostname rejected: %r", hostname)
             return
-        if mode == "AP":
-            go_wifi_ap()
-
-        if mode == "Client":
-            go_wifi_cli()
-
-    def local_ip(self):
-        if self._wifi_mode == "AP":
-            return "10.10.10.1"
-
-        s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        if hostname == self.get_host_name():
+            return
+        subprocess.run(["sudo", "hostname", hostname], check=False)
+        result = subprocess.run(["sudo", "avahi-set-host-name", hostname], check=False)
+        if result.returncode != 0:
+            logger.warning(
+                "avahi-set-host-name failed (rc=%d), restarting avahi-daemon",
+                result.returncode,
+            )
+            subprocess.run(
+                ["sudo", "systemctl", "restart", "avahi-daemon.service"],
+                check=False,
+            )
+        data_dir = Path(os.environ.get("PIFINDER_DATA", "/home/pifinder/PiFinder_data"))
+        (data_dir / "hostname").write_text(hostname)
+
+    def _go_ap(self) -> None:
+        """Activate the AP connection."""
+        self._activate_connection(AP_CONNECTION_NAME)
+
+    def _go_client(self) -> None:
+        """Deactivate the AP connection (fall back to client)."""
+        self._deactivate_connection(AP_CONNECTION_NAME)
+
+    def _activate_connection(self, name: str) -> None:
+        """Activate a saved connection by name."""
+        conn = None
+        for c in self._client.get_connections():
+            if c.get_id() == name:
+                conn = c
+                break
+        if conn is None:
+            logger.error("Connection '%s' not found", name)
+            return
+        device = self._client.get_device_by_iface("wlan0")
         try:
-            s.connect(("192.255.255.255", 1))
-            ip = s.getsockname()[0]
-        except Exception:
-            ip = "NONE"
-        finally:
-            s.close()
-        return ip
+            _nm_run_async(
+                self._client.activate_connection_async,
+                conn,
+                device,
+                None,
+                None,
+            )
+        except Exception as e:
+            logger.error("Failed to activate '%s': %s", name, e)
+
+    def _deactivate_connection(self, name: str) -> None:
+        """Deactivate an active connection by name."""
+        for ac in self._client.get_active_connections():
+            if ac.get_id() == name:
+                try:
+                    _nm_run_async(
+                        self._client.deactivate_connection_async,
+                        ac,
+                        None,
+                    )
+                except Exception as e:
+                    logger.error("Failed to deactivate '%s': %s", name, e)
+                return
+        logger.warning("No active connection named '%s' to deactivate", name)
+
+
+# ---------------------------------------------------------------------------
+# Module-level WiFi switching (called by callbacks.py and status.py)
+# ---------------------------------------------------------------------------
+
+_network_instance: Optional[Network] = None
+
+
+def _get_network() -> Network:
+    global _network_instance
+    if _network_instance is None:
+        _network_instance = Network()
+    return _network_instance
 
 
 def go_wifi_ap():
     logger.info("SYS: Switching to AP")
-    sh.sudo("/home/pifinder/PiFinder/switch-ap.sh")
+    net = _get_network()
+    net.set_wifi_mode("AP")
     return True
 
 
 def go_wifi_cli():
     logger.info("SYS: Switching to Client")
-    sh.sudo("/home/pifinder/PiFinder/switch-cli.sh")
+    net = _get_network()
+    net.set_wifi_mode("Client")
     return True
 
 
-def remove_backup():
-    """
-    Removes backup file
-    """
-    sh.sudo("rm", BACKUP_PATH, _ok_code=(0, 1))
+# ---------------------------------------------------------------------------
+# System control (systemctl subprocess + D-Bus for reboot/shutdown)
+# ---------------------------------------------------------------------------
 
 
-def backup_userdata():
-    """
-    Back up userdata to a single zip file for later
-    restore.  Returns the path to the zip file.
+def restart_system() -> None:
+    """Restart the system via D-Bus to login1."""
+    logger.info("SYS: Initiating System Restart")
+    try:
+        bus = _get_system_bus()
+        login1 = bus.get_object(
+            "org.freedesktop.login1",
+            "/org/freedesktop/login1",
+        )
+        manager = dbus.Interface(login1, "org.freedesktop.login1.Manager")
+        manager.Reboot(False)
+    except dbus.DBusException as e:
+        logger.error("D-Bus reboot failed, falling back to subprocess: %s", e)
+        _run(["sudo", "shutdown", "-r", "now"])
 
-    Backs up:
-        config.json
-        observations.db
-        obslist/*
-    """
 
-    remove_backup()
+def shutdown() -> None:
+    """Shut down the system via D-Bus to login1."""
+    logger.info("SYS: Initiating Shutdown")
+    try:
+        bus = _get_system_bus()
+        login1 = bus.get_object(
+            "org.freedesktop.login1",
+            "/org/freedesktop/login1",
+        )
+        manager = dbus.Interface(login1, "org.freedesktop.login1.Manager")
+        manager.PowerOff(False)
+    except dbus.DBusException as e:
+        logger.error("D-Bus shutdown failed, falling back to subprocess: %s", e)
+        _run(["sudo", "shutdown", "now"])
 
-    _zip = sh.Command("zip")
-    _zip(
-        BACKUP_PATH,
-        "/home/pifinder/PiFinder_data/config.json",
-        "/home/pifinder/PiFinder_data/observations.db",
-        glob.glob("/home/pifinder/PiFinder_data/obslists/*"),
-    )
 
-    return BACKUP_PATH
+# ---------------------------------------------------------------------------
+# Software updates — async upgrade via systemd service
+# ---------------------------------------------------------------------------
 
+UPGRADE_STATE_IDLE = "idle"
+UPGRADE_STATE_RUNNING = "running"
+UPGRADE_STATE_SUCCESS = "success"
+UPGRADE_STATE_FAILED = "failed"
 
-def restore_userdata(zip_path):
-    """
-    Compliment to backup_userdata
-    restores userdata
-    OVERWRITES existing data!
-    """
-    unzip("-d", "/", "-o", zip_path)
+UPGRADE_REF_FILE = Path("/run/pifinder/upgrade-ref")
+UPGRADE_STATUS_FILE = Path("/run/pifinder/upgrade-status")
 
 
-def restart_pifinder() -> None:
-    """
-    Uses systemctl to restart the PiFinder
-    service
-    """
-    logger.info("SYS: Restarting PiFinder")
-    sh.sudo("systemctl", "restart", "pifinder")
+def start_upgrade(ref: str = "release") -> bool:
+    """Start pifinder-upgrade.service with a specific git ref."""
+    try:
+        UPGRADE_REF_FILE.write_text(ref)
+    except OSError as e:
+        logger.error("Failed to write upgrade ref file: %s", e)
+        return False
+
+    # Clean stale status from previous run
+    UPGRADE_STATUS_FILE.unlink(missing_ok=True)
+
+    _run(["sudo", "systemctl", "reset-failed", "pifinder-upgrade.service"])
+    result = _run(
+        [
+            "sudo",
+            "systemctl",
+            "start",
+            "--no-block",
+            "pifinder-upgrade.service",
+        ]
+    )
+    return result.returncode == 0
 
 
-def restart_system() -> None:
-    """
-    Restarts the system
+def get_upgrade_state() -> str:
+    """Poll upgrade status file written by the upgrade service."""
+    try:
+        status = UPGRADE_STATUS_FILE.read_text().strip()
+    except FileNotFoundError:
+        # Service hasn't written status yet — check if it's still starting
+        result = _run(["systemctl", "is-active", "pifinder-upgrade.service"])
+        svc = result.stdout.strip()
+        if svc in ("activating", "active"):
+            return UPGRADE_STATE_RUNNING
+        if svc == "failed":
+            return UPGRADE_STATE_FAILED
+        return UPGRADE_STATE_IDLE
+
+    if status == "success":
+        return UPGRADE_STATE_SUCCESS
+    elif status == "failed":
+        return UPGRADE_STATE_FAILED
+    elif status.startswith("downloading") or status in ("activating", "rebooting"):
+        return UPGRADE_STATE_RUNNING
+    return UPGRADE_STATE_IDLE
+
+
+def get_upgrade_progress() -> dict:
+    """Return structured upgrade progress for UI display.
+
+    Returns dict with keys:
+      phase: "downloading" | "activating" | "rebooting" | "success" | "failed" | ""
+      done: int (paths downloaded so far)
+      total: int (total paths to download)
+      percent: int (0-100)
     """
-    logger.info("SYS: Initiating System Restart")
-    sh.sudo("shutdown", "-r", "now")
+    try:
+        raw = UPGRADE_STATUS_FILE.read_text().strip()
+    except FileNotFoundError:
+        return {"phase": "", "done": 0, "total": 0, "percent": 0}
 
+    # "downloading 5/42" format
+    if raw.startswith("downloading "):
+        parts = raw.split(" ", 1)[1].split("/")
+        try:
+            done, total = int(parts[0]), int(parts[1])
+            pct = int(done * 100 / total) if total > 0 else 0
+            return {
+                "phase": "downloading",
+                "done": done,
+                "total": total,
+                "percent": pct,
+            }
+        except (ValueError, IndexError):
+            return {"phase": "downloading", "done": 0, "total": 0, "percent": 0}
+    if raw == "activating":
+        return {"phase": "activating", "done": 0, "total": 0, "percent": 100}
+    if raw == "rebooting":
+        return {"phase": "rebooting", "done": 0, "total": 0, "percent": 100}
+    if raw == "success":
+        return {"phase": "success", "done": 0, "total": 0, "percent": 100}
+    if raw == "failed":
+        return {"phase": "failed", "done": 0, "total": 0, "percent": 0}
+    return {"phase": "", "done": 0, "total": 0, "percent": 0}
+
+
+def get_upgrade_log_tail(lines: int = 3) -> str:
+    """Last N lines from upgrade journal for UI display."""
+    result = _run(
+        [
+            "journalctl",
+            "-u",
+            "pifinder-upgrade.service",
+            "-n",
+            str(lines),
+            "--no-pager",
+            "-o",
+            "cat",
+        ]
+    )
+    return result.stdout.strip() if result.returncode == 0 else ""
 
-def shutdown() -> None:
-    """
-    shuts down the system
-    """
-    logger.info("SYS: Initiating Shutdown")
-    sh.sudo("shutdown", "now")
 
+def update_software(ref: str = "release") -> bool:
+    """Start the upgrade service (non-blocking).
 
-def update_software():
-    """
-    Uses systemctl to git pull and then restart
-    service
+    The service downloads, sets the boot profile, and reboots.
+    UI should poll get_upgrade_progress() for status.
     """
-    logger.info("SYS: Running update")
-    sh.bash("/home/pifinder/PiFinder/pifinder_update.sh")
-    return True
+    return start_upgrade(ref=ref)
 
 
-def verify_password(username, password):
-    """
-    Checks the provided password against the provided user
-    password
-    """
+# ---------------------------------------------------------------------------
+# Password management (python-pam + chpasswd)
+# ---------------------------------------------------------------------------
+
+
+def verify_password(username: str, password: str) -> bool:
+    """Verify a password against PAM."""
     p = pam.pam()
+    return p.authenticate(username, password, service="pifinder")
 
-    return p.authenticate(username, password)
 
+def change_password(username: str, current_password: str, new_password: str) -> bool:
+    """Change the user password via chpasswd."""
+    if not verify_password(username, current_password):
+        return False
+    result = subprocess.run(
+        ["sudo", "chpasswd"],
+        input=f"{username}:{new_password}\n",
+        capture_output=True,
+        text=True,
+    )
+    return result.returncode == 0
+
+
+# ---------------------------------------------------------------------------
+# Camera switching (specialisations + reboot)
+# ---------------------------------------------------------------------------
+
+CAMERA_TYPE_FILE = "/var/lib/pifinder/camera-type"
 
-def change_password(username, current_password, new_password):
+
+def switch_camera(cam_type: str) -> None:
     """
-    Changes the PiFinder User password
+    Switch camera via NixOS specialisation.
+    Requires reboot (dtoverlay change).
     """
-    result = passwd(
-        username,
-        _in=f"{current_password}\n{new_password}\n{new_password}\n",
-        _ok_code=(0, 10),
-    )
+    logger.info("SYS: Switching camera to %s via specialisation", cam_type)
+    result = _run(["sudo", "pifinder-switch-camera", cam_type])
+    if result.returncode != 0:
+        logger.error("SYS: Camera switch failed: %s", result.stderr)
 
-    if result.exit_code == 0:
-        return True
-    else:
-        return False
+
+def get_camera_type() -> list[str]:
+    try:
+        with open(CAMERA_TYPE_FILE) as f:
+            return [f.read().strip()]
+    except FileNotFoundError:
+        return ["imx462"]
 
 
 def switch_cam_imx477() -> None:
     logger.info("SYS: Switching cam to imx477")
-    sh.sudo("python", "-m", "PiFinder.switch_camera", "imx477")
+    switch_camera("imx477")
 
 
 def switch_cam_imx296() -> None:
     logger.info("SYS: Switching cam to imx296")
-    sh.sudo("python", "-m", "PiFinder.switch_camera", "imx296")
+    switch_camera("imx296")
 
 
 def switch_cam_imx462() -> None:
     logger.info("SYS: Switching cam to imx462")
-    sh.sudo("python", "-m", "PiFinder.switch_camera", "imx462")
+    switch_camera("imx462")
 
 
-def check_and_sync_gpsd_config(baud_rate: int) -> bool:
-    """
-    Checks if GPSD configuration matches the desired baud rate,
-    and updates it only if necessary.
+# ---------------------------------------------------------------------------
+# GPSD config (declarative on NixOS — no-ops)
+# ---------------------------------------------------------------------------
 
-    Args:
-        baud_rate: The desired baud rate (9600 or 115200)
 
-    Returns:
-        True if configuration was updated, False if already correct
+def check_and_sync_gpsd_config(baud_rate: int) -> bool:
     """
-    logger.info(f"SYS: Checking GPSD config for baud rate {baud_rate}")
-
-    try:
-        # Read current config
-        with open("/etc/default/gpsd", "r") as f:
-            content = f.read()
-
-        # Determine expected GPSD_OPTIONS
-        if baud_rate == 115200:
-            # NOTE: the space before -s in the next line is really needed
-            expected_options = 'GPSD_OPTIONS=" -s 115200"'
-        else:
-            expected_options = 'GPSD_OPTIONS=""'
-
-        # Check if update is needed
-        current_match = re.search(r"^GPSD_OPTIONS=.*$", content, re.MULTILINE)
-        if current_match:
-            current_options = current_match.group(0)
-            if current_options == expected_options:
-                logger.info("SYS: GPSD config already correct, no update needed")
-                return False
-
-        # Update is needed
-        logger.info(f"SYS: GPSD config mismatch, updating to {expected_options}")
-        update_gpsd_config(baud_rate)
-        return True
-
-    except Exception as e:
-        logger.error(f"SYS: Error checking/syncing GPSD config: {e}")
-        return False
-
-
-def update_gpsd_config(baud_rate: int) -> None:
+    On NixOS, GPSD config is managed declaratively via services.nix.
+    This is a no-op.
     """
-    Updates the GPSD configuration file with the specified baud rate
-    and restarts the GPSD service.
+    logger.info("SYS: GPSD baud rate %d — managed by NixOS configuration", baud_rate)
+    return False
 
-    Args:
-        baud_rate: The baud rate to configure (9600 or 115200)
-    """
-    logger.info(f"SYS: Updating GPSD config with baud rate {baud_rate}")
 
-    try:
-        # Read the current config
-        with open("/etc/default/gpsd", "r") as f:
-            lines = f.readlines()
-
-        # Update GPSD_OPTIONS line
-        updated_lines = []
-        for line in lines:
-            if line.startswith("GPSD_OPTIONS="):
-                if baud_rate == 115200:
-                    # NOTE: the space before -s in the next line is really needed
-                    updated_lines.append('GPSD_OPTIONS=" -s 115200"\n')
-                else:
-                    updated_lines.append('GPSD_OPTIONS=""\n')
-            else:
-                updated_lines.append(line)
-
-        # Write the updated config to a temporary file
-        with open("/tmp/gpsd.conf", "w") as f:
-            f.writelines(updated_lines)
-
-        # Copy the temp file to the actual location with sudo
-        sh.sudo("cp", "/tmp/gpsd.conf", "/etc/default/gpsd")
-
-        # Restart GPSD service
-        sh.sudo("systemctl", "restart", "gpsd")
-
-        logger.info("SYS: GPSD configuration updated and service restarted")
-
-    except Exception as e:
-        logger.error(f"SYS: Error updating GPSD config: {e}")
-        raise
+def update_gpsd_config(baud_rate: int) -> None:
+    """On NixOS, GPSD configuration is declarative. This is a no-op."""
+    logger.info(
+        "SYS: GPSD config is managed declaratively on NixOS (baud=%d)", baud_rate
+    )
diff --git a/python/PiFinder/sys_utils_base.py b/python/PiFinder/sys_utils_base.py
new file mode 100644
index 000000000..0366c13b3
--- /dev/null
+++ b/python/PiFinder/sys_utils_base.py
@@ -0,0 +1,149 @@
+"""
+Abstract base for PiFinder system utilities.
+
+Defines the public API contract and shared implementations used by all
+platform backends (Debian, NixOS, fake/testing).
+"""
+
+import logging
+import socket
+import zipfile
+from abc import ABC, abstractmethod
+from pathlib import Path
+
+from PiFinder import utils
+
+BACKUP_PATH = str(utils.data_dir / "PiFinder_backup.zip")
+
+logger = logging.getLogger("SysUtils")
+
+
+# ---------------------------------------------------------------------------
+# Network ABC — shared + abstract methods
+# ---------------------------------------------------------------------------
+
+
+class NetworkBase(ABC):
+    """Base class for platform-specific Network implementations."""
+
+    _wifi_mode: str = "Client"
+    _wifi_networks: list = []
+
+    def get_host_name(self) -> str:
+        return socket.gethostname()
+
+    def local_ip(self) -> str:
+        if self._wifi_mode == "AP":
+            return "10.10.10.1"
+        s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        try:
+            s.connect(("192.255.255.255", 1))
+            ip = s.getsockname()[0]
+        except Exception:
+            ip = "NONE"
+        finally:
+            s.close()
+        return ip
+
+    def wifi_mode(self) -> str:
+        return self._wifi_mode
+
+    def get_wifi_networks(self):
+        return self._wifi_networks
+
+    def set_wifi_mode(self, mode: str) -> None:
+        if mode == self._wifi_mode:
+            return
+        if mode == "AP":
+            self._go_ap()
+        elif mode == "Client":
+            self._go_client()
+        self._wifi_mode = mode
+
+    @abstractmethod
+    def _go_ap(self) -> None: ...
+
+    @abstractmethod
+    def _go_client(self) -> None: ...
+
+    @abstractmethod
+    def populate_wifi_networks(self) -> None: ...
+
+    @abstractmethod
+    def delete_wifi_network(self, network_id) -> None: ...
+
+    @abstractmethod
+    def add_wifi_network(self, ssid, key_mgmt, psk=None) -> None: ...
+
+    @abstractmethod
+    def get_ap_name(self) -> str: ...
+
+    @abstractmethod
+    def set_ap_name(self, ap_name: str) -> None: ...
+
+    @abstractmethod
+    def get_connected_ssid(self) -> str: ...
+
+    @abstractmethod
+    def set_host_name(self, hostname: str) -> None: ...
+
+
+# ---------------------------------------------------------------------------
+# Backup / restore (stdlib zipfile — portable across all platforms)
+# ---------------------------------------------------------------------------
+
+
+def remove_backup() -> None:
+    """Removes backup file."""
+    path = Path(BACKUP_PATH)
+    if path.exists():
+        path.unlink()
+
+
+def backup_userdata() -> str:
+    """
+    Back up userdata to a single zip file.
+
+    Backs up:
+        config.json
+        observations.db
+        obslists/*
+    """
+    remove_backup()
+
+    files = [
+        utils.data_dir / "config.json",
+        utils.data_dir / "observations.db",
+    ]
+    for p in utils.data_dir.glob("obslists/*"):
+        files.append(p)
+
+    with zipfile.ZipFile(BACKUP_PATH, "w", zipfile.ZIP_DEFLATED) as zf:
+        for filepath in files:
+            filepath = Path(filepath)
+            if filepath.exists():
+                zf.write(filepath, filepath.relative_to("/"))
+
+    return BACKUP_PATH
+
+
+def restore_userdata(zip_path: str) -> None:
+    """
+    Restore userdata from a zip backup.
+    OVERWRITES existing data!
+    """
+    with zipfile.ZipFile(zip_path, "r") as zf:
+        zf.extractall("/")
+
+
+# ---------------------------------------------------------------------------
+# Service control (shared across Debian + NixOS)
+# ---------------------------------------------------------------------------
+
+
+def restart_pifinder() -> None:
+    """Restart the PiFinder service via systemctl."""
+    import subprocess
+
+    logger.info("SYS: Restarting PiFinder")
+    subprocess.run(["sudo", "systemctl", "restart", "pifinder"])
diff --git a/python/PiFinder/sys_utils_fake.py b/python/PiFinder/sys_utils_fake.py
index efe6f1405..2afc27730 100644
--- a/python/PiFinder/sys_utils_fake.py
+++ b/python/PiFinder/sys_utils_fake.py
@@ -1,129 +1,80 @@
-import socket
 import logging
 
-BACKUP_PATH = "/home/pifinder/PiFinder_data/PiFinder_backup.zip"
+from PiFinder.sys_utils_base import (
+    NetworkBase,
+    BACKUP_PATH,
+)
 
 logger = logging.getLogger("SysUtils.Fake")
 
 
-class Network:
+class Network(NetworkBase):
     """
-    Provides wifi network info
+    Fake network for testing/development.
     """
 
     def __init__(self):
-        pass
+        self._wifi_mode = "Client"
+        self._wifi_networks: list = []
 
-    def populate_wifi_networks(self):
-        """
-        Parses wpa_supplicant.conf to get current config
-        """
+    def populate_wifi_networks(self) -> None:
         pass
 
-    def get_wifi_networks(self):
-        return ""
-
-    def delete_wifi_network(self, network_id):
-        """
-        Immediately deletes a wifi network
-        """
+    def delete_wifi_network(self, network_id) -> None:
         pass
 
-    def add_wifi_network(self, ssid, key_mgmt, psk=None):
-        """
-        Add a wifi network
-        """
+    def add_wifi_network(self, ssid, key_mgmt, psk=None) -> None:
         pass
 
-    def get_ap_name(self):
+    def get_ap_name(self) -> str:
         return "UNKN"
 
-    def set_ap_name(self, ap_name):
+    def set_ap_name(self, ap_name: str) -> None:
         pass
 
-    def get_host_name(self):
-        return socket.gethostname()
-
-    def get_connected_ssid(self):
-        """
-        Returns the SSID of the connected wifi network or
-        None if not connected or in AP mode
-        """
-        return "UNKN"
-
-    def set_host_name(self, hostname):
-        if hostname == self.get_host_name():
-            return
-
-    def wifi_mode(self):
+    def get_connected_ssid(self) -> str:
         return "UNKN"
 
-    def set_wifi_mode(self, mode):
+    def set_host_name(self, hostname: str) -> None:
         pass
 
-    def local_ip(self):
-        return "NONE"
+    def _go_ap(self) -> None:
+        logger.info("SYS: Fake switching to AP")
 
+    def _go_client(self) -> None:
+        logger.info("SYS: Fake switching to Client")
 
-def remove_backup():
-    """
-    Removes backup file
-    """
-    pass
 
+def remove_backup() -> None:
+    pass
 
-def backup_userdata():
-    """
-    Back up userdata to a single zip file for later
-    restore.  Returns the path to the zip file.
 
-    Backs up:
-        config.json
-        observations.db
-        obslist/*
-    """
+def backup_userdata() -> str:
     return BACKUP_PATH
 
 
-def restore_userdata(zip_path):
-    """
-    Compliment to backup_userdata
-    restores userdata
-    OVERWRITES existing data!
-    """
+def restore_userdata(zip_path) -> None:
     pass
 
 
-def shutdown():
-    """
-    shuts down the Pi
-    """
+def shutdown() -> None:
     logger.info("SYS: Initiating Shutdown")
-    return True
 
 
-def update_software():
-    """
-    Uses systemctl to git pull and then restart
-    service
-    """
-    logger.info("SYS: Running update")
+def update_software(ref: str = "release"):
+    logger.info("SYS: Running update (ref=%s)", ref)
     return True
 
 
-def restart_pifinder():
-    """
-    Uses systemctl to restart the PiFinder
-    service
-    """
+def get_upgrade_progress() -> dict:
+    return {"phase": "", "done": 0, "total": 0, "percent": 0}
+
+
+def restart_pifinder() -> None:
     logger.info("SYS: Restarting PiFinder")
-    return True
 
 
-def restart_system():
-    """
-    Restarts the system
-    """
+def restart_system() -> None:
     logger.info("SYS: Initiating System Restart")
 
 
@@ -138,25 +89,33 @@ def go_wifi_cli():
 
 
 def verify_password(username, password):
-    """
-    Checks the provided password against the provided user
-    password
-    """
     return True
 
 
 def change_password(username, current_password, new_password):
-    """
-    Changes the PiFinder User password
-    """
     return False
 
 
+def get_camera_type() -> list[str]:
+    return ["imx462"]
+
+
 def switch_cam_imx477() -> None:
     logger.info("SYS: Switching cam to imx477")
-    logger.info('sh.sudo("python", "-m", "PiFinder.switch_camera", "imx477")')
 
 
 def switch_cam_imx296() -> None:
     logger.info("SYS: Switching cam to imx296")
-    logger.info('sh.sudo("python", "-m", "PiFinder.switch_camera", "imx296")')
+
+
+def switch_cam_imx462() -> None:
+    logger.info("SYS: Switching cam to imx462")
+
+
+def check_and_sync_gpsd_config(baud_rate: int) -> bool:
+    logger.info("SYS: Checking GPSD config for baud rate %d (fake)", baud_rate)
+    return False
+
+
+def update_gpsd_config(baud_rate: int) -> None:
+    logger.info("SYS: Updating GPSD config with baud rate %d (fake)", baud_rate)
diff --git a/python/PiFinder/tetra3 b/python/PiFinder/tetra3
index 38c3f48f5..cded265ca 160000
--- a/python/PiFinder/tetra3
+++ b/python/PiFinder/tetra3
@@ -1 +1 @@
-Subproject commit 38c3f48f57d1005e9b65cbb26136f9f13ec0a1b0
+Subproject commit cded265ca1c41e4e526f91e06d3c7ef99bc37288
diff --git a/python/PiFinder/ui/base.py b/python/PiFinder/ui/base.py
index a34475bdf..9985e6adc 100644
--- a/python/PiFinder/ui/base.py
+++ b/python/PiFinder/ui/base.py
@@ -312,7 +312,7 @@ def screen_update(self, title_bar=True, button_hints=True) -> None:
                     (6, 1), _(self.title), font=self.fonts.bold.font, fill=fg
                 )
             imu = self.shared_state.imu()
-            moving = True if imu and imu["quat"] and imu["moving"] else False
+            moving = True if imu and imu["pos"] and imu["moving"] else False
 
             # GPS status
             if self.shared_state.altaz_ready():
@@ -339,6 +339,8 @@ def screen_update(self, title_bar=True, button_hints=True) -> None:
             if self.shared_state:
                 if self.shared_state.solve_state():
                     solution = self.shared_state.solution()
+                    if solution is None:
+                        return
                     cam_active = solution["solve_time"] == solution["cam_solve_time"]
                     # a fresh cam solve sets unmoved to True
                     self._unmoved = True if cam_active else self._unmoved
diff --git a/python/PiFinder/ui/callbacks.py b/python/PiFinder/ui/callbacks.py
index 78878c178..00eb426d5 100644
--- a/python/PiFinder/ui/callbacks.py
+++ b/python/PiFinder/ui/callbacks.py
@@ -201,21 +201,7 @@ def switch_cam_imx462(ui_module: UIModule) -> None:
 
 
 def get_camera_type(ui_module: UIModule) -> list[str]:
-    cam_id = "000"
-
-    # read config.txt into a list
-    with open("/boot/config.txt", "r") as boot_in:
-        boot_lines = list(boot_in)
-
-    # Look for the line without a comment...
-    for line in boot_lines:
-        if line.startswith("dtoverlay=imx"):
-            cam_id = line[10:16]
-            # imx462 uses imx290 driver
-            if cam_id == "imx290":
-                cam_id = "imx462"
-
-    return [cam_id]
+    return sys_utils.get_camera_type()
 
 
 def switch_language(ui_module: UIModule) -> None:
@@ -227,9 +213,6 @@ def switch_language(ui_module: UIModule) -> None:
     )
     lang.install()
     logger.info("Switch Language: %s", iso2_code)
-    if iso2_code == "zh":
-        # Chinese requires a new font, so we have to restart
-        restart_pifinder(ui_module)
 
 
 def go_wifi_ap(ui_module: UIModule) -> None:
diff --git a/python/PiFinder/ui/console.py b/python/PiFinder/ui/console.py
index 2fc4a9d5c..c349ee50a 100644
--- a/python/PiFinder/ui/console.py
+++ b/python/PiFinder/ui/console.py
@@ -35,7 +35,7 @@ def __init__(self, *args, **kwargs):
         self.dirty = True
         self.welcome = True
 
-        # load welcome image to screen
+        # Load welcome image as startup backdrop
         root_dir = os.path.realpath(
             os.path.join(os.path.dirname(__file__), "..", "..", "..")
         )
@@ -87,6 +87,13 @@ def write(self, line):
         self.scroll_offset = 0
         self.dirty = True
 
+    def finish_startup(self):
+        """End the startup splash phase and clear the welcome backdrop."""
+        self.welcome = False
+        self.clear_screen()
+        self.dirty = True
+        self.update()
+
     def active(self):
         self.welcome = False
         self.dirty = True
@@ -135,7 +142,7 @@ def screen_update(self, title_bar=True, button_hints=True):
             )
             self.draw.text((6, 1), self.title, font=self.fonts.bold.font, fill=fg)
             imu = self.shared_state.imu()
-            moving = True if imu and imu["quat"] and imu["moving"] else False
+            moving = True if imu and imu["pos"] and imu["moving"] else False
 
             # GPS status
             if self.shared_state.altaz_ready():
diff --git a/python/PiFinder/ui/fonts.py b/python/PiFinder/ui/fonts.py
index 056927e39..664d2ef39 100644
--- a/python/PiFinder/ui/fonts.py
+++ b/python/PiFinder/ui/fonts.py
@@ -3,7 +3,6 @@
 
 from pathlib import Path
 from PIL import ImageFont
-from PiFinder import config
 
 
 class Font:
@@ -20,16 +19,10 @@ def __init__(
         screen_width: int = 128,
         height: int = 0,
         width: int = 0,
-        use_layout_engine: bool = True,
-    ) -> None:
-        # Some languages (zh) work better without layout_engine
-        # for better Unicode support
-        if use_layout_engine:
-            self.font = ImageFont.truetype(
-                ttf_file, size, layout_engine=ImageFont.Layout.BASIC
-            )
-        else:
-            self.font = ImageFont.truetype(ttf_file, size)
+    ):
+        self.font = ImageFont.truetype(
+            ttf_file, size, layout_engine=ImageFont.Layout.BASIC
+        )
 
         # calculate height/width
         # Use several chars to get space between
@@ -50,44 +43,14 @@ def __init__(
         huge_size=35,
         screen_width=128,
     ):
-        font_path = str(Path(Path.cwd(), "../fonts"))
-
-        # Check for chinese language specifically
-        cfg = config.Config()
-        lang = cfg.get_option("language", "en")
-        if lang == "zh":
-            # Use Chinese font for Chinese language
-            chinesettf = str(
-                Path(font_path, "sarasa-mono-sc-light-nerd-font+patched.ttf")
-            )
-            boldttf = chinesettf
-            regularttf = chinesettf
-            use_layout_engine = False
-        else:
-            # Use default fonts for other languages
-            boldttf = str(Path(font_path, "RobotoMonoNerdFontMono-Bold.ttf"))
-            regularttf = str(Path(font_path, "RobotoMonoNerdFontMono-Regular.ttf"))
-            use_layout_engine = True
+        font_path = str(Path(__file__).parent.parent.parent.parent / "fonts")
+        boldttf = str(Path(font_path, "RobotoMonoNerdFontMono-Bold.ttf"))
+        regularttf = str(Path(font_path, "RobotoMonoNerdFontMono-Regular.ttf"))
 
-        self.base = Font(
-            boldttf, base_size, screen_width, use_layout_engine=use_layout_engine
-        )  # 10
-        self.bold = Font(
-            boldttf, bold_size, screen_width, use_layout_engine=use_layout_engine
-        )  # 12
-        self.large = Font(
-            regularttf, large_size, screen_width, use_layout_engine=use_layout_engine
-        )  # 15
-        self.small = Font(
-            boldttf, small_size, screen_width, use_layout_engine=use_layout_engine
-        )  # 8
-        self.huge = Font(
-            boldttf, huge_size, screen_width, use_layout_engine=use_layout_engine
-        )  # 35
+        self.base = Font(boldttf, base_size, screen_width)  # 10
+        self.bold = Font(boldttf, bold_size, screen_width)  # 12
+        self.large = Font(regularttf, large_size, screen_width)  # 15
+        self.small = Font(boldttf, small_size, screen_width)  # 8
+        self.huge = Font(boldttf, huge_size, screen_width)  # 35
 
-        self.icon_bold_large = Font(
-            boldttf,
-            int(base_size * 1.5),
-            screen_width,
-            use_layout_engine=use_layout_engine,
-        )  # 15
+        self.icon_bold_large = Font(boldttf, int(base_size * 1.5), screen_width)  # 15
diff --git a/python/PiFinder/ui/marking_menus.py b/python/PiFinder/ui/marking_menus.py
index 62481dcd9..19391cffc 100644
--- a/python/PiFinder/ui/marking_menus.py
+++ b/python/PiFinder/ui/marking_menus.py
@@ -11,7 +11,7 @@
 
 from PIL import Image, ImageDraw, ImageChops
 from PiFinder.ui.fonts import Font
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 from PiFinder.displays import DisplayBase
 
 
@@ -35,7 +35,9 @@ class MarkingMenu:
     down: MarkingMenuOption
     left: MarkingMenuOption
     right: MarkingMenuOption
-    up: MarkingMenuOption = MarkingMenuOption(label="HELP")
+    up: MarkingMenuOption = field(
+        default_factory=lambda: MarkingMenuOption(label="HELP")
+    )
 
     def select_none(self):
         self.up.selected = False
diff --git a/python/PiFinder/ui/menu_manager.py b/python/PiFinder/ui/menu_manager.py
index 8db58dc32..4e8fcc278 100644
--- a/python/PiFinder/ui/menu_manager.py
+++ b/python/PiFinder/ui/menu_manager.py
@@ -146,7 +146,7 @@ def __init__(
 
     def screengrab(self):
         self.ss_count += 1
-        filename = f"{self.stack[-1].__uuid__}_{self.ss_count :0>3}_{self.stack[-1].title.replace('/','-')}"
+        filename = f"{self.stack[-1].__uuid__}_{self.ss_count:0>3}_{self.stack[-1].title.replace('/', '-')}"
         ss_imagepath = self.ss_path + f"/{filename}.png"
         ss = self.shared_state.screen().copy()
         ss.save(ss_imagepath)
diff --git a/python/PiFinder/ui/menu_structure.py b/python/PiFinder/ui/menu_structure.py
index e4ee44380..2e8de53f3 100644
--- a/python/PiFinder/ui/menu_structure.py
+++ b/python/PiFinder/ui/menu_structure.py
@@ -26,7 +26,6 @@ def _(key: str) -> Any:
 s = _("Language: en")
 s = _("Language: es")
 s = _("Language: fr")
-s = _("Language: zh")
 s = s
 del s
 
@@ -49,7 +48,6 @@ def _(key: str) -> Any:
                     "name": _("Align"),
                     "class": UIAlign,
                     "stateful": True,
-                    "preload": True,
                 },
                 {
                     "name": _("GPS Status"),
@@ -61,7 +59,6 @@ def _(key: str) -> Any:
             "name": _("Chart"),
             "class": UIChart,
             "stateful": True,
-            "preload": True,
         },
         {
             "name": _("Objects"),
@@ -143,12 +140,6 @@ def _(key: str) -> Any:
                                     "objects": "catalog",
                                     "value": "EGC",
                                 },
-                                {
-                                    "name": _("Harris Globs"),
-                                    "class": UIObjectList,
-                                    "objects": "catalog",
-                                    "value": "Har",
-                                },
                                 {
                                     "name": _("Herschel 400"),
                                     "class": UIObjectList,
@@ -322,10 +313,6 @@ def _(key: str) -> Any:
                                     "name": _("E.G. Globs"),
                                     "value": "EGC",
                                 },
-                                {
-                                    "name": _("Harris Globs"),
-                                    "value": "Har",
-                                },
                                 {
                                     "name": _("Herschel 400"),
                                     "value": "H",
@@ -690,22 +677,6 @@ def _(key: str) -> Any:
                                 },
                             ],
                         },
-                        {
-                            "name": _("T9 Search"),
-                            "class": UITextMenu,
-                            "select": "single",
-                            "config_option": "t9_search",
-                            "items": [
-                                {
-                                    "name": _("Off"),
-                                    "value": False,
-                                },
-                                {
-                                    "name": _("On"),
-                                    "value": True,
-                                },
-                            ],
-                        },
                         {
                             "name": _("Az Arrows"),
                             "class": UITextMenu,
@@ -746,10 +717,6 @@ def _(key: str) -> Any:
                                     "name": _("Spanish"),
                                     "value": "es",
                                 },
-                                {
-                                    "name": _("Chinese"),
-                                    "value": "zh",
-                                },
                             ],
                         },
                     ],
@@ -1107,17 +1074,6 @@ def _(key: str) -> Any:
                     "select": "Single",
                     "items": [
                         {"name": "SQM", "class": UISQM},
-                        {
-                            "name": _("Integrator"),
-                            "class": UITextMenu,
-                            "select": "single",
-                            "config_option": "imu_integrator",
-                            "post_callback": callbacks.restart_pifinder,
-                            "items": [
-                                {"name": _("Classic"), "value": "classic"},
-                                {"name": _("Quaternion"), "value": "quaternion"},
-                            ],
-                        },
                         {
                             "name": _("AE Algo"),
                             "class": UITextMenu,
diff --git a/python/PiFinder/ui/object_details.py b/python/PiFinder/ui/object_details.py
index edf13f9d7..547140c9f 100644
--- a/python/PiFinder/ui/object_details.py
+++ b/python/PiFinder/ui/object_details.py
@@ -354,14 +354,14 @@ def _render_pointing_instructions(self):
         if point_az < 1:
             self.draw.text(
                 self.az_anchor,
-                f"{az_arrow}{point_az : >5.2f}",
+                f"{az_arrow}{point_az: >5.2f}",
                 font=self.fonts.huge.font,
                 fill=self.colors.get(indicator_color),
             )
         else:
             self.draw.text(
                 self.az_anchor,
-                f"{az_arrow}{point_az : >5.1f}",
+                f"{az_arrow}{point_az: >5.1f}",
                 font=self.fonts.huge.font,
                 fill=self.colors.get(indicator_color),
             )
@@ -382,14 +382,14 @@ def _render_pointing_instructions(self):
         if point_alt < 1:
             self.draw.text(
                 self.alt_anchor,
-                f"{alt_arrow}{point_alt : >5.2f}",
+                f"{alt_arrow}{point_alt: >5.2f}",
                 font=self.fonts.huge.font,
                 fill=self.colors.get(indicator_color),
             )
         else:
             self.draw.text(
                 self.alt_anchor,
-                f"{alt_arrow}{point_alt : >5.1f}",
+                f"{alt_arrow}{point_alt: >5.1f}",
                 font=self.fonts.huge.font,
                 fill=self.colors.get(indicator_color),
             )
diff --git a/python/PiFinder/ui/preview.py b/python/PiFinder/ui/preview.py
index bac4ce300..d47689664 100644
--- a/python/PiFinder/ui/preview.py
+++ b/python/PiFinder/ui/preview.py
@@ -20,6 +20,7 @@
 from PiFinder.ui.ui_utils import outline_text
 
 sys.path.append(str(utils.tetra3_dir))
+sys.path.append(str(utils.tetra3_dir / "tetra3"))
 
 
 class UIPreview(UIModule):
diff --git a/python/PiFinder/ui/software.py b/python/PiFinder/ui/software.py
index b0892889b..76c27552a 100644
--- a/python/PiFinder/ui/software.py
+++ b/python/PiFinder/ui/software.py
@@ -1,239 +1,960 @@
 #!/usr/bin/python
 # -*- coding:utf-8 -*-
 """
-This module contains all the UI Module classes
+UI modules for software updates, channel selection, and release notes.
 
+Channels:
+  - stable:   GitHub Releases (non-prerelease, >= MIN_NIXOS_VERSION)
+  - beta:     GitHub Pre-releases (>= MIN_NIXOS_VERSION)
+  - unstable: main branch + open PRs labeled 'testable'
 """
 
-import time
+import logging
+import re
+from typing import Dict, List, Optional
+
 import requests
 
 from PiFinder import utils
 from PiFinder.ui.base import UIModule
+from PiFinder.ui.ui_utils import TextLayouter, TextLayouterScroll
 
 sys_utils = utils.get_sys_utils()
+logger = logging.getLogger("UISoftware")
+
+GITHUB_REPO = "brickbots/PiFinder"
+GITHUB_RELEASES_URL = f"https://api.github.com/repos/{GITHUB_REPO}/releases"
+GITHUB_PULLS_URL = f"https://api.github.com/repos/{GITHUB_REPO}/pulls"
+GITHUB_RAW_URL = f"https://raw.githubusercontent.com/{GITHUB_REPO}"
+MIN_NIXOS_VERSION = "2.5.0"
+REQUEST_TIMEOUT = 10
+_PR_VERSION_RE = re.compile(r"^PR#(\d+)-")
 
 
-def update_needed(current_version: str, repo_version: str) -> bool:
+def _parse_version(version_str: str) -> tuple:
     """
-    Returns true if an update is available
+    Parse a version string like '2.4.0' or '2.5.0-beta.1'
+    into a comparable tuple.  Pre-release tags sort below
+    the same numeric version (2.5.0-beta.1 < 2.5.0).
+    """
+    version_str = version_str.strip()
+    if "-" in version_str:
+        numeric_part, pre_release = version_str.split("-", 1)
+    else:
+        numeric_part = version_str
+        pre_release = None
+
+    parts = numeric_part.split(".")
+    major, minor, patch = int(parts[0]), int(parts[1]), int(parts[2])
 
-    Update is available if semvar of repo_version is > current_version
-    Also returns True on error to allow be biased towards allowing
-    updates if issues
+    if pre_release is None:
+        return (major, minor, patch, 1, "")
+    else:
+        return (major, minor, patch, 0, pre_release)
+
+
+def _meets_min_version(version_str: str) -> bool:
+    """Check if a version string is >= MIN_NIXOS_VERSION."""
+    try:
+        ver = _parse_version(version_str)
+        minimum = _parse_version(MIN_NIXOS_VERSION)
+        return ver >= minimum
+    except Exception:
+        return False
+
+
+def _version_from_tag(tag: str) -> str:
+    """Strip leading 'v' from a tag name to get the version string."""
+    return tag.lstrip("v")
+
+
+def _fetch_build_json(ref: str) -> Optional[dict]:
+    """
+    Fetch pifinder-build.json for a given git ref (sha or tag).
+    Returns dict with 'store_path' and 'version', or None if unavailable.
     """
+    url = f"{GITHUB_RAW_URL}/{ref}/pifinder-build.json"
     try:
-        _tmp_split = current_version.split(".")
-        current_version_compare = (
-            int(_tmp_split[0]),
-            int(_tmp_split[1]),
-            int(_tmp_split[2]),
-        )
+        res = requests.get(url, timeout=REQUEST_TIMEOUT)
+        if res.status_code == 200:
+            data = res.json()
+            if data.get("store_path"):
+                return data
+    except (requests.exceptions.RequestException, ValueError):
+        pass
+    return None
+
 
-        _tmp_split = repo_version.split(".")
-        repo_version_compare = (
-            int(_tmp_split[0]),
-            int(_tmp_split[1]),
-            int(_tmp_split[2]),
+def _fetch_github_releases() -> tuple[list[dict], list[dict]]:
+    """
+    Fetch releases from GitHub API.
+    Returns (stable_entries, beta_entries) sorted newest-first.
+    Only includes entries that have a pifinder-build.json with a store path.
+    """
+    stable: list[dict] = []
+    beta: list[dict] = []
+    try:
+        res = requests.get(
+            GITHUB_RELEASES_URL,
+            timeout=REQUEST_TIMEOUT,
+            headers={"Accept": "application/vnd.github.v3+json"},
         )
+        if res.status_code != 200:
+            logger.warning("GitHub releases API returned %d", res.status_code)
+            return stable, beta
+
+        for release in res.json():
+            if release.get("draft"):
+                continue
+            tag = release.get("tag_name", "")
+            version = _version_from_tag(tag)
+            if not _meets_min_version(version):
+                continue
+
+            build = _fetch_build_json(tag)
+            if build is None:
+                continue
+
+            entry = {
+                "label": tag,
+                "ref": build["store_path"],
+                "notes": release.get("body") or None,
+                "version": build.get("version", version),
+                "subtitle": release.get("name", tag),
+            }
+
+            if release.get("prerelease"):
+                beta.append(entry)
+            else:
+                stable.append(entry)
+
+    except requests.exceptions.RequestException as e:
+        logger.warning("Could not fetch GitHub releases: %s", e)
+
+    return stable, beta
+
+
+def _fetch_testable_prs() -> list[dict]:
+    """
+    Fetch open PRs with the 'testable' label.
+    Returns list of unstable entries (main branch prepended by caller).
+    Only includes PRs that have a pifinder-build.json with a store path.
+    """
+    entries: list[dict] = []
+    try:
+        res = requests.get(
+            GITHUB_PULLS_URL,
+            params={"state": "open", "labels": "testable"},
+            timeout=REQUEST_TIMEOUT,
+            headers={"Accept": "application/vnd.github.v3+json"},
+        )
+        if res.status_code != 200:
+            logger.warning("GitHub pulls API returned %d", res.status_code)
+            return entries
+
+        for pr in res.json():
+            labels = [lbl.get("name", "") for lbl in pr.get("labels", [])]
+            if "testable" not in labels:
+                continue
+            number = pr.get("number", 0)
+            title = pr.get("title", "")
+            sha = pr.get("head", {}).get("sha", "")
+            body = pr.get("body") or None
+
+            build = _fetch_build_json(sha)
+            if build is None:
+                continue
+
+            short_sha = sha[:7]
+            entries.append(
+                {
+                    "label": f"PR#{number}-{short_sha}",
+                    "ref": build["store_path"],
+                    "notes": body,
+                    "version": build.get("version"),
+                    "subtitle": title,
+                }
+            )
 
-        # tuples compare in significance from first to last element
-        return repo_version_compare > current_version_compare
+    except requests.exceptions.RequestException as e:
+        logger.warning("Could not fetch testable PRs: %s", e)
+
+    return entries
 
-    except Exception:
-        return True
+
+def _fetch_main_entry() -> Optional[dict]:
+    """
+    Fetch pifinder-build.json for the main branch.
+    Returns an entry dict or None if unavailable.
+    """
+    build = _fetch_build_json("main")
+    if build is None:
+        return None
+    return {
+        "label": build.get("version") or "main",
+        "ref": build["store_path"],
+        "notes": None,
+        "version": build.get("version"),
+        "subtitle": "main branch",
+    }
+
+
+def _fetch_pr_title(pr_number: int) -> Optional[str]:
+    """Fetch the title of a single PR by number."""
+    url = f"https://api.github.com/repos/{GITHUB_REPO}/pulls/{pr_number}"
+    try:
+        res = requests.get(
+            url,
+            timeout=REQUEST_TIMEOUT,
+            headers={"Accept": "application/vnd.github.v3+json"},
+        )
+        if res.status_code == 200:
+            return res.json().get("title")
+    except requests.exceptions.RequestException:
+        pass
+    return None
 
 
 class UISoftware(UIModule):
     """
-    UI for updating software versions
+    Software update UI.
+
+    Phases:
+      loading   - animated "Checking for updates..."
+      browse    - header (version + channel selector) + scrollable version list
+      confirm   - selected version details + Install / Notes / Cancel
+      upgrading - progress bar with download progress, then reboot
+      failed    - update failed + Retry / Cancel
     """
 
     __title__ = "SOFTWARE"
+    MAX_VISIBLE = 4
 
     def __init__(self, *args, **kwargs) -> None:
         super().__init__(*args, **kwargs)
-        self.version_txt = f"{utils.pifinder_dir}/version.txt"
         self.wifi_txt = f"{utils.pifinder_dir}/wifi_status.txt"
-        with open(self.wifi_txt, "r") as wfs:
-            self._wifi_mode = wfs.read()
-        with open(self.version_txt, "r") as ver:
-            self._software_version = ver.read()
+        with open(self.wifi_txt, "r") as f:
+            self._wifi_mode = f.read().strip()
+        self._software_version = utils.get_version()
+        self._software_subtitle: Optional[str] = None
+
+        self._channels: Dict[str, List[dict]] = {}
+        self._channel_names: List[str] = []
+        self._channel_index = 0
+
+        self._version_list: List[dict] = []
+        self._list_index = 0
+        self._scroll_offset = 0
 
-        self._release_version = "-.-.-"
+        self._phase = "loading"
+        self._focus = "channel"  # "channel" or "list" (browse phase)
         self._elipsis_count = 0
-        self._go_for_update = False
-        self._option_select = "Update"
 
-    def get_release_version(self):
-        """
-        Fetches current release version from
-        github, sets class variable if found
+        self._selected_version: Optional[dict] = None
+        self._confirm_options: List[str] = []
+        self._confirm_index = 0
+
+        self._fail_option = "Retry"
+        self._unstable_unlocked = self.config_object.get_option(
+            "software_unstable_unlocked"
+        )
+        self._unstable_entries: List[dict] = []
+        self._square_count = 0
+
+        self._scrollers: Dict[str, TextLayouterScroll] = {}
+        self._scroller_phase: Optional[str] = None
+        self._scroller_index: Optional[int] = None
+
+    def active(self):
+        super().active()
+        self._phase = "loading"
+        self._elipsis_count = 0
+        self._focus = "channel"
+        self._channel_index = 0
+        self._list_index = 0
+        self._scroll_offset = 0
+        self._selected_version = None
+        self._scrollers = {}
+        self._scroller_phase = None
+        self._scroller_index = None
+
+    # ------------------------------------------------------------------
+    # Data
+    # ------------------------------------------------------------------
+
+    def _fetch_channels(self):
+        stable, beta = _fetch_github_releases()
+
+        self._channels = {
+            "stable": stable,
+            "beta": beta,
+        }
+
+        if self._unstable_unlocked:
+            self._unstable_entries = self._fetch_unstable_entries()
+            self._channels["unstable"] = self._unstable_entries
+
+        # Try to find subtitle for current version from fetched entries
+        self._software_subtitle = self._find_current_subtitle()
+
+        self._channel_names = list(self._channels.keys())
+        self._channel_index = 0
+        self._refresh_version_list()
+        self._phase = "browse"
+
+    def _find_current_subtitle(self) -> Optional[str]:
+        """Find a subtitle for the current version.
+
+        Checks fetched channel entries first, then falls back to
+        a direct PR title fetch for PR builds.
         """
-        try:
-            res = requests.get(
-                "https://raw.githubusercontent.com/brickbots/PiFinder/release/version.txt"
-            )
-        except requests.exceptions.ConnectionError:
-            print("Could not connect to github")
-            self._release_version = "Unknown"
+        for entries in self._channels.values():
+            for entry in entries:
+                if entry.get("version") == self._software_version:
+                    return entry.get("subtitle")
+
+        m = _PR_VERSION_RE.match(self._software_version)
+        if m:
+            return _fetch_pr_title(int(m.group(1)))
+
+        return None
+
+    def _fetch_unstable_entries(self) -> list[dict]:
+        unstable: list[dict] = []
+        main_entry = _fetch_main_entry()
+        if main_entry:
+            unstable.append(main_entry)
+        unstable.extend(_fetch_testable_prs())
+        return unstable
+
+    def _refresh_version_list(self):
+        if not self._channel_names:
+            self._version_list = []
             return
+        channel = self._channel_names[self._channel_index]
+        entries = self._channels.get(channel, [])
+        self._version_list = [
+            e for e in entries if e.get("version") != self._software_version
+        ]
+        self._list_index = 0
+        self._scroll_offset = 0
+        self._scrollers = {}
+        self._scroller_phase = None
+        self._scroller_index = None
+
+    def _get_scrollspeed_config(self):
+        scroll_dict = {
+            "Off": 0,
+            "Fast": TextLayouterScroll.FAST,
+            "Med": TextLayouterScroll.MEDIUM,
+            "Slow": TextLayouterScroll.SLOW,
+        }
+        scrollspeed = self.config_object.get_option("text_scroll_speed", "Med")
+        return scroll_dict[scrollspeed]
+
+    def _get_scroller(self, key: str, text: str, font, color, width: int):
+        """Get or create a cached scroller, reset cache on phase/index change."""
+        phase_index = (self._phase, self._list_index)
+        if (self._scroller_phase, self._scroller_index) != phase_index:
+            self._scrollers = {}
+            self._scroller_phase = self._phase
+            self._scroller_index = self._list_index
+
+        if key not in self._scrollers:
+            self._scrollers[key] = TextLayouterScroll(
+                text,
+                draw=self.draw,
+                color=color,
+                font=font,
+                width=width,
+                scrollspeed=self._get_scrollspeed_config(),
+            )
+        return self._scrollers[key]
+
+    # ------------------------------------------------------------------
+    # Drawing helpers
+    # ------------------------------------------------------------------
+
+    def _draw_separator(self, y):
+        self.draw.line([(0, y), (127, y)], fill=self.colors.get(64))
+
+    def _draw_loading(self):
+        y = self.display_class.titlebar_height + 2
+        ver_scroller = self._get_scroller(
+            "loading_ver",
+            self._software_version,
+            self.fonts.bold,
+            self.colors.get(255),
+            self.fonts.bold.line_length,
+        )
+        ver_scroller.draw((0, y))
+        dots = "." * (self._elipsis_count // 10)
+        self.draw.text(
+            (10, 90),
+            _("Checking for"),
+            font=self.fonts.large.font,
+            fill=self.colors.get(255),
+        )
+        self.draw.text(
+            (10, 105),
+            _("updates{elipsis}").format(elipsis=dots),
+            font=self.fonts.large.font,
+            fill=self.colors.get(255),
+        )
+        self._elipsis_count += 1
+        if self._elipsis_count > 39:
+            self._elipsis_count = 0
+
+    def _draw_wifi_warning(self):
+        y = self.display_class.titlebar_height + 2
+        ver_scroller = self._get_scroller(
+            "wifi_ver",
+            self._software_version,
+            self.fonts.bold,
+            self.colors.get(255),
+            self.fonts.bold.line_length,
+        )
+        ver_scroller.draw((0, y))
+        self.draw.text(
+            (10, 90),
+            _("WiFi must be"),
+            font=self.fonts.large.font,
+            fill=self.colors.get(255),
+        )
+        self.draw.text(
+            (10, 105),
+            _("client mode"),
+            font=self.fonts.large.font,
+            fill=self.colors.get(255),
+        )
 
-        if res.status_code == 200:
-            self._release_version = res.text[:-1]
+    def _draw_browse(self):
+        y = self.display_class.titlebar_height + 2
+
+        # Current version
+        ver_scroller = self._get_scroller(
+            "browse_cur_ver",
+            self._software_version,
+            self.fonts.bold,
+            self.colors.get(255),
+            self.fonts.bold.line_length,
+        )
+        ver_scroller.draw((0, y))
+        y += 12
+        if self._software_subtitle:
+            sub_scroller = self._get_scroller(
+                "browse_cur_sub",
+                self._software_subtitle,
+                self.fonts.base,
+                self.colors.get(128),
+                self.fonts.base.line_length,
+            )
+            sub_scroller.draw((0, y))
+            y += 12
         else:
-            self._release_version = "Unknown"
+            y += 2
 
-    def update_software(self):
-        self.message(_("Updating..."), 10)
-        if sys_utils.update_software():
-            self.message(_("Ok! Restarting"), 10)
-            sys_utils.restart_system()
+        # Channel selector
+        channel_name = (
+            self._channel_names[self._channel_index].capitalize()
+            if self._channel_names
+            else "---"
+        )
+        if self._focus == "channel":
+            self.draw.text(
+                (0, y),
+                self._RIGHT_ARROW,
+                font=self.fonts.bold.font,
+                fill=self.colors.get(255),
+            )
+            self.draw.text(
+                (10, y),
+                channel_name,
+                font=self.fonts.bold.font,
+                fill=self.colors.get(255),
+            )
         else:
-            self.message(_("Error on Upd"), 3)
+            self.draw.text(
+                (10, y),
+                channel_name,
+                font=self.fonts.base.font,
+                fill=self.colors.get(128),
+            )
+        y += 14
+
+        self._draw_separator(y)
+        y += 4
+
+        # Version list
+        if not self._version_list:
+            self.draw.text(
+                (10, y + 10),
+                _("No versions"),
+                font=self.fonts.base.font,
+                fill=self.colors.get(128),
+            )
+            self.draw.text(
+                (10, y + 22),
+                _("available"),
+                font=self.fonts.base.font,
+                fill=self.colors.get(128),
+            )
+            return
+
+        label_width = self.fonts.base.line_length - 2
+        current_y = y
+        for i in range(len(self._version_list)):
+            idx = self._scroll_offset + i
+            if idx >= len(self._version_list):
+                break
+            entry = self._version_list[idx]
+            label = entry["label"]
+            subtitle = entry.get("subtitle", "")
+
+            if self._focus == "list" and idx == self._list_index:
+                if current_y + 24 > 128:
+                    break
+                self.draw.text(
+                    (0, current_y),
+                    self._RIGHT_ARROW,
+                    font=self.fonts.bold.font,
+                    fill=self.colors.get(255),
+                )
+                scroller = self._get_scroller(
+                    "browse_label",
+                    label,
+                    self.fonts.bold,
+                    self.colors.get(255),
+                    label_width,
+                )
+                scroller.draw((10, current_y))
+                current_y += 12
+                if subtitle:
+                    sub_scroller = self._get_scroller(
+                        "browse_sub",
+                        subtitle,
+                        self.fonts.base,
+                        self.colors.get(128),
+                        label_width,
+                    )
+                    sub_scroller.draw((10, current_y))
+                current_y += 12
+            else:
+                if current_y + 12 > 128:
+                    break
+                self.draw.text(
+                    (10, current_y),
+                    label[:label_width],
+                    font=self.fonts.base.font,
+                    fill=self.colors.get(192),
+                )
+                current_y += 12
+
+    def _draw_confirm(self):
+        y = self.display_class.titlebar_height + 2
 
-    def update(self, force=False):
-        time.sleep(1 / 30)
-        self.clear_screen()
-        draw_pos = self.display_class.titlebar_height + 2
         self.draw.text(
-            (0, draw_pos),
-            _("Wifi Mode: {}").format(self._wifi_mode),
+            (0, y),
+            _("Update to:"),
             font=self.fonts.base.font,
             fill=self.colors.get(128),
         )
-        draw_pos += 15
+        y += 14
 
-        self.draw.text(
-            (0, draw_pos),
-            _("Current Version"),
-            font=self.fonts.bold.font,
-            fill=self.colors.get(128),
+        label_width = self.fonts.base.line_length
+        version_label = (
+            self._selected_version.get("version") or self._selected_version["label"]
         )
-        draw_pos += 10
-
+        scroller = self._get_scroller(
+            "confirm_label",
+            version_label,
+            self.fonts.bold,
+            self.colors.get(255),
+            label_width,
+        )
+        scroller.draw((0, y))
+        y += 12
+
+        subtitle = self._selected_version.get("subtitle", "")
+        if subtitle:
+            sub_scroller = self._get_scroller(
+                "confirm_sub",
+                subtitle,
+                self.fonts.base,
+                self.colors.get(128),
+                label_width,
+            )
+            sub_scroller.draw((0, y))
+        y += 14
+
+        self._draw_separator(y)
+        y += 4
+
+        for i, opt in enumerate(self._confirm_options):
+            item_y = y + i * 12
+            if i == self._confirm_index:
+                self.draw.text(
+                    (0, item_y),
+                    self._RIGHT_ARROW,
+                    font=self.fonts.bold.font,
+                    fill=self.colors.get(255),
+                )
+                self.draw.text(
+                    (10, item_y),
+                    _(opt),
+                    font=self.fonts.bold.font,
+                    fill=self.colors.get(255),
+                )
+            else:
+                self.draw.text(
+                    (10, item_y),
+                    _(opt),
+                    font=self.fonts.base.font,
+                    fill=self.colors.get(192),
+                )
+
+    def _draw_failed(self):
+        y = self.display_class.titlebar_height + 20
         self.draw.text(
-            (10, draw_pos),
-            f"{self._software_version}",
+            (10, y),
+            _("Update failed!"),
             font=self.fonts.bold.font,
-            fill=self.colors.get(192),
+            fill=self.colors.get(255),
         )
-        draw_pos += 16
+        y += 20
+        for label in ("Retry", "Cancel"):
+            if self._fail_option == label:
+                self.draw.text(
+                    (0, y),
+                    self._RIGHT_ARROW,
+                    font=self.fonts.bold.font,
+                    fill=self.colors.get(255),
+                )
+            self.draw.text(
+                (10, y),
+                _(label),
+                font=self.fonts.bold.font,
+                fill=self.colors.get(255),
+            )
+            y += 12
+
+    # ------------------------------------------------------------------
+    # Main update loop
+    # ------------------------------------------------------------------
+
+    def update(self, force=False):
+        self.clear_screen()
+
+        if self._phase == "upgrading":
+            self._draw_upgrading()
+            return self.screen_update()
+
+        if self._phase == "failed":
+            self._draw_failed()
+            return self.screen_update()
+
+        if self._wifi_mode != "Client":
+            self._draw_wifi_warning()
+            return self.screen_update()
+
+        if self._phase == "loading":
+            if self._elipsis_count > 30:
+                self._fetch_channels()
+                # phase is now "browse", fall through
+            else:
+                self._draw_loading()
+                return self.screen_update()
+
+        if self._phase == "browse":
+            self._draw_browse()
+        elif self._phase == "confirm":
+            self._draw_confirm()
+
+        return self.screen_update()
+
+    # ------------------------------------------------------------------
+    # Key handlers
+    # ------------------------------------------------------------------
+
+    def _reset_unlock(self):
+        self._square_count = 0
+
+    def key_up(self):
+        self._reset_unlock()
+        if self._phase == "upgrading":
+            return
+        if self._phase == "failed":
+            self._fail_option = "Cancel" if self._fail_option == "Retry" else "Retry"
+        elif self._phase == "browse":
+            if self._focus == "list":
+                if self._list_index == 0:
+                    self._focus = "channel"
+                else:
+                    self._list_index -= 1
+                    if self._list_index < self._scroll_offset:
+                        self._scroll_offset = self._list_index
+        elif self._phase == "confirm":
+            if self._confirm_index > 0:
+                self._confirm_index -= 1
+
+    def key_down(self):
+        self._reset_unlock()
+        if self._phase == "upgrading":
+            return
+        if self._phase == "failed":
+            self._fail_option = "Cancel" if self._fail_option == "Retry" else "Retry"
+        elif self._phase == "browse":
+            if self._focus == "channel":
+                if self._version_list:
+                    self._focus = "list"
+                    self._list_index = 0
+                    self._scroll_offset = 0
+            elif self._focus == "list":
+                if self._list_index < len(self._version_list) - 1:
+                    self._list_index += 1
+                    if self._list_index >= self._scroll_offset + self.MAX_VISIBLE:
+                        self._scroll_offset = self._list_index - self.MAX_VISIBLE + 1
+        elif self._phase == "confirm":
+            if self._confirm_index < len(self._confirm_options) - 1:
+                self._confirm_index += 1
+
+    def key_right(self):
+        self._reset_unlock()
+        if self._phase == "upgrading":
+            return
+        if self._phase == "failed":
+            if self._fail_option == "Retry":
+                self._phase = "confirm"
+                self.update_software()
+            else:
+                self.remove_from_stack()
+        elif self._phase == "browse":
+            if self._focus == "channel" and self._channel_names:
+                self._channel_index = (self._channel_index + 1) % len(
+                    self._channel_names
+                )
+                self._refresh_version_list()
+            elif self._focus == "list" and self._version_list:
+                self._selected_version = self._version_list[self._list_index]
+                self._confirm_options = ["Install"]
+                if self._selected_version.get("notes"):
+                    self._confirm_options.append("Notes")
+                self._confirm_options.append("Cancel")
+                self._confirm_index = 0
+                self._phase = "confirm"
+        elif self._phase == "confirm":
+            opt = self._confirm_options[self._confirm_index]
+            if opt == "Install":
+                self.update_software()
+            elif opt == "Notes":
+                notes = self._selected_version.get("notes")
+                if notes:
+                    self.add_to_stack({"class": UIReleaseNotes, "notes_text": notes})
+            elif opt == "Cancel":
+                self._phase = "browse"
+
+    def key_left(self):
+        self._reset_unlock()
+        if self._phase == "upgrading":
+            return False
+        if self._phase == "confirm":
+            self._phase = "browse"
+            return False
+        return True
+
+    def key_square(self):
+        self._square_count += 1
+        if self._square_count >= 7 and not self._unstable_unlocked:
+            self._unstable_unlocked = True
+            self.config_object.set_option("software_unstable_unlocked", True)
+            self._unstable_entries = self._fetch_unstable_entries()
+            self._channels["unstable"] = self._unstable_entries
+            self._channel_names = list(self._channels.keys())
+            self.message(_("Unstable\nunlocked"), 1)
+
+    def key_number(self, number):
+        self._square_count = 0
+
+    # ------------------------------------------------------------------
+    # Update action
+    # ------------------------------------------------------------------
+
+    def update_software(self):
+        if not self._selected_version:
+            return
+        self._phase = "upgrading"
+        self.clear_screen()
+        self._draw_upgrading()
+        self.screen_update()
+
+        ref = self._selected_version.get("ref") or "release"
+        if not sys_utils.update_software(ref=ref):
+            self._phase = "failed"
+            self._fail_option = "Retry"
+
+    def _draw_upgrading(self):
+        y = self.display_class.titlebar_height + 2
+
+        progress = sys_utils.get_upgrade_progress()
+        phase = progress["phase"]
+        pct = progress["percent"]
+        done = progress["done"]
+        total = progress["total"]
+
+        if phase == "failed":
+            self._phase = "failed"
+            self._fail_option = "Retry"
+            return
+
+        # Title
+        if phase == "rebooting":
+            label = _("Rebooting...")
+        elif phase == "activating":
+            label = _("Activating...")
+        else:
+            label = _("Downloading...")
 
         self.draw.text(
-            (0, draw_pos),
-            _("Release Version"),
+            (0, y),
+            label,
             font=self.fonts.bold.font,
-            fill=self.colors.get(128),
+            fill=self.colors.get(255),
+        )
+        y += 20
+
+        # Progress bar
+        bar_x, bar_w, bar_h = 4, 120, 12
+        # Background fill so bar is always visible
+        self.draw.rectangle(
+            [bar_x, y, bar_x + bar_w, y + bar_h],
+            fill=self.colors.get(48),
+            outline=self.colors.get(128),
         )
-        draw_pos += 10
+        fill_w = int(bar_w * pct / 100)
+        if fill_w > 0:
+            self.draw.rectangle(
+                [bar_x + 1, y + 1, bar_x + fill_w, y + bar_h - 1],
+                fill=self.colors.get(255),
+            )
 
+        # Percentage centered on bar
+        pct_text = f"{pct}%"
+        pct_bbox = self.fonts.base.font.getbbox(pct_text)
+        pct_w = pct_bbox[2] - pct_bbox[0]
+        pct_h = pct_bbox[3] - pct_bbox[1]
+        pct_x = bar_x + (bar_w - pct_w) // 2
+        pct_y = y + (bar_h - pct_h) // 2 - pct_bbox[1]
         self.draw.text(
-            (10, draw_pos),
-            f"{self._release_version}",
-            font=self.fonts.bold.font,
-            fill=self.colors.get(192),
+            (pct_x, pct_y),
+            pct_text,
+            font=self.fonts.base.font,
+            fill=self.colors.get(0) if pct > 45 else self.colors.get(192),
         )
+        y += bar_h + 6
 
-        if self._wifi_mode != "Client":
+        # Path count below bar
+        if phase == "downloading" and total > 0:
+            path_text = f"{done}/{total} paths"
             self.draw.text(
-                (10, 90),
-                _("WiFi must be"),
-                font=self.fonts.large.font,
-                fill=self.colors.get(255),
+                (4, y),
+                path_text,
+                font=self.fonts.base.font,
+                fill=self.colors.get(128),
             )
-            self.draw.text(
-                (10, 105),
-                _("client mode"),
-                font=self.fonts.large.font,
-                fill=self.colors.get(255),
-            )
-            return self.screen_update()
 
-        if self._release_version == "-.-.-":
-            # check elipsis count here... if we are at >30 check for
-            # release versions
-            if self._elipsis_count > 30:
-                self.get_release_version()
+
+class UIReleaseNotes(UIModule):
+    """
+    Scrollable release notes viewer.
+    Accepts markdown text directly via notes_text in item_definition.
+    """
+
+    __title__ = "NOTES"
+
+    def __init__(self, *args, **kwargs) -> None:
+        super().__init__(*args, **kwargs)
+        self._notes_text = self.item_definition.get("notes_text", "")
+        self._loaded = False
+        self._text_layout = TextLayouter(
+            "",
+            draw=self.draw,
+            color=self.colors.get(255),
+            colors=self.colors,
+            font=self.fonts.base,
+            available_lines=9,
+        )
+
+    def active(self):
+        super().active()
+        if not self._loaded:
+            self._load_notes()
+
+    def _load_notes(self):
+        """Process notes text for display."""
+        if self._notes_text:
+            text = _strip_markdown(self._notes_text)
+            self._text_layout.set_text(text)
+            self._loaded = True
+        else:
+            self._loaded = True
+
+    def update(self, force=False):
+        self.clear_screen()
+        draw_pos = self.display_class.titlebar_height + 2
+
+        if not self._notes_text:
             self.draw.text(
-                (10, 90),
-                _("Checking for"),
+                (10, draw_pos + 20),
+                _("No release notes"),
                 font=self.fonts.large.font,
                 fill=self.colors.get(255),
             )
             self.draw.text(
-                (10, 105),
-                _("updates{elipsis}").format(
-                    elipsis="." * int(self._elipsis_count / 10)
-                ),
+                (10, draw_pos + 35),
+                _("available"),
                 font=self.fonts.large.font,
                 fill=self.colors.get(255),
             )
-            self._elipsis_count += 1
-            if self._elipsis_count > 39:
-                self._elipsis_count = 0
             return self.screen_update()
 
-        if not update_needed(
-            self._software_version.strip(), self._release_version.strip()
-        ):
+        if not self._loaded:
             self.draw.text(
-                (10, 90),
-                _("No Update"),
-                font=self.fonts.large.font,
-                fill=self.colors.get(255),
-            )
-            self.draw.text(
-                (10, 105),
-                _("needed"),
+                (10, draw_pos + 20),
+                _("Loading..."),
                 font=self.fonts.large.font,
                 fill=self.colors.get(255),
             )
             return self.screen_update()
 
-        # If we are here, go for update!
-        self._go_for_update = True
-        self.draw.text(
-            (10, 90),
-            _("Update Now"),
-            font=self.fonts.large.font,
-            fill=self.colors.get(255),
-        )
-        self.draw.text(
-            (10, 105),
-            _("Cancel"),
-            font=self.fonts.large.font,
-            fill=self.colors.get(255),
-        )
-        if self._option_select == "Update":
-            ind_pos = 90
-        else:
-            ind_pos = 105
-        self.draw.text(
-            (0, ind_pos),
-            self._RIGHT_ARROW,
-            font=self.fonts.large.font,
-            fill=self.colors.get(255),
-        )
-
+        self._text_layout.draw((0, draw_pos))
         return self.screen_update()
 
-    def toggle_option(self):
-        if not self._go_for_update:
-            return
-        if self._option_select == "Update":
-            self._option_select = "Cancel"
-        else:
-            self._option_select = "Update"
+    def key_down(self):
+        self._text_layout.next()
 
     def key_up(self):
-        self.toggle_option()
+        self._text_layout.previous()
 
-    def key_down(self):
-        self.toggle_option()
+    def key_left(self):
+        return True
 
-    def key_right(self):
-        if self._option_select == "Cancel":
-            self.remove_from_stack()
-        else:
-            self.update_software()
+
+def _strip_markdown(text: str) -> str:
+    """
+    Minimal markdown stripping for plain-text display on OLED.
+    Removes common markdown syntax while keeping readable text.
+    """
+    lines = []
+    for line in text.splitlines():
+        stripped = line.lstrip("#").strip()
+        stripped = stripped.replace("**", "").replace("__", "")
+        stripped = stripped.replace("*", "").replace("_", "")
+        while "[" in stripped and "](" in stripped:
+            start = stripped.index("[")
+            mid = stripped.index("](", start)
+            end = stripped.index(")", mid)
+            link_text = stripped[start + 1 : mid]
+            stripped = stripped[:start] + link_text + stripped[end + 1 :]
+        stripped = stripped.replace("`", "")
+        lines.append(stripped)
+    return "\n".join(lines)
diff --git a/python/PiFinder/ui/sqm.py b/python/PiFinder/ui/sqm.py
index b225cc8f6..fcd55b773 100644
--- a/python/PiFinder/ui/sqm.py
+++ b/python/PiFinder/ui/sqm.py
@@ -172,7 +172,7 @@ def update(self, force=False):
                 if image_metadata and "exposure_time" in image_metadata:
                     exp_ms = image_metadata["exposure_time"] / 1000  # Convert µs to ms
                     if exp_ms >= 1000:
-                        exp_str = f"{exp_ms/1000:.2f}s"
+                        exp_str = f"{exp_ms / 1000:.2f}s"
                     else:
                         exp_str = f"{exp_ms:.0f}ms"
                     self.draw.text(
diff --git a/python/PiFinder/ui/status.py b/python/PiFinder/ui/status.py
index b0142d87b..f45a2a998 100644
--- a/python/PiFinder/ui/status.py
+++ b/python/PiFinder/ui/status.py
@@ -81,24 +81,21 @@ class UIStatus(UIModule):
 
     def __init__(self, *args, **kwargs):
         super().__init__(*args, **kwargs)
-        self.version_txt = f"{utils.pifinder_dir}/version.txt"
         self.wifi_txt = f"{utils.pifinder_dir}/wifi_status.txt"
         self._draw_pos = (0, self.display_class.titlebar_height)
         with open(self.wifi_txt, "r") as wfs:
             self._config_options["WiFi Mode"]["value"] = wfs.read()
-        with open(self.version_txt, "r") as ver:
-            self._config_options["Software"]["value"] = ver.read()
+        self._config_options["Software"]["value"] = utils.get_version()
         self.spacecalc = SpaceCalculatorFixed(self.fonts.base.line_length)
         self.status_dict = {
-            "LAST SLV": "--",
+            "LST SLV": "--",
             "RA/DEC": "--",
             "AZ/ALT": "--",
             "WIFI": "--",
             "IP": "--",
             "SSID": "--",
             "IMU": "--",
-            "IMU qw,qx": "--",
-            "IMU qy,qz": "--",
+            "IMU PS": "--",
             "GPS": "--",
             "GPS ALT": "--",
             "GPS LST": "--",
@@ -145,14 +142,11 @@ def __init__(self, *args, **kwargs):
 
     def update_software(self, option):
         if option == "CANCEL":
-            with open(self.version_txt, "r") as ver:
-                self._config_options["Software"]["value"] = ver.read()
+            self._config_options["Software"]["value"] = utils.get_version()
             return False
 
-        self.message("Updating...", 10)
         if sys_utils.update_software():
-            self.message("Ok! Restarting", 10)
-            sys_utils.restart_pifinder()
+            self.message("Updating...", 10)
         else:
             self.message("Error on Upd", 3)
 
@@ -230,71 +224,41 @@ def restart(self, option):
 
     def update_status_dict(self):
         """
-        Updates all the status dict values
+        Updates all the
+        status dict values
         """
         if self.shared_state.solve_state():
             solution = self.shared_state.solution()
-
-            # Time since last solve
-            if solution["cam_solve_time"]:
-                time_since_solve = f"{time.time() - solution['cam_solve_time']:.1f}"
-            else:
-                time_since_solve = "--"
-            # Number of matched stars
+            # last solve time
             if solution["solve_source"] == "CAM":
                 stars_matched = solution["Matches"]
             else:
                 stars_matched = "--"
-            # Solve source
-            if solution["solve_source"] == "CAM":
-                solve_source = "C"
-            elif solution["solve_source"] == "CAM_FAILED":
-                solve_source = "F"
-            else:
-                solve_source = str(solution["solve_source"][0])
-            # Collect togethers
-            self.status_dict["LAST SLV"] = (
-                time_since_solve + "s " + solve_source + f" {stars_matched: >2}"
+            self.status_dict["LST SLV"] = (
+                f"{time.time() - solution['cam_solve_time']:.1f}"
+                + " - "
+                + str(solution["solve_source"][0])
+                + f" {stars_matched: >2}"
             )
+            hh, mm, _ = calc_utils.ra_to_hms(solution["RA"])
+            self.status_dict["RA/DEC"] = f"{hh:02.0f}h{mm:02.0f}m/{solution['Dec']:.2f}"
 
-            # RA/DEC
-            if solution["RA"] is None or solution["Dec"] is None:
-                self.status_dict["RA/DEC"] = "--/--"
-            else:
-                hh, mm, _ = calc_utils.ra_to_hms(solution["RA"])
-                self.status_dict["RA/DEC"] = (
-                    f"{hh:02.0f}h{mm:02.0f}m/{solution['Dec'] :.2f}"
-                )
-
-            # AZ/ALT
-            if solution["Az"] is None or solution["Alt"] is None:
-                self.status_dict["AZ/ALT"] = "--/--"
-            else:
+            if solution["Az"]:
                 self.status_dict["AZ/ALT"] = (
-                    f"{solution['Az'] : >6.2f}/{solution['Alt'] : >6.2f}"
+                    f"{solution['Az']: >6.2f}/{solution['Alt']: >6.2f}"
                 )
 
         imu = self.shared_state.imu()
-        # IMU Status & reading
         if imu:
-            if imu["quat"] is not None:
+            if imu["pos"] is not None:
                 if imu["moving"]:
                     mtext = "Moving"
                 else:
                     mtext = "Static"
-                self.status_dict["IMU"] = f"{mtext : >11}" + " " + str(imu["status"])
-
-                self.status_dict["IMU qw,qx"] = (
-                    f"{imu['quat'].w:>.2f},{imu['quat'].x : >.2f}"
-                )
-                self.status_dict["IMU qy,qz"] = (
-                    f"{imu['quat'].y:>.2f},{imu['quat'].z : >.2f}"
+                self.status_dict["IMU"] = f"{mtext: >11}" + " " + str(imu["status"])
+                self.status_dict["IMU PS"] = (
+                    f"{imu['pos'][0]: >6.1f}/{imu['pos'][2]: >6.1f}"
                 )
-        else:
-            self.status_dict["IMU"] = "--"
-            self.status_dict["IMU qw,qx"] = "--"
-            self.status_dict["IMU qy,qz"] = "--"
-
         location = self.shared_state.location()
         sats = self.shared_state.sats()
         self.status_dict["GPS"] = [
@@ -319,7 +283,7 @@ def update_status_dict(self):
             try:
                 with open("/sys/class/thermal/thermal_zone0/temp", "r") as f:
                     raw_temp = int(f.read().strip())
-                self.status_dict["CPU TMP"] = f"{raw_temp / 1000 : >13.1f}"
+                self.status_dict["CPU TMP"] = f"{raw_temp / 1000: >13.1f}"
             except FileNotFoundError:
                 self.status_dict["CPU TMP"] = "Error"
 
@@ -335,7 +299,10 @@ def update_status_dict(self):
     def update(self, force=False):
         time.sleep(1 / 30)
         self.update_status_dict()
-        self.draw.rectangle([0, 0, 128, 128], fill=self.colors.get(0))
+        self.draw.rectangle(
+            [0, 0, self.display_class.resX, self.display_class.resY],
+            fill=self.colors.get(0),
+        )
         lines = []
         # Insert IP address here...
         for k, v in self.status_dict.items():
diff --git a/python/PiFinder/ui/ui_utils.py b/python/PiFinder/ui/ui_utils.py
index 37e860537..647b98a77 100644
--- a/python/PiFinder/ui/ui_utils.py
+++ b/python/PiFinder/ui/ui_utils.py
@@ -314,7 +314,7 @@ def format_number(num: float, width=5):
         return f"{num:{width}d}"
     elif num < 1000000:
         decimal_places = max(0, width - 3)  # 'K' and at least one digit
-        return f"{num/1000:{width}.{decimal_places}f}K"
+        return f"{num / 1000:{width}.{decimal_places}f}K"
     else:
         decimal_places = max(0, width - 3)  # 'M' and at least one digit
-        return f"{num/1000000:{width}.{decimal_places}f}M"
+        return f"{num / 1000000:{width}.{decimal_places}f}M"
diff --git a/python/PiFinder/utils.py b/python/PiFinder/utils.py
index 523228537..411cb2a45 100644
--- a/python/PiFinder/utils.py
+++ b/python/PiFinder/utils.py
@@ -10,12 +10,23 @@
 cwd_dir = Path.cwd()
 pifinder_dir = Path("..")
 astro_data_dir = cwd_dir / pifinder_dir / "astro_data"
-tetra3_dir = pifinder_dir / "python/PiFinder/tetra3/tetra3"
+tetra3_dir = pifinder_dir / "python/PiFinder/tetra3"
 data_dir = Path(Path.home(), "PiFinder_data")
 pifinder_db = astro_data_dir / "pifinder_objects.db"
 observations_db = data_dir / "observations.db"
+build_json = pifinder_dir / "pifinder-build.json"
+
+
+def get_version() -> str:
+    try:
+        with open(build_json, "r") as f:
+            return json.load(f).get("version", "Unknown")
+    except (FileNotFoundError, IOError, json.JSONDecodeError):
+        return "Unknown"
+
+
 debug_dump_dir = data_dir / "solver_debug_dumps"
-comet_file = astro_data_dir / Path("comets.txt")
+comet_file = data_dir / "comets.txt"
 
 
 def create_dir(adir: str):
@@ -39,32 +50,16 @@ def serialize_solution(solution: dict) -> str:
 
         if "numpy.float" in str(type(v)):
             v = float(v)
-
-        if "quaternion" in str(type(v)):
-            v = v.components.tolist()
-
         out_dict[k] = v
 
     return json.dumps(out_dict)
 
 
 def get_sys_utils():
-    # Check if we should use fake sys_utils for local development
-    use_fake = os.environ.get("PIFINDER_USE_FAKE_SYS_UTILS", "").lower() in (
-        "1",
-        "true",
-        "yes",
-    )
-
-    if use_fake:
-        sys_utils = importlib.import_module("PiFinder.sys_utils_fake")
-    else:
-        try:
-            # Attempt to import the real sys_utils
-            sys_utils = importlib.import_module("PiFinder.sys_utils")
-        except ImportError:
-            sys_utils = importlib.import_module("PiFinder.sys_utils_fake")
-    return sys_utils
+    try:
+        return importlib.import_module("PiFinder.sys_utils")
+    except Exception:
+        return importlib.import_module("PiFinder.sys_utils_fake")
 
 
 def get_os_info():
diff --git a/python/noxfile.py b/python/noxfile.py
deleted file mode 100644
index e407e8724..000000000
--- a/python/noxfile.py
+++ /dev/null
@@ -1,102 +0,0 @@
-import nox
-
-nox.options.sessions = ["lint", "format", "type_hints", "smoke_tests"]
-
-
-@nox.session(reuse_venv=True, python="3.9")
-def lint(session: nox.Session) -> None:
-    """
-    Lint the project's codebase.
-
-    This session installs necessary dependencies for linting and then runs the linter to check for
-    stylistic errors and coding standards compliance across the project's codebase.
-
-    Args:
-        session (nox.Session): The Nox session being run, providing context and methods for session actions.
-    """
-    session.install("ruff==0.4.8")
-    session.run("ruff", "check", "--fix", "--config", "builtins=['_']")
-
-
-@nox.session(reuse_venv=True, python="3.9")
-def format(session: nox.Session) -> None:
-    """
-    Format the project's codebase.
-
-    This session installs necessary dependencies for code formatting and runs the formatter
-    to check (and optionally correct) the code format according to the project's style guide.
-
-    Args:
-        session (nox.Session): The Nox session being run, providing context and methods for session actions.
-    """
-    session.install("ruff==0.4.8")
-    session.run("ruff", "format")
-
-
-@nox.session(reuse_venv=True, python="3.9")
-def type_hints(session: nox.Session) -> None:
-    """
-    Check type hints in the project's codebase.
-
-    This session installs necessary dependencies for type checking and runs a static type checker
-    to validate the type hints throughout the project's codebase, ensuring they are correct and consistent.
-
-    Args:
-        session (nox.Session): The Nox session being run, providing context and methods for session actions.
-    """
-    session.install("-r", "requirements.txt")
-    session.install("-r", "requirements_dev.txt")
-    session.run("mypy", "--install-types", "--non-interactive", ".")
-
-
-@nox.session(reuse_venv=True, python="3.9")
-def unit_tests(session: nox.Session) -> None:
-    """
-    Run the project's unit tests.
-
-    This session installs the necessary dependencies and runs the project's unit tests.
-    It is focused on testing the functionality of individual units of code in isolation.
-
-    Args:
-        session (nox.Session): The Nox session being run, providing context and methods for session actions.
-    """
-    session.install("-r", "requirements.txt")
-    session.install("-r", "requirements_dev.txt")
-    session.run("pytest", "-m", "unit")
-
-
-@nox.session(reuse_venv=True, python="3.9")
-def smoke_tests(session: nox.Session) -> None:
-    """
-        Run the project's smoke tests.
-    nox
-        This session installs the necessary dependencies and runs a subset of tests designed to quickly
-        check the most important functions of the program, often as a prelude to more thorough testing.
-
-        Args:
-            session (nox.Session): The Nox session being run, providing context and methods for session actions.
-    """
-    session.install("-r", "requirements.txt")
-    session.install("-r", "requirements_dev.txt")
-    session.run("pytest", "-m", "smoke")
-
-
-@nox.session(reuse_venv=True, python="3.9")
-def babel(session: nox.Session) -> None:
-    """
-    Run the I18N toolchain
-    """
-    session.install("-r", "requirements.txt")
-    session.install("-r", "requirements_dev.txt")
-
-    session.run(
-        "pybabel",
-        "extract",
-        "-c",
-        "TRANSLATORS",
-        "-o",
-        "locale/messages.pot",
-        "./PiFinder",
-    )
-    session.run("pybabel", "update", "-i", "locale/messages.pot", "-d", "locale")
-    session.run("pybabel", "compile", "-d", "locale")
diff --git a/python/pyproject.toml b/python/pyproject.toml
index 05a2b26e6..aec8fb049 100644
--- a/python/pyproject.toml
+++ b/python/pyproject.toml
@@ -4,6 +4,8 @@ mapping = [
 ]
 
 [tool.ruff]
+builtins = ["_"]
+
 # Exclude a variety of commonly ignored directories.
 exclude = [
     ".bzr",
@@ -39,8 +41,8 @@ exclude = [
 line-length = 88
 indent-width = 4
 
-# Assume Python 3.9
-target-version = "py39"
+# Assume Python 3.13
+target-version = "py313"
 
 [tool.ruff.lint]
 # Enable preview mode, allow os.env changes before imports
@@ -59,6 +61,9 @@ unfixable = []
 # Allow unused variables when underscore-prefixed.
 dummy-variable-rgx = "^(_+|(_+[a-zA-Z0-9_]*[a-zA-Z0-9]+?))$"
 
+[tool.ruff.lint.per-file-ignores]
+"*.ipynb" = ["E402", "F841"]
+
 [tool.ruff.format]
 # Like Black, use double quotes for strings.
 quote-style = "double"
@@ -87,7 +92,7 @@ docstring-code-format = false
 docstring-code-line-length = "dynamic"
 
 [tool.mypy]
-exclude = "venv|tetra3"
+exclude = "venv|tetra3|noxfile\\.py"
 # Start off with these
 warn_unused_configs = true
 warn_redundant_casts = true
@@ -126,10 +131,8 @@ module = [
     'skyfield.*',
     'sh.*',
     'sklearn.*',
-    'pam.*',
     'PyHotKey.*',
     'PiFinder.tetra3.*',
-    'quaternion',
     'tetra3.*',
     'grpc',
     'ceder_detect_pb2',
@@ -137,6 +140,21 @@ module = [
     'picamera2',
     'bottle',
     'libinput',
+    'pytz',
+    'aiofiles',
+    'requests',
+    'tqdm',
+    'pandas',
+    'rpi_hardware_pwm',
+    'gpsdclient',
+    'timezonefinder',
+    'pydeepskylog.*',
+    'dbus',
+    'pam',
+    'pam.*',
+    'quaternion',
+    'gi',
+    'gi.*',
 ]
 ignore_missing_imports = true
 ignore_errors = true
diff --git a/python/requirements.txt b/python/requirements.txt
deleted file mode 100644
index c0f9f5e18..000000000
--- a/python/requirements.txt
+++ /dev/null
@@ -1,29 +0,0 @@
-adafruit-blinka==8.12.0
-adafruit-circuitpython-bno055
-bottle==0.12.25
-cheroot==10.0.0
-dataclasses_json==0.6.7
-gpsdclient==1.3.2
-grpcio==1.64.1
-json5==0.9.25
-luma.oled==3.12.0
-luma.lcd==2.11.0
-numpy==1.26.4
-numpy-quaternion==2023.0.4
-pam==0.2.0
-pandas==1.5.3
-pillow==10.4.0
-pydeepskylog==1.3.2
-pyjwt==2.8.0
-python-libinput==0.3.0a0
-pytz==2022.7.1
-requests==2.28.2
-rpi-hardware-pwm==0.1.4
-scipy
-scikit-learn==1.2.2
-sh==1.14.3
-skyfield==1.45
-timezonefinder==6.1.9
-tqdm==4.65.0
-protobuf==4.25.2
-aiofiles==24.1.0
diff --git a/python/requirements_dev.txt b/python/requirements_dev.txt
deleted file mode 100644
index 5264c55d7..000000000
--- a/python/requirements_dev.txt
+++ /dev/null
@@ -1,13 +0,0 @@
-# dev requirements
-luma.emulator==1.5.0
-PyHotKey==1.5.2
-ruff==0.4.8
-nox==2024.4.15
-mypy==1.10.0
-pytest==8.2.2
-pygame==2.6.1
-pre-commit==3.7.1
-Babel==2.16.0
-xlrd==2.0.2
-# Pin to avoid pyobjc 12.0 which has macOS 15 build issues
-pyobjc-framework-Quartz==11.1; sys_platform == "darwin"
diff --git a/python/tests/test_catalog_data.py b/python/tests/test_catalog_data.py
index 41bcc64b0..ee6628d51 100644
--- a/python/tests/test_catalog_data.py
+++ b/python/tests/test_catalog_data.py
@@ -32,19 +32,18 @@ def test_object_counts():
         "Abl": 79,
         "Arp": 337,  # should be 338, arp-1 is missing from the original sqlite source database !
         "TLK": 93,
-        "Har": 147,
     }
 
     # catalog count
     num_catalogs = len(list(db.get_catalogs()))
-    assert num_catalogs == 20
+    assert num_catalogs == 19
     actual_catalogs = [row["catalog_code"] for row in db.get_catalogs()]
     expected_catalogs = list(catalog_counts.keys())
     missing_catalogs = set(expected_catalogs) - set(actual_catalogs)
     extra_catalogs = set(actual_catalogs) - set(expected_catalogs)
-    assert (
-        not missing_catalogs and not extra_catalogs
-    ), f"Catalog mismatch. Missing catalogs: {sorted(missing_catalogs)}. Extra catalogs: {sorted(extra_catalogs)}"
+    assert not missing_catalogs and not extra_catalogs, (
+        f"Catalog mismatch. Missing catalogs: {sorted(missing_catalogs)}. Extra catalogs: {sorted(extra_catalogs)}"
+    )
 
     # Catalog Counts
     for catalog_code, count in catalog_counts.items():
@@ -94,20 +93,20 @@ def check_messier_objects():
 
     # Validate M45 coordinates (Pleiades)
     # Expected: RA=56.85°, Dec=+24.117°
-    assert coords_are_close(
-        m45_obj["ra"], 56.85
-    ), f"M45 RA should be ~56.85°, got {m45_obj['ra']}"
-    assert coords_are_close(
-        m45_obj["dec"], 24.117
-    ), f"M45 Dec should be ~24.117°, got {m45_obj['dec']}"
+    assert coords_are_close(m45_obj["ra"], 56.85), (
+        f"M45 RA should be ~56.85°, got {m45_obj['ra']}"
+    )
+    assert coords_are_close(m45_obj["dec"], 24.117), (
+        f"M45 Dec should be ~24.117°, got {m45_obj['dec']}"
+    )
 
     # Validate M45 object type and constellation
-    assert (
-        m45_obj["obj_type"] == "OC"
-    ), f"M45 should be type 'OC' (open cluster), got '{m45_obj['obj_type']}'"
-    assert (
-        m45_obj["const"] == "Tau"
-    ), f"M45 should be in Taurus (Tau), got '{m45_obj['const']}'"
+    assert m45_obj["obj_type"] == "OC", (
+        f"M45 should be type 'OC' (open cluster), got '{m45_obj['obj_type']}'"
+    )
+    assert m45_obj["const"] == "Tau", (
+        f"M45 should be in Taurus (Tau), got '{m45_obj['const']}'"
+    )
 
     # Test M40 - Winnecke 4 (should have been added by post-processing)
     m40_catalog_obj = db.get_catalog_object_by_sequence("M", 40)
@@ -118,20 +117,20 @@ def check_messier_objects():
 
     # Validate M40 coordinates (Winnecke 4)
     # Expected: RA=185.552°, Dec=+58.083°
-    assert coords_are_close(
-        m40_obj["ra"], 185.552
-    ), f"M40 RA should be ~185.552°, got {m40_obj['ra']}"
-    assert coords_are_close(
-        m40_obj["dec"], 58.083
-    ), f"M40 Dec should be ~58.083°, got {m40_obj['dec']}"
+    assert coords_are_close(m40_obj["ra"], 185.552), (
+        f"M40 RA should be ~185.552°, got {m40_obj['ra']}"
+    )
+    assert coords_are_close(m40_obj["dec"], 58.083), (
+        f"M40 Dec should be ~58.083°, got {m40_obj['dec']}"
+    )
 
     # Validate M40 object type and constellation
-    assert (
-        m40_obj["obj_type"] == "D*"
-    ), f"M40 should be type 'D*' (double star), got '{m40_obj['obj_type']}'"
-    assert (
-        m40_obj["const"] == "UMa"
-    ), f"M40 should be in Ursa Major (UMa), got '{m40_obj['const']}'"
+    assert m40_obj["obj_type"] == "D*", (
+        f"M40 should be type 'D*' (double star), got '{m40_obj['obj_type']}'"
+    )
+    assert m40_obj["const"] == "UMa", (
+        f"M40 should be in Ursa Major (UMa), got '{m40_obj['const']}'"
+    )
 
 
 def check_ngc_objects():
@@ -191,32 +190,32 @@ def check_ngc_objects():
 
         # Get object from database
         catalog_obj = db.get_catalog_object_by_sequence("NGC", ngc_num)
-        assert (
-            catalog_obj is not None
-        ), f"NGC {ngc_num} ({name}) should exist in catalog"
+        assert catalog_obj is not None, (
+            f"NGC {ngc_num} ({name}) should exist in catalog"
+        )
 
         obj = db.get_object_by_id(catalog_obj["object_id"])
         assert obj is not None, f"NGC {ngc_num} ({name}) object should exist"
 
         # Check coordinates (allow 0.1 degree tolerance for coordinate precision)
-        assert coords_are_close(
-            obj["ra"], test_obj["ra"], tolerance=0.1
-        ), f"NGC {ngc_num} ({name}) RA should be ~{test_obj['ra']}°, got {obj['ra']}°"
+        assert coords_are_close(obj["ra"], test_obj["ra"], tolerance=0.1), (
+            f"NGC {ngc_num} ({name}) RA should be ~{test_obj['ra']}°, got {obj['ra']}°"
+        )
 
-        assert coords_are_close(
-            obj["dec"], test_obj["dec"], tolerance=0.1
-        ), f"NGC {ngc_num} ({name}) Dec should be ~{test_obj['dec']}°, got {obj['dec']}°"
+        assert coords_are_close(obj["dec"], test_obj["dec"], tolerance=0.1), (
+            f"NGC {ngc_num} ({name}) Dec should be ~{test_obj['dec']}°, got {obj['dec']}°"
+        )
 
         # Check object type
-        assert (
-            obj["obj_type"] == test_obj["obj_type"]
-        ), f"NGC {ngc_num} ({name}) should be type '{test_obj['obj_type']}', got '{obj['obj_type']}'"
+        assert obj["obj_type"] == test_obj["obj_type"], (
+            f"NGC {ngc_num} ({name}) should be type '{test_obj['obj_type']}', got '{obj['obj_type']}'"
+        )
 
         # Check constellation (if provided)
         if test_obj["const"]:
-            assert (
-                obj["const"] == test_obj["const"]
-            ), f"NGC {ngc_num} ({name}) should be in {test_obj['const']}, got '{obj['const']}'"
+            assert obj["const"] == test_obj["const"], (
+                f"NGC {ngc_num} ({name}) should be in {test_obj['const']}, got '{obj['const']}'"
+            )
 
         print(
             f"✓ NGC {ngc_num} ({name}): RA={obj['ra']:.3f}°, Dec={obj['dec']:.3f}°, Type={obj['obj_type']}, Const={obj['const']}"
@@ -287,24 +286,24 @@ def check_ic_objects():
         assert obj is not None, f"IC {ic_num} ({name}) object should exist"
 
         # Check coordinates (allow 0.1 degree tolerance for coordinate precision)
-        assert coords_are_close(
-            obj["ra"], test_obj["ra"], tolerance=0.1
-        ), f"IC {ic_num} ({name}) RA should be ~{test_obj['ra']}°, got {obj['ra']}°"
+        assert coords_are_close(obj["ra"], test_obj["ra"], tolerance=0.1), (
+            f"IC {ic_num} ({name}) RA should be ~{test_obj['ra']}°, got {obj['ra']}°"
+        )
 
-        assert coords_are_close(
-            obj["dec"], test_obj["dec"], tolerance=0.1
-        ), f"IC {ic_num} ({name}) Dec should be ~{test_obj['dec']}°, got {obj['dec']}°"
+        assert coords_are_close(obj["dec"], test_obj["dec"], tolerance=0.1), (
+            f"IC {ic_num} ({name}) Dec should be ~{test_obj['dec']}°, got {obj['dec']}°"
+        )
 
         # Check object type
-        assert (
-            obj["obj_type"] == test_obj["obj_type"]
-        ), f"IC {ic_num} ({name}) should be type '{test_obj['obj_type']}', got '{obj['obj_type']}'"
+        assert obj["obj_type"] == test_obj["obj_type"], (
+            f"IC {ic_num} ({name}) should be type '{test_obj['obj_type']}', got '{obj['obj_type']}'"
+        )
 
         # Check constellation (if provided)
         if test_obj["const"]:
-            assert (
-                obj["const"] == test_obj["const"]
-            ), f"IC {ic_num} ({name}) should be in {test_obj['const']}, got '{obj['const']}'"
+            assert obj["const"] == test_obj["const"], (
+                f"IC {ic_num} ({name}) should be in {test_obj['const']}, got '{obj['const']}'"
+            )
 
         print(
             f"✓ IC {ic_num} ({name}): RA={obj['ra']:.3f}°, Dec={obj['dec']:.3f}°, Type={obj['obj_type']}, Const={obj['const']}"
@@ -383,9 +382,9 @@ def on_complete(objects):
 
     # Verify results
     assert loaded_count == 100, f"Expected 100 objects, got {loaded_count}"
-    assert (
-        len(loaded_objects) == 100
-    ), f"Expected 100 loaded objects, got {len(loaded_objects)}"
+    assert len(loaded_objects) == 100, (
+        f"Expected 100 loaded objects, got {len(loaded_objects)}"
+    )
 
     # Verify objects have details loaded
     for obj in loaded_objects[:10]:  # Check first 10
diff --git a/python/tests/test_software.py b/python/tests/test_software.py
new file mode 100644
index 000000000..c24c6a987
--- /dev/null
+++ b/python/tests/test_software.py
@@ -0,0 +1,503 @@
+import pytest
+from unittest.mock import patch, MagicMock
+
+from PiFinder.ui.software import (
+    _parse_version,
+    _strip_markdown,
+    _meets_min_version,
+    _version_from_tag,
+    _fetch_github_releases,
+    _fetch_testable_prs,
+    _fetch_build_json,
+    GITHUB_RAW_URL,
+)
+
+
+# ---------------------------------------------------------------------------
+# Version parsing
+# ---------------------------------------------------------------------------
+
+
+@pytest.mark.unit
+class TestParseVersion:
+    def test_simple_version(self):
+        assert _parse_version("2.4.0") == (2, 4, 0, 1, "")
+
+    def test_prerelease_version(self):
+        result = _parse_version("2.5.0-beta.1")
+        assert result == (2, 5, 0, 0, "beta.1")
+
+    def test_prerelease_sorts_below_release(self):
+        assert _parse_version("2.5.0-beta.1") < _parse_version("2.5.0")
+
+    def test_whitespace_stripped(self):
+        assert _parse_version("  2.4.0\n") == (2, 4, 0, 1, "")
+
+
+# ---------------------------------------------------------------------------
+# Markdown stripping
+# ---------------------------------------------------------------------------
+
+
+@pytest.mark.unit
+class TestStripMarkdown:
+    def test_removes_headings(self):
+        assert _strip_markdown("# Hello") == "Hello"
+        assert _strip_markdown("## Sub") == "Sub"
+
+    def test_removes_bold(self):
+        assert _strip_markdown("**bold**") == "bold"
+
+    def test_removes_italic(self):
+        assert _strip_markdown("*italic*") == "italic"
+
+    def test_removes_links(self):
+        assert _strip_markdown("[text](http://example.com)") == "text"
+
+    def test_removes_backticks(self):
+        assert _strip_markdown("`code`") == "code"
+
+    def test_preserves_plain_text(self):
+        assert _strip_markdown("Hello world") == "Hello world"
+
+    def test_multiline(self):
+        md = "# Title\n\nSome **bold** text.\n- item"
+        result = _strip_markdown(md)
+        assert "Title" in result
+        assert "bold" in result
+        assert "**" not in result
+
+
+# ---------------------------------------------------------------------------
+# Min version cutoff
+# ---------------------------------------------------------------------------
+
+
+@pytest.mark.unit
+class TestMeetsMinVersion:
+    def test_exact_min_version(self):
+        assert _meets_min_version("2.5.0") is True
+
+    def test_above_min_version(self):
+        assert _meets_min_version("2.6.0") is True
+
+    def test_below_min_version(self):
+        assert _meets_min_version("2.4.0") is False
+
+    def test_prerelease_at_min(self):
+        # 2.5.0-beta.1 < 2.5.0, so below minimum
+        assert _meets_min_version("2.5.0-beta.1") is False
+
+    def test_prerelease_above_min(self):
+        assert _meets_min_version("2.6.0-beta.1") is True
+
+    def test_garbage_returns_false(self):
+        assert _meets_min_version("garbage") is False
+
+    def test_old_major_version(self):
+        assert _meets_min_version("1.0.0") is False
+
+
+@pytest.mark.unit
+class TestVersionFromTag:
+    def test_strips_v_prefix(self):
+        assert _version_from_tag("v2.5.0") == "2.5.0"
+
+    def test_no_prefix(self):
+        assert _version_from_tag("2.5.0") == "2.5.0"
+
+    def test_prerelease_tag(self):
+        assert _version_from_tag("v2.6.0-beta.1") == "2.6.0-beta.1"
+
+
+# ---------------------------------------------------------------------------
+# Build JSON fetching
+# ---------------------------------------------------------------------------
+
+MOCK_BUILD_JSON = {
+    "store_path": "/nix/store/abc123-nixos-system-pifinder",
+    "version": "2.6.0",
+}
+
+
+@pytest.mark.unit
+class TestFetchBuildJson:
+    @patch("PiFinder.ui.software.requests.get")
+    def test_returns_data_on_success(self, mock_get):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 200
+        mock_resp.json.return_value = MOCK_BUILD_JSON
+        mock_get.return_value = mock_resp
+
+        result = _fetch_build_json("v2.6.0")
+
+        assert result == MOCK_BUILD_JSON
+        mock_get.assert_called_once_with(
+            f"{GITHUB_RAW_URL}/v2.6.0/pifinder-build.json",
+            timeout=10,
+        )
+
+    @patch("PiFinder.ui.software.requests.get")
+    def test_returns_none_on_404(self, mock_get):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 404
+        mock_get.return_value = mock_resp
+
+        assert _fetch_build_json("v1.0.0") is None
+
+    @patch("PiFinder.ui.software.requests.get")
+    def test_returns_none_on_missing_store_path(self, mock_get):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 200
+        mock_resp.json.return_value = {"version": "2.6.0"}
+        mock_get.return_value = mock_resp
+
+        assert _fetch_build_json("v2.6.0") is None
+
+    @patch("PiFinder.ui.software.requests.get")
+    def test_returns_none_on_network_error(self, mock_get):
+        import requests as req
+
+        mock_get.side_effect = req.exceptions.ConnectionError("no network")
+
+        assert _fetch_build_json("v2.6.0") is None
+
+
+# ---------------------------------------------------------------------------
+# GitHub releases API parsing
+# ---------------------------------------------------------------------------
+
+MOCK_RELEASES = [
+    {
+        "tag_name": "v2.6.0",
+        "prerelease": False,
+        "draft": False,
+        "body": "## v2.6.0\n- Feature A",
+    },
+    {
+        "tag_name": "v2.5.1",
+        "prerelease": False,
+        "draft": False,
+        "body": "Bugfix release",
+    },
+    {
+        "tag_name": "v2.6.0-beta.1",
+        "prerelease": True,
+        "draft": False,
+        "body": "Beta changelog",
+    },
+    {
+        "tag_name": "v2.5.0-beta.2",
+        "prerelease": True,
+        "draft": False,
+        "body": "Old beta",
+    },
+    {
+        "tag_name": "v2.4.0",
+        "prerelease": False,
+        "draft": False,
+        "body": "Pre-NixOS release",
+    },
+    {
+        "tag_name": "v2.3.0",
+        "prerelease": False,
+        "draft": True,
+        "body": "Draft release",
+    },
+]
+
+BUILD_JSONS = {
+    "v2.6.0": {
+        "store_path": "/nix/store/aaa-nixos-system-pifinder",
+        "version": "2.6.0",
+    },
+    "v2.5.1": {
+        "store_path": "/nix/store/bbb-nixos-system-pifinder",
+        "version": "2.5.1",
+    },
+    "v2.6.0-beta.1": {
+        "store_path": "/nix/store/ccc-nixos-system-pifinder",
+        "version": "2.6.0-beta.1",
+    },
+}
+
+
+def _make_build_json_mock(build_jsons):
+    """Create a _fetch_build_json mock that returns data from a dict."""
+
+    def _mock(ref):
+        return build_jsons.get(ref)
+
+    return _mock
+
+
+@pytest.mark.unit
+class TestFetchGitHubReleases:
+    @patch("PiFinder.ui.software._fetch_build_json")
+    @patch("PiFinder.ui.software.requests.get")
+    def test_partitions_stable_and_beta(self, mock_get, mock_build):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 200
+        mock_resp.json.return_value = MOCK_RELEASES
+        mock_get.return_value = mock_resp
+        mock_build.side_effect = _make_build_json_mock(BUILD_JSONS)
+
+        stable, beta = _fetch_github_releases()
+
+        stable_versions = [e["version"] for e in stable]
+        beta_versions = [e["version"] for e in beta]
+
+        assert "2.6.0" in stable_versions
+        assert "2.5.1" in stable_versions
+        assert "2.6.0-beta.1" in beta_versions
+
+    @patch("PiFinder.ui.software._fetch_build_json")
+    @patch("PiFinder.ui.software.requests.get")
+    def test_filters_below_min_version(self, mock_get, mock_build):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 200
+        mock_resp.json.return_value = MOCK_RELEASES
+        mock_get.return_value = mock_resp
+        mock_build.side_effect = _make_build_json_mock(BUILD_JSONS)
+
+        stable, beta = _fetch_github_releases()
+
+        all_versions = [e["version"] for e in stable + beta]
+        assert "2.4.0" not in all_versions
+
+    @patch("PiFinder.ui.software._fetch_build_json")
+    @patch("PiFinder.ui.software.requests.get")
+    def test_excludes_drafts(self, mock_get, mock_build):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 200
+        mock_resp.json.return_value = MOCK_RELEASES
+        mock_get.return_value = mock_resp
+        mock_build.side_effect = _make_build_json_mock(BUILD_JSONS)
+
+        stable, beta = _fetch_github_releases()
+
+        all_labels = [e["label"] for e in stable + beta]
+        assert "v2.3.0" not in all_labels
+
+    @patch("PiFinder.ui.software._fetch_build_json")
+    @patch("PiFinder.ui.software.requests.get")
+    def test_ref_is_store_path(self, mock_get, mock_build):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 200
+        mock_resp.json.return_value = [MOCK_RELEASES[0]]
+        mock_get.return_value = mock_resp
+        mock_build.return_value = BUILD_JSONS["v2.6.0"]
+
+        stable, _ = _fetch_github_releases()
+
+        assert stable[0]["ref"] == "/nix/store/aaa-nixos-system-pifinder"
+
+    @patch("PiFinder.ui.software._fetch_build_json")
+    @patch("PiFinder.ui.software.requests.get")
+    def test_preserves_changelog_body(self, mock_get, mock_build):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 200
+        mock_resp.json.return_value = [MOCK_RELEASES[0]]
+        mock_get.return_value = mock_resp
+        mock_build.return_value = BUILD_JSONS["v2.6.0"]
+
+        stable, _ = _fetch_github_releases()
+
+        assert stable[0]["notes"] == "## v2.6.0\n- Feature A"
+
+    @patch("PiFinder.ui.software.requests.get")
+    def test_api_failure_returns_empty(self, mock_get):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 500
+        mock_get.return_value = mock_resp
+
+        stable, beta = _fetch_github_releases()
+
+        assert stable == []
+        assert beta == []
+
+    @patch("PiFinder.ui.software.requests.get")
+    def test_network_error_returns_empty(self, mock_get):
+        import requests as req
+
+        mock_get.side_effect = req.exceptions.ConnectionError("no network")
+
+        stable, beta = _fetch_github_releases()
+
+        assert stable == []
+        assert beta == []
+
+    @patch("PiFinder.ui.software._fetch_build_json")
+    @patch("PiFinder.ui.software.requests.get")
+    def test_prerelease_at_min_filtered(self, mock_get, mock_build):
+        """2.5.0-beta.2 is below 2.5.0 minimum, should be excluded."""
+        mock_resp = MagicMock()
+        mock_resp.status_code = 200
+        mock_resp.json.return_value = MOCK_RELEASES
+        mock_get.return_value = mock_resp
+        mock_build.side_effect = _make_build_json_mock(BUILD_JSONS)
+
+        _, beta = _fetch_github_releases()
+
+        beta_versions = [e["version"] for e in beta]
+        assert "2.5.0-beta.2" not in beta_versions
+
+    @patch("PiFinder.ui.software._fetch_build_json")
+    @patch("PiFinder.ui.software.requests.get")
+    def test_skips_entries_without_build_json(self, mock_get, mock_build):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 200
+        mock_resp.json.return_value = [MOCK_RELEASES[0]]
+        mock_get.return_value = mock_resp
+        mock_build.return_value = None
+
+        stable, beta = _fetch_github_releases()
+
+        assert stable == []
+        assert beta == []
+
+
+# ---------------------------------------------------------------------------
+# Testable PRs
+# ---------------------------------------------------------------------------
+
+MOCK_PRS = [
+    {
+        "number": 42,
+        "title": "Fix star matching algorithm",
+        "head": {"sha": "abc123def456"},
+        "user": {"login": "contributor1"},
+        "body": "This PR fixes the star matching.",
+        "labels": [{"name": "testable"}],
+    },
+    {
+        "number": 99,
+        "title": "Add dark mode support",
+        "head": {"sha": "789xyz000111"},
+        "user": {"login": "contributor2"},
+        "body": None,
+        "labels": [{"name": "testable"}],
+    },
+]
+
+PR_BUILD_JSONS = {
+    "abc123def456": {
+        "store_path": "/nix/store/pr42-nixos-system-pifinder",
+        "version": "2.6.0-dev",
+    },
+    "789xyz000111": {
+        "store_path": "/nix/store/pr99-nixos-system-pifinder",
+        "version": "2.6.0-dev",
+    },
+}
+
+
+@pytest.mark.unit
+class TestFetchTestablePRs:
+    @patch("PiFinder.ui.software._fetch_build_json")
+    @patch("PiFinder.ui.software.requests.get")
+    def test_builds_pr_entries(self, mock_get, mock_build):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 200
+        mock_resp.json.return_value = MOCK_PRS
+        mock_get.return_value = mock_resp
+        mock_build.side_effect = _make_build_json_mock(PR_BUILD_JSONS)
+
+        entries = _fetch_testable_prs()
+
+        assert len(entries) == 2
+        assert entries[0]["label"] == "PR#42-abc123d"
+        assert entries[0]["subtitle"] == "Fix star matching algorithm"
+        assert entries[1]["label"] == "PR#99-789xyz0"
+        assert entries[1]["subtitle"] == "Add dark mode support"
+
+    @patch("PiFinder.ui.software._fetch_build_json")
+    @patch("PiFinder.ui.software.requests.get")
+    def test_pr_ref_is_store_path(self, mock_get, mock_build):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 200
+        mock_resp.json.return_value = [MOCK_PRS[0]]
+        mock_get.return_value = mock_resp
+        mock_build.return_value = PR_BUILD_JSONS["abc123def456"]
+
+        entries = _fetch_testable_prs()
+
+        assert entries[0]["ref"] == "/nix/store/pr42-nixos-system-pifinder"
+
+    @patch("PiFinder.ui.software._fetch_build_json")
+    @patch("PiFinder.ui.software.requests.get")
+    def test_pr_version_from_build_json(self, mock_get, mock_build):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 200
+        mock_resp.json.return_value = [MOCK_PRS[0]]
+        mock_get.return_value = mock_resp
+        mock_build.return_value = PR_BUILD_JSONS["abc123def456"]
+
+        entries = _fetch_testable_prs()
+
+        assert entries[0]["version"] == "2.6.0-dev"
+
+    @patch("PiFinder.ui.software._fetch_build_json")
+    @patch("PiFinder.ui.software.requests.get")
+    def test_pr_notes_from_body(self, mock_get, mock_build):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 200
+        mock_resp.json.return_value = MOCK_PRS
+        mock_get.return_value = mock_resp
+        mock_build.side_effect = _make_build_json_mock(PR_BUILD_JSONS)
+
+        entries = _fetch_testable_prs()
+
+        assert entries[0]["notes"] == "This PR fixes the star matching."
+        assert entries[1]["notes"] is None
+
+    @patch("PiFinder.ui.software.requests.get")
+    def test_api_failure_returns_empty(self, mock_get):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 403
+        mock_get.return_value = mock_resp
+
+        entries = _fetch_testable_prs()
+
+        assert entries == []
+
+    @patch("PiFinder.ui.software._fetch_build_json")
+    @patch("PiFinder.ui.software.requests.get")
+    def test_long_title_in_subtitle(self, mock_get, mock_build):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 200
+        mock_resp.json.return_value = [
+            {
+                "number": 7,
+                "title": "A very long PR title that exceeds twenty characters",
+                "head": {"sha": "aaa"},
+                "user": {"login": "x"},
+                "body": None,
+                "labels": [{"name": "testable"}],
+            }
+        ]
+        mock_get.return_value = mock_resp
+        mock_build.return_value = {
+            "store_path": "/nix/store/pr7-nixos",
+            "version": "2.6.0-dev",
+        }
+
+        entries = _fetch_testable_prs()
+
+        assert entries[0]["label"] == "PR#7-aaa"
+        assert entries[0]["subtitle"] == (
+            "A very long PR title that exceeds twenty characters"
+        )
+
+    @patch("PiFinder.ui.software._fetch_build_json")
+    @patch("PiFinder.ui.software.requests.get")
+    def test_skips_prs_without_build_json(self, mock_get, mock_build):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 200
+        mock_resp.json.return_value = MOCK_PRS
+        mock_get.return_value = mock_resp
+        mock_build.return_value = None
+
+        entries = _fetch_testable_prs()
+
+        assert entries == []
diff --git a/python/tests/test_sqm.py b/python/tests/test_sqm.py
index d0a17e784..ea33ba887 100644
--- a/python/tests/test_sqm.py
+++ b/python/tests/test_sqm.py
@@ -44,9 +44,9 @@ def test_extinction_increases_toward_horizon(self):
 
         # Extinction should increase monotonically as altitude decreases
         for i in range(len(extinctions) - 1):
-            assert (
-                extinctions[i] < extinctions[i + 1]
-            ), f"Extinction at {altitudes[i]}° should be less than at {altitudes[i+1]}°"
+            assert extinctions[i] < extinctions[i + 1], (
+                f"Extinction at {altitudes[i]}° should be less than at {altitudes[i + 1]}°"
+            )
 
     def test_extinction_minimum_is_at_zenith(self):
         """Test that zenith (90°) has zero extinction (ASTAP convention)"""
@@ -141,7 +141,7 @@ def test_airmass_increases_toward_horizon(self):
         for i in range(len(airmasses) - 1):
             assert airmasses[i] < airmasses[i + 1], (
                 f"Airmass at {altitudes[i]}° ({airmasses[i]:.3f}) should be less than "
-                f"at {altitudes[i+1]}° ({airmasses[i+1]:.3f})"
+                f"at {altitudes[i + 1]}° ({airmasses[i + 1]:.3f})"
             )
 
 
diff --git a/python/tests/test_sys_utils.py b/python/tests/test_sys_utils.py
index 6115dc881..5dcd05e48 100644
--- a/python/tests/test_sys_utils.py
+++ b/python/tests/test_sys_utils.py
@@ -68,5 +68,5 @@ def test_wpa_supplicant_parsing():
         assert result[1]["psk"] == "1234@===!!!"
 
 
-except ImportError:
+except (ImportError, ValueError):
     pass
diff --git a/python/views/network.tpl b/python/views/network.tpl
index f5f9f2a27..6eeeb8a06 100644
--- a/python/views/network.tpl
+++ b/python/views/network.tpl
@@ -2,6 +2,9 @@
 <div class="row valign-wrapper" style="margin: 0px;">
   <div class="col s12">
         <h5 class="grey-text">Network Settings</h5>
+        % if defined("status_message"):
+        <p class="green-text">{{status_message}}</p>
+        % end
   </div>
 </div>
 <div class="card grey darken-2">
diff --git a/scripts/generate-dependencies-md.sh b/scripts/generate-dependencies-md.sh
new file mode 100755
index 000000000..8942f1cb3
--- /dev/null
+++ b/scripts/generate-dependencies-md.sh
@@ -0,0 +1,64 @@
+#!/usr/bin/env bash
+# Generates python/DEPENDENCIES.md from the nix devShell environment.
+# Run from repo root: nix develop --command ./scripts/generate-dependencies-md.sh
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+REPO_ROOT="$(cd "$SCRIPT_DIR/.." && pwd)"
+OUTPUT="$REPO_ROOT/python/DEPENDENCIES.md"
+
+python3 << 'PYEOF' > "$OUTPUT"
+import importlib.metadata
+from datetime import date
+
+pkgs = sorted(
+    ((d.name, d.version) for d in importlib.metadata.distributions()),
+    key=lambda x: x[0].lower(),
+)
+
+# Dev-only packages (from python-packages.nix devPackages)
+dev_only = {"pytest", "mypy", "mypy_extensions", "luma.emulator", "PyHotKey",
+            "pynput", "python-xlib", "pygame", "pathspec", "pluggy", "iniconfig"}
+
+# Build/infra packages not relevant to PiFinder
+infra = {"pip", "flit_core", "virtualenv", "distlib", "filelock", "platformdirs",
+         "packaging", "setuptools"}
+
+prod = [(n, v) for n, v in pkgs if n not in dev_only and n not in infra]
+dev = [(n, v) for n, v in pkgs if n in dev_only]
+
+print(f"""\
+> **Auto-generated** from the Nix development shell on {date.today()}.
+> Do not edit manually — regenerate with:
+> ```
+> nix develop --command ./scripts/generate-dependencies-md.sh
+> ```
+
+> **Note:** These dependencies are managed by Nix (`nixos/pkgs/python-packages.nix`).
+> The versions listed here reflect the nixpkgs pin used by the flake and are
+> **not necessarily installable via pip**. Some packages require system libraries
+> or hardware (SPI, I2C, GPIO) only available on the Raspberry Pi.
+
+# Python Dependencies
+
+Python {'.'.join(str(x) for x in __import__('sys').version_info[:3])}
+
+## Runtime
+
+| Package | Version |
+|---------|---------|""")
+
+for name, ver in prod:
+    print(f"| {name} | {ver} |")
+
+print(f"""
+## Development only
+
+| Package | Version |
+|---------|---------|""")
+
+for name, ver in dev:
+    print(f"| {name} | {ver} |")
+PYEOF
+
+echo "Generated $OUTPUT"
diff --git a/version.txt b/version.txt
deleted file mode 100644
index 437459cd9..000000000
--- a/version.txt
+++ /dev/null
@@ -1 +0,0 @@
-2.5.0