slicecamd: structured [ACQMODEL] log line at fine-acquire lock (for ACAM geometry model)#454
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slicecamd: structured [ACQMODEL] log line at fine-acquire lock (for ACAM geometry model)#454cfremling wants to merge 3 commits into
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Emit one structured line at fine-acquire convergence with the total ACAM->slit residual (sum of the corrections applied during the run) paired with the pointing geometry: cass rotator angle, altitude (from airmass), azimuth, and telescope RA/DEC (TCS telemetry). Why: the ACAM astrometric acquire leaves the target a few arcsec off the slit, and fine-acquire removes that residual every time. Logging the residual vs geometry, run after run, lets us build/refine a geometric (flexure) model of the ACAM->slit offset over time so acam-acquire can pre-compensate it -- fewer fine-acquire iterations and fewer non-converging acquisitions. Today this signal is only recoverable by scraping per-correction "requested offsets" lines (which are unit-ambiguous and interleaved with manual put-on-slit). No behavior change: pure logging plus two per-run accumulators reset at run start. HA is derived offline from TELRA + the line timestamp, so no site ephemeris is added to the daemon. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
The [ACQMODEL] line previously logged the telescope's actual RA/DEC (TELRA/
TELDEC from TCS telemetry). That is the OUTPUT of acam-acquire and drifts as
fine-acquire applies offsets, so it cannot be used to fit the SCOPE->ACAM
geometry. Log the target's GOAL coordinates instead -- the INPUT to the
transform -- sourced from the database by the sequencer.
- sequencerd: do_slicecam_fineacquire passes the DB target coords on the
fineacquire start command ("... start goal <ra_deg> <dec_deg>").
- slicecamd: fineacquire parses/strips the optional "goal <ra> <dec>", stores
it, and the [ACQMODEL] line now reports GOALRA/GOALDEC + CASANGLE (actual
rotator angle) + total ACAM->slit residual. Dropped TELRA/TELDEC and the
ALT/AZ/AIRMASS fields -- altitude/hour-angle are derived offline from
GOALRA/GOALDEC + the line timestamp.
Manual "fineacquire start" without goal logs GOALRA/GOALDEC as nan.
Still pure logging plus per-run accumulators; no control-path change.
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
…ineacquire command
Contributor
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I reworked how the [ACQMODEL] line obtains the GOAL (DB target) coords. Instead of the sequencer appending |
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What
Adds one structured log line at fine-acquire convergence (lock):
dRA/dDEC= total ACAM→slit residual = sum of the corrections fine-acquire applied during the run (the offset acam-acquire left behind), accumulated in two per-run members reset at run start.GOALRA/GOALDEC= the target's goal coordinates read from the database (the sequencer passes them on thefineacquire start goal <ra> <dec>command).CASANGLE= the actual cassegrain rotator angle (TCS telemetry).Why
The ACAM astrometric acquire leaves the target a few arcsec off the slit, and slicecam fine-acquire removes that residual on every acquisition. Logging residual vs geometry, run after run, is the dataset needed to build/refine a geometric model of the ACAM→slit offset (and to recalibrate the
FPoffsetsD_A/Thetaparameters — a small angle error there is amplified by the ~8′ ACAM↔slit baseline into a cass-dependent residual).Crucially, the geometry must be fit against the GOAL coordinates — the input to the SCOPE→ACAM transform — not the telescope's actual RA/DEC. The actual pointing is the output of acam-acquire and drifts as fine-acquire applies offsets, so logging it would be circular. Altitude/hour-angle are derived offline from GOALRA/GOALDEC + the line's timestamp.
Risk
None to operations — pure logging plus three per-run
doubles. The sequencer change only appends the DB goal to the existing fine-acquire start command (slicecamd parses it as an optionalgoal <ra> <dec>; manual runs without it lognan). No control-path change.🤖 Generated with Claude Code