IMU Integrator Selection + Misc Adjustments #388

Merged

brickbots merged 312 commits intomainfrom

eq_imu_conditional

Mar 1, 2026

This pull request is big! We're only showing the most recent 250 commits

Commits on Aug 8, 2025

Rename func
TakKanekoGit
committed
Add new class ImuDeadReckoning
TakKanekoGit
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Update ImuDeadReckoning() class
TakKanekoGit
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Remove unused dictionary entry (now using the new ImuDeadReckoning() class)
TakKanekoGit
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Update integrator.py to use ImuDeadReckoning()
TakKanekoGit
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Debug on PiFinder in test mode --> The charts move up/down and left/right reversed?
TakKanekoGit
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Remove cached astro_data/comets.txt
TakKanekoGit
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Fix .gitignore to ignore astro_data/comets.txt
TakKanekoGit
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Correct spelling in comments
Tak Kaneko
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Update README. Tested and runs OK. Reproduces functionality of the existing system.
Tak Kaneko
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Add __init__.py to pointing_model/
Tak Kaneko
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Refactor: Define axis_angle2quat()
Tak Kaneko
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Update README
Tak Kaneko
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First attempt at non-upright support using roll offset
Tak Kaneko
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Fix bug -runs on PiFinder in simulation mode
TakKanekoGit
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Commits on Aug 10, 2025

Update README with EQ approach
Tak Kaneko
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Move helper functions to quaternion_transforms.py
Tak Kaneko
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Update name space of quaternion functions
Tak Kaneko
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Move ImuDeadReckoning to imu_dead_reckoning.py
Tak Kaneko
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Fix import of custome package
TakKanekoGit
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Add ImuDeadReckoningEq and associated funcs for EQ frame
TakKanekoGit
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Refactor integrator.py to encapsulate the altaz calculation
TakKanekoGit
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Refactor integrator.py - Encapsulate another code block out of the while loop
TakKanekoGit
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Fix - use last_image_solve to calculate cam2scope_offset
TakKanekoGit
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Refactor
TakKanekoGit
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Update comments
TakKanekoGit
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Use flag in ImuDeadReckoning rather than solved["Alt"] to determine if plate solved coordinate exists
TakKanekoGit
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Add helper functions of the EQ versions (currently just a copy of the altaz version)
TakKanekoGit
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Refactor: Move if to where funcs are called
TakKanekoGit
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integrator.py: Modify the EQ version
TakKanekoGit
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Init commit of RaDecRoll data class
TakKanekoGit
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Draft: calculating q_cam2scope (alignment)
TakKanekoGit
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Commits on Aug 11, 2025

Reorder
TakKanekoGit
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Fix
TakKanekoGit
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Fix: was not returning ra, dec of scope
TakKanekoGit
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Set alignment between scope and camera
TakKanekoGit
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Add comments
TakKanekoGit
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Commits on Aug 16, 2025

Remove Horiz version
TakKanekoGit
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integrator.py: Fix to get it working for EQ version
TakKanekoGit
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Remove unused code block
TakKanekoGit
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Move initialization of logger to outside try:
TakKanekoGit
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Move init of solved dict to external module. Desktop-tested.
TakKanekoGit
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Remove setting of flip_alt_offset --> Not used. Desktop-tested.
TakKanekoGit
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Remove setting of location and datetime in the integrator.py loop --> not used. Desktop-tested.
TakKanekoGit
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Remove unused datetime. Desktop-tested.
TakKanekoGit
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Rename func
TakKanekoGit
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Refactor to set_alignment(). Desktop-tested.
TakKanekoGit
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Lint and update comments
TakKanekoGit
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Add comment
TakKanekoGit
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Rename class to ImuDeadReckoning . Desktop-tested.
TakKanekoGit
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Add .get() methods
TakKanekoGit
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Add type hints
TakKanekoGit
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Add comments
TakKanekoGit
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Add comments
TakKanekoGit
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Type hints. Desktop-check
TakKanekoGit
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Re-order
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Import RaDecRoll
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Add TODO
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Add sky test notes. --> Sky test OK
TakKanekoGit
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Commits on Aug 17, 2025

Fix tuple type hints
Tak Kaneko
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Remove else: for clarity
Tak Kaneko
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RaDecRoll: Make it a @dataclass and ddd support for None
Tak Kaneko
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Add note
Tak Kaneko
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imu_dead_reckoning: Disallow None as input to keep the interface clean and simple
Tak Kaneko
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Fix missing import
TakKanekoGit
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Rename object pointing_tracker --> imu_dead_reckoning to make it more explicit. Desktop-tested
TakKanekoGit
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Remove returning unused dead_reckoning_flag
TakKanekoGit
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Change invalid imu measurement from None to np.nan. Desktop-tested
TakKanekoGit
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Remove unused code
TakKanekoGit
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Move to class-level type hints
TakKanekoGit
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Rename confusing func name
TakKanekoGit
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Move calculation of screen direction quaternion to a separate func for re-usability & testing
TakKanekoGit
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screen_direction: Sketch other types. use axis_angle2quat() for flat v2. --> Desktop-tested
TakKanekoGit
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Fix latex equation formatting
Tak Kaneko
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Add photo and explanation in README for q_imu2cam
Tak Kaneko
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Move assert location for clarity.
TakKanekoGit
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Update README
TakKanekoGit
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Update q_imu2cam transformations for other types (not all done yet)
TakKanekoGit
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Update comments
TakKanekoGit
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Remove commented out code that change the IMU output axes.
TakKanekoGit
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Add type hints to integrator
Tak Kaneko
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Update README
Tak Kaneko
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Reorder input parameter order for consistency
Tak Kaneko
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Commits on Aug 19, 2025

Update set_screen_direction with v3 Flat and as_dream
Tak Kaneko
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Update comments
Tak Kaneko
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Add get_roll_by_mount_type(). --> Desktop-tested
TakKanekoGit
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Updated README with sky test observations --> Sky Test
TakKanekoGit
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Update TODO
TakKanekoGit
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Update altaz in integrator.py to see if this helps with the catalog issue?
TakKanekoGit
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Commits on Aug 20, 2025

Refactored altaz calcuatlion. Now catalog works in altaz mount mode.
TakKanekoGit
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Add note
TakKanekoGit
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Update README
Tak Kaneko
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Add note to requirements_dev.txt
Tak Kaneko
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Merge branch 'main' into imu_quat_eq_coords
TakKanekoGit
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Ruff: camera_interface.py
TakKanekoGit
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Ruff: imu_pi.py
TakKanekoGit
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Ruff: imu_print_measurements.py
TakKanekoGit
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Move imu_print_measurements.py to pointing_model/
TakKanekoGit
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Ruff: integrator.py
TakKanekoGit
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Ruff: astro_coords.py
TakKanekoGit
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Ruff: imu_dead_reckoning.py
TakKanekoGit
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Ruff: quaternion_transforms.py
TakKanekoGit
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Move pip numpy-quaternion from requirements_dev.txt to requirements.txt
TakKanekoGit
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Fix screen_direction calculation bug for as_dream
TakKanekoGit
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Convert np.quaternion --> quaternion.quaternion to be compatible with Ruff
TakKanekoGit
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requirements.txt: Fix missing =
TakKanekoGit
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Ruff: imu_pi.py: Remove config that's no longer used because screen_direction isn't set here.
TakKanekoGit
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Ruff
TakKanekoGit
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Fix type hints
Tak Kaneko
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Commits on Aug 23, 2025

Lint
Tak Kaneko
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Commits on Aug 26, 2025

RaDecRoll: Add .initialize() method
Tak Kaneko
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Rename --> .reset()
Tak Kaneko
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RaDecRoll: Add method to set using quaternions
Tak Kaneko
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Change to using RaDecRoll class for inerfacing
Tak Kaneko
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Update comments
Tak Kaneko
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Update README
Tak Kaneko
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Fix circular import. Desktop test --> OK
TakKanekoGit
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Nox format
TakKanekoGit
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Commits on Aug 31, 2025

Fix issue from linting that was causing align to fail
TakKanekoGit
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Refactor. Destop test --> OK (inc. align)
TakKanekoGit
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Commits on Sep 6, 2025

Move functionality from integrator.py to imu_dead_reckoning.py
TakKanekoGit
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Add commens. Update README
TakKanekoGit
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astro_coords: Remove dependence on quaternion_transforms
Tak Kaneko
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Rename func --> get_q_eq()
Tak Kaneko
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Remove commented out code block
Tak Kaneko
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Commits on Sep 21, 2025

Update README issues list
Tak Kaneko
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Now shows RA difference to aim as -180 to +180 degrees rather than 0 to 360 degrees
TakKanekoGit
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README - detail out TODO & issues
TakKanekoGit
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Lint
TakKanekoGit
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Add quaternion to mypy.overrides to ignore type hints
TakKanekoGit
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Commits on Sep 22, 2025

Rename --> initialized_solved_dict
TakKanekoGit
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Fix bug in ra_diff calculation: Was causing a crash when catalogs selected in EQ mode
TakKanekoGit
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Remove commented out code block
TakKanekoGit
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Remove unused IMU data: "pos", "imu_pos", etc. which stored Euler angles that are no longer used
TakKanekoGit
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Remove "imu_pos", "pos" etc. for Euler angles
TakKanekoGit
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Remove unused Euler angle functions/methods quat_to_euler() and get_euler()
TakKanekoGit
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Merge branch 'main' into eq_mount_imu_support
Tak Kaneko
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Address TODO items
Tak Kaneko
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ToDo items: Remove unused variables
Tak Kaneko
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Use solve dict from astro_coords
Tak Kaneko
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Update README
Tak Kaneko
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Update README
TakKanekoGit
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Update README
TakKanekoGit
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Remove scipy spatial rotation package import - no longer needed for Euler angles
TakKanekoGit
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Nox format
TakKanekoGit
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Nox format for changes merged from main
TakKanekoGit
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Nox format
TakKanekoGit
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Commits on Sep 27, 2025

Change requirements.txt numpy=1.26.2 --> numpy=1.26.4 preferred by numpy-quaternion
TakKanekoGit
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Commits on Sep 28, 2025

Commits on Oct 1, 2025

Change np.quaternion --> quaternion.quaternion so that it passes Nox type checking
TakKanekoGit
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Remove imu_print_measurements.py -- used for debugging
Tak Kaneko
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Commits on Oct 5, 2025

Sky-tested. Wrote notes in README.
Tak Kaneko
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Merge branch 'main' into eq_mount_imu_support
Tak Kaneko
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Add issue to README
TakKanekoGit
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Fix typo in pyproject.toml --> Should pass nox
TakKanekoGit
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Fix: adapt to changes in imu_pi.py from merging main
Tak Kaneko
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Add details to issue in README
TakKanekoGit
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Commits on Oct 17, 2025

Merge branch 'main' into eq_mount_imu_support
Tak Kaneko
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Commits on Oct 20, 2025

Fix README
Tak Kaneko
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Commits on Oct 21, 2025

Edit README
Tak Kaneko
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Commits on Oct 24, 2025

Add test notes to README
Tak Kaneko
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Formatting
Tak Kaneko
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Fixed q_imu2cam for 'right'
Tak Kaneko
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Commits on Oct 25, 2025

Fix rotation q_imu2cam for the "straight" type
Tak Kaneko
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Fix typo in comment
Tak Kaneko
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Commits on Oct 30, 2025

Remove TODO in comments that's done
Tak Kaneko
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Update comments
Tak Kaneko
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Commits on Nov 1, 2025

Add notes from testing to README
Tak Kaneko
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Commits on Nov 2, 2025

Decrease IMU_MOVED_ANG_THRESHOLD from 0.1 deg to 0.06 deg, which is same as the value used in the original code (when converted to deg).
Tak Kaneko
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Commits on Nov 4, 2025

Lint
Tak Kaneko
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For testing: Disable 180 degree rotation of roll
Tak Kaneko
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Merge branch 'main' into eq_mount_imu_support
Tak Kaneko
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Commits on Nov 5, 2025

Update README
Tak Kaneko
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Commits on Nov 14, 2025

Refactor: Rename functions/methodds
Tak Kaneko
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Update README & comments
Tak Kaneko
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Remove duplicate code and use the function from quaternion_transforms.py
TakKanekoGit
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For southern hemisphere, show south up.
TakKanekoGit
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Big change: Change sign of rol calculated by quaternion_transforms
TakKanekoGit
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Update comments
TakKanekoGit
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Commits on Nov 15, 2025

Merge branch 'main' into test_merge
Tak Kaneko
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Merge issue fix: camera_interface.py: Now "focus" shows image. Still issue in test mode.
TakKanekoGit
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Copy pre-merge versions of integrator.py to debug merge conflict issues.
TakKanekoGit
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Copy integrator from the last merge from main (ebca2) before the auto exposure feature was added.
TakKanekoGit
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Commits on Nov 25, 2025

Copy integrator from main and pre-merge for debugging
Tak Kaneko
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Fix merge: Compared with camera_interface.py in main and restored changes for Auto Exposure that was lost in merge
Tak Kaneko
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Update as_dream --> as_bloom from main
Tak Kaneko
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Add TODO
Tak Kaneko
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Update initialized_solved_dict() to have same dict keys as main.
Tak Kaneko
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Copy from main and pre-merge for debugging
Tak Kaneko
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Fix merge issues. Align `solve.py` with main
Tak Kaneko
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Update comment
Tak Kaneko
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Commits on Nov 26, 2025

Resolving merge conflicts in integrator.py
Tak Kaneko
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Commits on Dec 10, 2025

Attempt to align the merge with both branches
Tak Kaneko
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Add comments
Tak Kaneko
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Commits on Dec 11, 2025

Initialize Imu.__reading_diff
TakKanekoGit
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Remove files added for debugging
Tak Kaneko
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Commits on Dec 23, 2025

ZMerge remote-tracking branch 'origin/main' into eq_mount_imu_support
mrosseel
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Commits on Dec 24, 2025

add constellation is None fix
mrosseel
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Commits on Jan 6, 2026

Merge branch 'main' into eq_mount_imu_support
TakKanekoGit
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Commits on Jan 28, 2026

Adding readme and screen covers

brickbots
authored and
TakKanekoGit
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Add instructions to build guide how to test leds and buttons. (#371)

jscheidtmann
authored and
TakKanekoGit
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Sqm improvements (#372)
TakKanekoGit
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Adjust GPS antenna holder sizing

brickbots
authored and
TakKanekoGit
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Rework gpsd gps code to fix issue with early dongle which never reported sky (#373)

brickbots
authored and
TakKanekoGit
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Adding release notes

brickbots
authored and
TakKanekoGit
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Remove reference to assembled kit version

brickbots
authored and
TakKanekoGit
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Remove reference to assembled kit version

brickbots
authored and
TakKanekoGit
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Commits on Jan 30, 2026

Merge branch 'main' into eq_mount_imu_support
Tak Kaneko
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Clean up
TakKanekoGit
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Add TODO
TakKanekoGit
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Commits on Jan 31, 2026

Nox & Edit comment
TakKanekoGit
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Commits on Feb 13, 2026

Fix freezing when chart selected
TakKanekoGit
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Lint
TakKanekoGit
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Fix freezing on align.py: Same as for chart.py
TakKanekoGit
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Rename method
TakKanekoGit
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Commits on Feb 14, 2026

Validate input to .set_power_state()
TakKanekoGit
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Commits on Feb 15, 2026

status.py: Add checks to prevent it from freezing.
TakKanekoGit
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imu_pi.py: Add comment
TakKanekoGit
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Rename status "LST SLV" to "LAST SLV" to avoid confusion with LST
TakKanekoGit
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status.py: Deal with case when cam_solve_time = 0. Show "CAM_FAILED" explicitly as "F"
TakKanekoGit
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Fix chart and align not showing "No solve yet"
TakKanekoGit
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Remove file for debugging
TakKanekoGit
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Move initialized_solved_dict() to solver.py and rename to get_initialized_solved_dict()
TakKanekoGit
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Fix: "can't plot yet" kept flashing up
TakKanekoGit
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Add PiMount option for inserts and no_inserts

brickbots
authored and
TakKanekoGit
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Add support for Stellarium+ Mobile (#375)

oakamil
authored and
TakKanekoGit
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A bunch of typo/spelling fixes

brickbots
authored and
TakKanekoGit
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Use J2000 as input epoch when Stellarium is connected (#376)

oakamil
authored and
TakKanekoGit
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Commits on Feb 17, 2026

Rename --> set_cam2scope_alignment
Tak Kaneko
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Refactor
Tak Kaneko
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Commits on Feb 19, 2026

Fix typo
TakKanekoGit
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Alt and Az swapped around. Moving the scope in Az moves the chart in Alt and vice versa. Reverting change from commit (d364fef) seems to fix this.
TakKanekoGit
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Edit comments
Tak Kaneko
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Commits on Feb 20, 2026

Move the hack for the PA to Roll calculation for testing from calc_utils to integrator.py
Tak Kaneko
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Lint (Nox)
TakKanekoGit
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Merge branch 'main' into eq_mount_imu_support
TakKanekoGit
committed

Commits on Feb 28, 2026

Commits on Mar 1, 2026