Te-Wei Tsai I have some questions about the new telemetry fields (most of them, unfortunately – documentation in the .h file would be a big help; I'll suggest that on DM-31283):

What are the following:

• MJD, MFDFrac (a misspelling of MJDFrac?): is this the time at which the data was measured, and if so, does it differ from the date information in the header?
• dt: what is it?
• StrutPosition_n: is this raw encoder readings converted to microns?
• CommandPos/Vel/Accel_n: is this x,y,z,u,v,w or struts? Is it demand or measured or...?
• CommandFinalPos_n: is that x,y,z,u,v,w or strut length?
• TrackMode: what is it?
• PosErrn: x,y,z,u,v,w or strut length?
• Rn_Est and Posn_Est: what is it?
• numberofIterations: what is it?
• EstPos_M_... and EstVel_... what are these?

Most of telemetry are mystery to me. Unfortunately, the original MOOG developer believed the "clean code" and thought the variable name could explain itself. I could only do my best and there is no promise for this in DM-31283. Thanks!

I think I found everything I need except hexCmd_mic_deg (though I hope someday to understand some of the other fields; we may want to publish them!). The mapping from old to new field names includes:

• strutEncoderRaw -> extBissEncoderRaw
• strutEncoder_microns -> EstPos_M_n (and it is probably not the raw encoder counts translated to microns)
• hexCmd_mic_deg -> (does not exist and is needed)
• hexPos_mic_deg -> Posn_Est, Rn_Est
• rawCmd_microns -> (does not exist; not used)

I filed DM-31283 to request the missing the data in hexCmd_mic_deg be added to the new telemetry packet (and in hopes of getting at least a little more documentation).

In DM-31283 Te-Wei Tsai said we would provide the missing rawCmd_microns using CSC order (x y z u v w, instead of EUI order u v w x y z) as the last item in telemetry. I wrote this code assuming that. (But we could easily change my code, if a different order is preferred).

Pull requests:

• https://github.com/lsst-ts/ts_mthexapod/pull/50
• https://github.com/lsst-ts/ts_xml/pull/475

The update looks good to me. Left the comment is GitHub. Thanks!

Thank you for a very helpful review. I fixed the telemetry format. I'll wait to release this until ts_hexapod_controller v1.1.7 is released (including the commanded position field from DM-31283).

It does not require ts_xml 9.2, though if that is released in time it may be worth updating the code to make the timestamp field in the encoders telemetry topic required instead of optional.