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Fix for broken solver #369

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Merged
brickbots merged 1 commit into from
Dec 18, 2025
Merged

Fix for broken solver #369

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130 changes: 30 additions & 100 deletions python/PiFinder/solver.py
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Original file line number Diff line number Diff line change
Expand Up @@ -421,12 +421,12 @@ def solver(
calculation_interval_seconds=SQM_CALCULATION_INTERVAL_SECONDS,
)

# Don't clutter printed solution with these fields.
del solution["matched_catID"]
del solution["pattern_centroids"]
del solution["epoch_equinox"]
del solution["epoch_proper_motion"]
del solution["cache_hit_fraction"]
# Don't clutter printed solution with these fields (use pop to safely remove)
solution.pop("matched_catID", None)
solution.pop("pattern_centroids", None)
solution.pop("epoch_equinox", None)
solution.pop("epoch_proper_motion", None)
solution.pop("cache_hit_fraction", None)

solved |= solution

Expand Down Expand Up @@ -466,101 +466,31 @@ def solver(
f"RMSE: {solved.get('RMSE', 0):.1f}px"
)

if "matched_centroids" in solution:
# Update SQM for BOTH processed and raw pipelines
# Convert exposure time from microseconds to seconds
exposure_sec = (
last_image_metadata["exposure_time"] / 1_000_000.0
)

update_sqm_dual_pipeline(
shared_state=shared_state,
sqm_calculator=sqm_calculator,
sqm_calculator_raw=sqm_calculator_raw,
camera_command_queue=camera_command_queue,
centroids=centroids,
solution=solution,
image_processed=np_image,
exposure_sec=exposure_sec,
altitude_deg=solved.get("Alt") or 90.0,
calculation_interval_seconds=SQM_CALCULATION_INTERVAL_SECONDS,
)

# Don't clutter printed solution with these fields.
del solution["matched_catID"]
del solution["pattern_centroids"]
del solution["epoch_equinox"]
del solution["epoch_proper_motion"]
del solution["cache_hit_fraction"]

solved |= solution

total_tetra_time = t_extract + solved["T_solve"]
if total_tetra_time > 1000:
console_queue.put(f"SLV: Long: {total_tetra_time}")
logger.warning("Long solver time: %i", total_tetra_time)

if solved["RA"] is not None:
# RA, Dec, Roll at the center of the camera's FoV:
solved["camera_center"]["RA"] = solved["RA"]
solved["camera_center"]["Dec"] = solved["Dec"]
solved["camera_center"]["Roll"] = solved["Roll"]

# 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:
solved["RA"] = solved["RA_target"]
solved["Dec"] = solved["Dec_target"]
if last_image_metadata["imu"]:
solved["imu_pos"] = last_image_metadata["imu"][
"pos"
]
solved["imu_quat"] = last_image_metadata["imu"][
"quat"
]
else:
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
solved["last_solve_success"] = solved[
"last_solve_attempt"
]

logger.info(
f"Solve SUCCESS - {len(centroids)} centroids → "
f"{solved.get('Matches', 0)} matches, "
f"RMSE: {solved.get('RMSE', 0):.1f}px"
)

# See if we are waiting for alignment
if align_ra != 0 and align_dec != 0:
if solved.get("x_target") is not None:
align_target_pixel = (
solved["y_target"],
solved["x_target"],
)
logger.debug(f"Align {align_target_pixel=}")
align_result_queue.put(
["aligned", align_target_pixel]
)
align_ra = 0
align_dec = 0
solved["x_target"] = None
solved["y_target"] = None
else:
# Centroids found but solve failed - clear Matches
solved["Matches"] = 0
logger.warning(
f"Solve FAILED - {len(centroids)} centroids detected but "
f"pattern match failed (FOV est: 12.0°, max err: 4.0°)"
)
# See if we are waiting for alignment
if align_ra != 0 and align_dec != 0:
if solved.get("x_target") is not None:
align_target_pixel = (
solved["y_target"],
solved["x_target"],
)
logger.debug(f"Align {align_target_pixel=}")
align_result_queue.put(
["aligned", align_target_pixel]
)
align_ra = 0
align_dec = 0
solved["x_target"] = None
solved["y_target"] = None
else:
# Centroids found but solve failed - clear Matches
solved["Matches"] = 0
logger.warning(
f"Solve FAILED - {len(centroids)} centroids detected but "
f"pattern match failed (FOV est: 12.0°, max err: 4.0°)"
)

# Always push to queue after every solve attempt (success or failure)
solver_queue.put(solved)
# Always push to queue after every solve attempt (success or failure)
solver_queue.put(solved)
except Exception as e:
# If solve attempt fails, still send update with Matches=0
# so auto-exposure can continue running
Expand Down