This should be addressed after convergence  runs have been performed with the full fibre identification code, which can be done on the test stand. 

I've started testing the code against the motor map data, which provide interesting test cases. The theta runs provide a trivial case, as all the spots should be inside the region only one cobra can  access, while the phi runs gives examples where all the cobras are in the overlap regions. 

This case tests the closest to the last position algorithm for sorting out ambiguous positions.

At the moment, I'm running in offline mode, to make sure the algorithms run as expected, before testing in MHS simulation mode to test integration into the system on the same data. 

A few minor changes have been pushed to the branch. Currently, we're sorting out some geometry/transformation issues which affect hte fibre identification. 

Geometry issues have been registered in ticket INSTRM-1551; the transformation between MCS and PFI has some instabilities which make the calculation of the patrol region of individual cobras inaccurate. This causes problems when we are dealing with cobras close to the edge of the patrol region.  

The identification algorithm has been updated to deal with uncertainties in the transform, and to account for the illuminated but non moving cobras. The updated code is in branch 1480, which needs to be be checked on the real system and merged to master. 

Can we merge this to master prior to checks on the real system? It would be good not to have too many open ticket branches.

I can give it a check to make sure the interface has remained the same, then it merge fairly cleanly. 

I checked the interface, and made a few modification to McsCmd.py, in particular passing an additional parameter (the fiducial positions) to fibreId and adding a top level routine to switch methods in the fibre ID between target position and previous position modes. 

rebased and merged to master. Can close now, and open up smaller tickets for updates.

merged? Does not look like that has been pushed....

Ping on the merge/push? I see the tip at 8a37af5, but a merge whose text says it is a merge of INSTRM-1480 (2a05099) is not quite that. Very little actual code difference, but the git tree is quite confusing. After a git rebase master in the ticket branch, is the matching git push --force-with-lease always being done?