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Merged
BrianJKoopman merged 5 commits into from
Jan 15, 2026
Merged

acu: Add two_leg turnaround method #968

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6583a0d
Added in two_leg turnaround method
mjrand Jan 7, 2026
366f645
Returned second_leg_time default values to None
mjrand Jan 7, 2026
bafb596
Fixed typos in docstrings
mjrand Jan 14, 2026
399d81e
Fixed typos
mjrand Jan 14, 2026
e6df8ea
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Jan 14, 2026
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8 changes: 6 additions & 2 deletions socs/agents/acu/agent.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1802,7 +1802,7 @@ def set_speed_mode(self, session, params):
default=None)
@ocs_agent.param('turnaround_method', type=str, default=None,
choices=[None, 'standard', 'standard_gen',
'three_leg'])
'three_leg', 'two_leg'])
@ocs_agent.param('reset', default=False, type=bool)
@inlineCallbacks
def set_scan_params(self, session, params):
Expand Down Expand Up @@ -2060,7 +2060,7 @@ def line_batcher(ff_scan, t_shift=0., n=10):
@ocs_agent.param('az_vel_ref', type=float, default=None)
@ocs_agent.param('turnaround_method', default=None,
choices=[None, 'standard', 'standard_gen',
'three_leg'])
'three_leg', 'two_leg'])
@ocs_agent.param('scan_upload_length', type=float, default=None)
@ocs_agent.param('type', default=None, choices=[1, 2, 3])
@inlineCallbacks
Expand Down Expand Up @@ -2134,8 +2134,12 @@ def generate_scan(self, session, params):
If None then the average of the endpoints is used.
turnaround_method (str): The method used for generating turnaround.
Default (None) generates the baseline minimal jerk trajectory.
'standard' uses the acu standard turnaround generation (same as None).
'standard_gen' generates a track_point list of points that mimics
the acu standard turnaround generation for use in type2/type3 scans.
'three_leg' generates a three-leg turnaround which attempts to
minimize the acceleration at the midpoint of the turnaround.
'two_leg' generates a three-leg turnaround with second_leg_time = 0.
scan_upload_length (float): number of seconds for each set
of uploaded points. If this is not specified, the
track manager will try to use as short a time as is
Expand Down
26 changes: 21 additions & 5 deletions socs/agents/acu/drivers.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
'standard': 0,
'standard_gen': 1,
'three_leg': 2,
'two_leg': 3,
}


Expand Down Expand Up @@ -350,9 +351,12 @@ def generate_constant_velocity_scan(az_endpoint1, az_endpoint2, az_speed,
scan endpoints in time. This can be used to better track
celestial sources in targeted scans.
turnaround_method (str): The method used for generating turnaround.
Default ('standard') generates the baseline minimal jerk trajectory.
(Default) 'standard' generates the baseline minimal jerk trajectory.
'standard_gen' generates a list of track_points throughout the turnaround
to mimic the standard acu turnaround.
'three_leg' generates a three-leg turnaround which attempts to
minimize the acceleration at the midpoint of the turnaround.
'two_leg' generates a "three_leg" turnaround with second_leg_time = 0.

Yields:
points (list): a list of TrackPoint objects. Raises
Expand Down Expand Up @@ -538,7 +542,7 @@ def generate_type3_scan(az_endpoint1, az_endpoint2, az_speed,
az_start='mid_inc',
az_first_pos=None,
az_drift=None,
turnaround_method='three_leg'):
turnaround_method='two_leg'):
"""Python generator to produce times, azimuth and elevation positions,
azimuth and elevation velocities, azimuth and elevation flags for
arbitrarily long type 3 scan.
Expand Down Expand Up @@ -583,6 +587,13 @@ def generate_type3_scan(az_endpoint1, az_endpoint2, az_speed,
az_drift (float): The rate (deg / s) at which to shift the
scan endpoints in time. This can be used to better track
celestial sources in targeted scans.
turnaround_method (str): The method used for generating turnaround.
'standard' is unusable with type3 scans!
'standard_gen' generates a list of track_points throughout the turnaround
to mimic the standard acu turnaround and is usable for type3 scans.
'three_leg' generates a three-leg turnaround which attempts to
minimize the acceleration at the midpoint of the turnaround.
(Default) 'two_leg' generates a "three_leg" turnaround with second_leg_time = 0.

Yields:
points (list): a list of TrackPoint objects. Raises
Expand Down Expand Up @@ -714,7 +725,6 @@ def get_el(_t):
turntime=tt[1],
az_flag=az_flag, el_flag=el_flag,
step_time=step_time,
second_leg_time=0.,
point_group_batch=point_group_batch)
point_queue.extend(turnaround_track)

Expand Down Expand Up @@ -749,7 +759,6 @@ def get_el(_t):
turntime=tt[1],
az_flag=az_flag, el_flag=el_flag,
step_time=step_time,
second_leg_time=0.,
point_group_batch=point_group_batch)
point_queue.extend(turnaround_track)

Expand Down Expand Up @@ -799,7 +808,7 @@ def generate_type2_scan(az_endpoint1, az_endpoint2, az_speed,
az_start='mid_inc',
az_first_pos=None,
az_drift=None,
turnaround_method='three_leg'):
turnaround_method='two_leg'):
"""Python generator to produce times, azimuth and elevation positions,
azimuth and elevation velocities, azimuth and elevation flags for
arbitrarily long type 2 scan.
Expand Down Expand Up @@ -841,6 +850,13 @@ def generate_type2_scan(az_endpoint1, az_endpoint2, az_speed,
az_drift (float): The rate (deg / s) at which to shift the
scan endpoints in time. This can be used to better track
celestial sources in targeted scans.
turnaround_method (str): The method used for generating turnaround.
'standard' is unusable with type2 scans!
'standard_gen' generates a list of track_points throughout the turnaround
to mimic the standard acu turnaround and is usable for type2 scans.
'three_leg' generates a three-leg turnaround which attempts to
minimize the acceleration at the midpoint of the turnaround.
'two_leg' (Default) generates a "three_leg" turnaround with second_leg_time = 0.

Yields:
points (list): a list of TrackPoint objects. Raises
Expand Down
5 changes: 5 additions & 0 deletions socs/agents/acu/turnarounds.py
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@ def gen_turnaround(turnaround_method, t0, az0, el0, v0, turntime, az_flag, el_fl
2. "three_leg": Generates a special turnaround that splits the turnaround into three "legs" that attempt to
minimize the acceleration at the midpoint of the turnaround. See the _gen_three_leg_turnaround() docstring
for further documentation.
3. "two_leg": Generates a "three_leg" turnaround with second_leg_time = 0.
t0 (float): The initial time of the turnaround.
az0 (float): The iniital azimuth position of the turnaround. Should be equal to the final azimuth position of the turnaround.
el0 (float): The initial elevation of the turnaround. El velocity is forced to 0 here so this is only used for creating TrackPoints.
Expand Down Expand Up @@ -45,6 +46,10 @@ def gen_turnaround(turnaround_method, t0, az0, el0, v0, turntime, az_flag, el_fl
if turnaround_method == "standard_gen":
ts, azs, vs = _gen_standard_turnaround(v0, turntime, step_time)

elif turnaround_method == "two_leg":
# Two leg turnarounds set second_leg_time = 0
ts, azs, vs = _gen_three_leg_turnaround(v0, turntime, 0., second_leg_velocity, step_time)

elif turnaround_method == "three_leg":
ts, azs, vs = _gen_three_leg_turnaround(v0, turntime, second_leg_time, second_leg_velocity, step_time)

Expand Down