Acquisition and sequencing: fine-acquire settle and budget, offset classes, auto-ontarget, pick at readout, flexure timing, NEXP>1 stop, offset wait

Config/acamd.cfg.in

@@ -157,10 +157,10 @@ MOTOR_POS="cover 1 1 504 close"
 #
 ACQUIRE_TIMEOUT=90            # seconds before ACAM acquisition sequence aborts on failure to acquire (REQUIRED!)
 ACQUIRE_RETRYS=5              # max number of retrys before acquisition fails (optional, can be left blank to disable)
-ACQUIRE_OFFSET_THRESHOLD=0.5  # computed offset below this threshold (in arcsec) defines successful acquisition
+ACQUIRE_OFFSET_THRESHOLD=1.0  # computed offset below this threshold (in arcsec) defines successful acquisition
 ACQUIRE_MIN_REPEAT=2          # minimum number of sequential successful acquires
 ACQUIRE_TCS_MAX_OFFSET=60     # max offset (arcsec) for an ordinary guiding correction sent to the TCS
-ACQUIRE_TCS_MAX_PUTONSLIT_OFFSET=300  # max offset (arcsec) for a deliberate goal offset (put-on-slit, offset-star, end-of-fineacquire, pyGUI 'Offset') applied while guiding
+ACQUIRE_TCS_MAX_PUTONSLIT_OFFSET=300  # max offset (arcsec) for the one correction that makes a deliberate goal offset (put-on-slit, offset-star, end-of-fineacquire, pyGUI 'Offset'); guide and fine-acquire corrections keep ACQUIRE_TCS_MAX_OFFSET
 
 # SkySimulator options:
 #   SKYSIM_IMAGE_SIZE=<is>   where <is> is integer

Config/sequencerd.cfg.in

@@ -150,6 +150,9 @@ TCS_OFFSET_RATE_RA=45                # TCS offset rate for RA ("MRATE") in arcse
 TCS_OFFSET_RATE_DEC=45               # TCS offset rate for DEC ("MRATE") in arcsec per second
 TCS_SETTLE_TIMEOUT=20                # seconds to wait for telescope to settle (for "TRACKING_STABLY")
 TCS_SETTLE_STABLE=1.5                # time in fractional seconds (to 0.1) that TCS must report TRACKING before it is really stable
+TCS_AUTO_ONTARGET=yes                # yes: TCS ?ONTARGET=1 + tracking + sep < TCS_AUTO_ONTARGET_SEP + cass ring within TCS_AUTO_ONTARGET_CASS (2 consecutive 1 Hz reads) satisfies the ontarget wait; operator press always works
+TCS_AUTO_ONTARGET_SEP=5.0            # arcsec: max |telescope-target| for auto-ontarget
+TCS_AUTO_ONTARGET_CASS=0.05          # deg: max |TCS cass angle - commanded ring angle| for auto-ontarget
 TCS_DOMEAZI_READY=10                 # max degrees azimuth that dome and telescope can differ before ready to observe
 TCS_PREAUTH_TIME=10                  # seconds before end of exposure to notify TCS of next target's coords (0 to disable)
 
@@ -159,7 +162,7 @@ ACQUIRE_TIMEOUT=90                   # seconds before ACAM acquisition sequence
 ACQUIRE_RETRYS=5                     # max number of retrys before acquisition fails (optional, can be left blank to disable)
 ACQUIRE_OFFSET_THRESHOLD=0.5         # computed offset below this threshold (in arcsec) defines successful acquisition
 ACQUIRE_MIN_REPEAT=2                 # minimum number of sequential successful acquires
-OFFSET_SETTLE_SEC=3                  # sec to wait after an offset-star target offset before exposing (0 disables; only delays targets with a non-zero offset)
+OFFSET_SETTLE_SEC=0                  # extra sec to wait before exposing once acamd has made an offset-star target offset (the sequencer waits for the move itself; 0 = no extra wait)
 ACQUIRE_TCS_MAX_OFFSET=60            # the maximum allowable offset sent to the TCS, in arcsec
 
 # Calibration Settings

Config/slicecamd.cfg.in

@@ -86,17 +86,46 @@ FINE_ACQUIRE_MIN_SAMPLES=3
 
 # FINE_ACQUIRE_SETTLE_FRAMES=<n>
 # <n> frames discarded after each telescope move to allow settling before
-# centroid measurements resume.
+# centroid measurements resume. The wall-clock settle (FINE_ACQUIRE_SETTLE_SEC,
+# applied after acamd confirms the goal change) covers the move itself.
 #
-FINE_ACQUIRE_SETTLE_FRAMES=2
+FINE_ACQUIRE_SETTLE_FRAMES=0
 
 # FINE_ACQUIRE_SETTLE_SEC=<sec>
-# Time-based settle <sec> applied after each move, in addition to SETTLE_FRAMES,
-# to let the TCS physically finish the move before sampling resumes. This matters
-# when autoexpose shortens the exposure (e.g. bright targets): the frame-count
-# settle then elapses too quickly in wall-clock. Set to 0 to disable.
-#
-FINE_ACQUIRE_SETTLE_SEC=3.0
+# Pause <sec> after each correction, before the next exposure starts. The frame
+# loop already waits for acamd to report the move made, which is only after the
+# TCS has answered it (#479), so no frame can overlap the move. acamd usually
+# reports 1 s after the answer, but sooner if anything requests its status in
+# that second; this pause guarantees the settle either way. Set to 0 to disable.
+#
+FINE_ACQUIRE_SETTLE_SEC=1
+
+# FINE_ACQUIRE_MAX_ADJUSTMENTS=<n>
+# Correction budget. At most <n> corrections are commanded in one run, and the
+# <n>-th decides. It is sent only if the offset it removes is within
+# FINE_ACQUIRE_RELAXED_FACTOR x goal; the run then converges once that move has
+# executed and settled ("converged (FINAL CORRECTION)"). If the offset is
+# larger, the run fails at once without sending it ("fine acquisition FAILED:
+# correction <n> of <n> would be the last ..."). A correction acamd does not
+# confirm within FINE_ACQUIRE_MOVE_TIMEOUT also fails a budgeted run. The
+# sequencer reports a failure as a failed acquisition. Nothing is sampled or
+# evaluated once no correction can follow. Needs FINE_ACQUIRE_MOVE_TIMEOUT > 0.
+# 0 disables (correct until the goal or the sequencer timeout).
+FINE_ACQUIRE_MAX_ADJUSTMENTS=3
+
+# FINE_ACQUIRE_RELAXED_FACTOR=<f>
+# Largest offset, as a multiple of the 0.4" fine-acquire goal, that the budget's
+# last correction may remove: factor 2.0 sends it, and then converges, only if
+# that offset is <= 0.8". Must be >= 1 (1 means the last correction is never sent).
+FINE_ACQUIRE_RELAXED_FACTOR=2.0
+
+# FINE_ACQUIRE_MOVE_TIMEOUT=<sec>
+# Max time <sec> to wait for acamd to report a requested goal change applied
+# before the settle begins. On timeout the settle proceeds anyway, except under
+# a correction budget, where the run fails. Set to 0 to disable the wait (not
+# allowed with FINE_ACQUIRE_MAX_ADJUSTMENTS > 0).
+#
+FINE_ACQUIRE_MOVE_TIMEOUT=60.0
 
 # FINE_ACQUIRE_GAIN=<g>
 # Proportional gain <g> = {0..1} applied to the commanded offset when the residual