Eq-mount support under IMU dead-reckoning tracking#338

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TakKanekoGit wants to merge 261 commits intobrickbots:mainfrom

TakKanekoGit:eq_mount_imu_support

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Commits on Aug 8, 2025

Resolve merge conflict
Tak Kaneko
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Add comments to clarify that it should scalar-first quaternion
Tak Kaneko
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Disable rotating the IMU axes - use its native axes
Tak Kaneko
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Remove calls to using Euler angles
Tak Kaneko
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imu_pi: Disable "pos" (Euler angles)
Tak Kaneko
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imu_pi: Convert avg_quat to numpy quaternion to avoid ambiguity over scalar first/last
Tak Kaneko
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integrator: Change over from using imu_pos to quaternions. Still in pseudo code
Tak Kaneko
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Rename --> imu_print_measurements.py. Add usage in README_IMU.md
TakKanekoGit
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Initial commit of pointing_model.py
TakKanekoGit
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Add comments
TakKanekoGit
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pointing_model.py - remove unused funcs for now
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pointing_model: Add func
TakKanekoGit
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pointing_model: Rename func
TakKanekoGit
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Modify integrator.py to use quaternion-based IMU dead-reckoning
TakKanekoGit
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Add comments
Tak Kaneko
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Fix typo
TakKanekoGit
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Edit comment
TakKanekoGit
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Change usages of imu["pos"] to imu["quat"]
TakKanekoGit
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Fix so that it's '..' inside "..."
TakKanekoGit
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Removed astro_data/comets.txt that was mistakenly committed
TakKanekoGit
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Remove PiFinder/python/tetra3 that was mistakenly added.
TakKanekoGit
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Update README
TakKanekoGit
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Initialize imu["quat"] and imu["avg_quat"] to None rather than np.quaternion(0, 0, 0, 0) because it's used in statements like if imu["quat"]...
Tak Kaneko
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Move to pointing_model/README.md
Tak Kaneko
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Update README with theory
Tak Kaneko
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Add pointing_model.get_quat_angular_diff()
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Use quaternion-based difference for deciding if the camera was still enough in camera_interface.py
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solver.py: Disable "imu_pos"
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camera_interface: Convert pointing_diff radians to degrees to be compatible with the threshold applied
TakKanekoGit
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Fix missing/incorrect import of pointing_model
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pointing_model: Fix np.arctan2 in this version rather than np.atan2
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Define max_imu_ang_during_exposure in solver.py; a threshold for last_image_metadata["imu_delta"]
TakKanekoGit
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Temporarily disable printing IMU quaternions to status.py
TakKanekoGit
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Restored the old IMU code blocks --> Camera now works in Focus mode
TakKanekoGit
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camera_interface.py: Reverted to pointing_diff calculation using quaternion -- works
TakKanekoGit
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Store quaternion measurements as np.quaternion type in state --> Camera works in focus mode
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Shared state: imu["quat"] stores numpy.quaternion --> Camera runs in focus mode
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integrator.py: Use quaternion ang. diff to switch to IMU tracking in the integrator loop
TakKanekoGit
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integrator.py: Refactor
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integrator.py: Disable old calculation of Altaz
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Add comments
TakKanekoGit
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Need to change dictionary solve in both integrator.py and solver.py --> Now plate solves but chart doesn't move when PiFinder moved
TakKanekoGit
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Fix at scope: Missing name space pointing.
TakKanekoGit
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Edit comment
TakKanekoGit
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Fix at scope: Typo
TakKanekoGit
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Debug at scope: Increased threshold for using IMU tracking to 0.1 deg. Smoother. BUT IMU tracking is L/R and Up/Down reversed!?
TakKanekoGit
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imu_pi.py: Disable BNO055 config to rotate the IMU data
TakKanekoGit
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Disable using the old method to calculate Euler angles (imu["pos"])
TakKanekoGit
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Update comments
TakKanekoGit
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Remove debug logging that was added that was dumping too much to the log file.
TakKanekoGit
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Additional logging printing for debugging
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Rename func
TakKanekoGit
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Add new class ImuDeadReckoning
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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
TakKanekoGit
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Import RaDecRoll
TakKanekoGit
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Add TODO
TakKanekoGit
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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/
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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
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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
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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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