Merge pull request #156 from lsst-ts/tickets/DM-46978

Tickets/dm 46978

doc/news/DM-46978.bugfix.1.rst

@@ -0,0 +1 @@
+Fixing call to RA in parameter_march_comcam.py.

doc/news/DM-46978.bugfix.2.rst

@@ -0,0 +1 @@
+In base_parameter_march.py, wait for tracking to start to continue.

doc/news/DM-46978.bugfix.rst

@@ -0,0 +1 @@
+Fixing signs in intra/extra focal images.

doc/news/DM-46978.feature.1.rst

@@ -0,0 +1 @@
+In base_parameter_march, use offset_rot instead of slewing to a new target every time..

doc/news/DM-46978.feature.rst

@@ -0,0 +1 @@
+Add darks at the end of the twilight flats.

python/lsst/ts/externalscripts/base_parameter_march.py

@@ -154,7 +154,6 @@ def get_schema(cls) -> dict:
                     Rotation sequence used for the parameter march. This can either be a single number
                     to use the same rotation angle throughout or an array specifying custom rotation angles.
                     If not provided, the script will determine the increments automatically.
-                default: 0.0
                 anyOf:
                   - type: number
                     description: >
@@ -275,6 +274,8 @@ async def configure(self, config: types.SimpleNamespace) -> None:
                         f"rotation_sequence length {len(self.rotation_sequence)} "
                         f"does not match n_steps {self.n_steps}."
                     )
+        else:
+            self.rotation_sequence = None
 
         self.config = config
         if hasattr(config, "dofs"):
@@ -351,14 +352,16 @@ async def format_values(offset_values: np.ndarray) -> np.ndarray:
         return cam_hex_values, m2_hex_values, m1m3_bend_values, m2_bend_values
 
     async def track_target_with_rotation(self, rotation_angle) -> None:
+        await self.tcs.offset_rot(0.0)
         await self.tcs.point_azel(
             az=self.config.az,
             el=self.config.el,
             rot_tel=rotation_angle,
         )
         await self.tcs.stop_tracking()
-        await asyncio.sleep(1.0)
+        await asyncio.sleep(5.0)
         await self.tcs.start_tracking()
+        await self.tcs.check_tracking(track_duration=1.0)
 
     async def parameter_march(self) -> None:
         """Perform the parameter_march operation."""
@@ -387,10 +390,15 @@ async def parameter_march(self) -> None:
         self.iterations_started = True
 
         # Move rotator
-        await self.track_target_with_rotation(self.rotation_sequence[0])
+        if self.rotation_sequence is not None:
+            await self.track_target_with_rotation(self.rotation_sequence[0])
 
         await self.take_images()
 
+        rot_offsets = [
+            rot - self.rotation_sequence[0] for rot in self.rotation_sequence
+        ]
+
         for self.iterations_executed in range(1, self.n_steps):
             await self.checkpoint(f"Step {self.iterations_executed+1}/{self.n_steps}.")
             # Calculate the offset for the current step
@@ -408,11 +416,19 @@ async def parameter_march(self) -> None:
             # Store the total offset
             self.total_offset += offset
 
-            # Move rotator
-            await self.track_target_with_rotation(
-                self.rotation_sequence[self.iterations_executed]
+            rotation = await self.tcs.rem.mtrotator.tel_rotation.next(
+                flush=True, timeout=self.tcs.long_timeout
+            )
+            rot_tracking_correction = (
+                rotation.actualPosition
+                - self.rotation_sequence[self.iterations_executed - 1]
             )
 
+            await self.tcs.offset_rot(
+                rot_offsets[self.iterations_executed] - rot_tracking_correction
+            )
+            await self.tcs.check_tracking(track_duration=1.0)
+
             # Take images at the current dof position
             await self.take_images()
 
@@ -464,6 +480,8 @@ async def cleanup(self):
                 for i, dof_offset in enumerate(self.dofs * -self.total_offset):
                     offset_dof_data.value[i] = dof_offset
                 await self.tcs.rem.mtaos.cmd_offsetDOF.start(data=offset_dof_data)
+            await self.tcs.offset_rot(0.0)
+
         except Exception:
             self.log.exception(
                 "Error while trying to return telescope to its original position."

python/lsst/ts/externalscripts/base_take_twilight_flats.py

@@ -580,6 +580,14 @@ async def take_twilight_flats(self):
 
                     self.assert_sun_location()
 
+        await self.camera.take_darks(
+            exptime=30,
+            ndarks=2,
+            group_id=self.group_id,
+            program=self.program,
+            reason=self.reason,
+        )
+
     async def assert_feasibility(self) -> None:
         """Verify that camera is in a feasible state to
         execute the script.

python/lsst/ts/externalscripts/maintel/parameter_march_comcam.py

@@ -85,7 +85,7 @@ async def take_images(
         """
         self.log.debug("Moving to intra-focal position")
 
-        await self.mtcs.offset_camera_hexapod(x=0, y=0, z=self.dz, u=0, v=0)
+        await self.mtcs.offset_camera_hexapod(x=0, y=0, z=-self.dz, u=0, v=0)
 
         supplemented_group_id = self.next_supplemented_group_id()
 
@@ -105,7 +105,7 @@ async def take_images(
 
         # Hexapod offsets are relative, so need to move 2x the offset
         # to get from the intra- to the extra-focal position.
-        z_offset = -(self.dz * 2.0)
+        z_offset = self.dz * 2.0
         await self.mtcs.offset_camera_hexapod(x=0, y=0, z=z_offset, u=0, v=0)
 
         self.log.info("Taking extra-focal image")
@@ -121,7 +121,7 @@ async def take_images(
 
         self.log.info("Send processing request to RA OCPS.")
         config = {
-            "LSSTComCamSim-FROM-OCS_DONUTPAIR": f"{intra_visit_id[0]},{extra_visit_id[0]}"
+            "LSSTComCam-FROM-OCS_DONUTPAIR": f"{intra_visit_id[0]},{extra_visit_id[0]}"
         }
         ocps_execute_task = asyncio.create_task(
             self.ocps.cmd_execute.set_start(
@@ -133,7 +133,7 @@ async def take_images(
         self.log.debug("Moving to in-focus position")
 
         # Move the hexapod back to in focus position
-        await self.mtcs.offset_camera_hexapod(x=0, y=0, z=self.dz, u=0, v=0)
+        await self.mtcs.offset_camera_hexapod(x=0, y=0, z=-self.dz, u=0, v=0)
 
         self.log.info("Taking in-focus image")