From d75ae1dbe1babcf38e6537a234496e0421f3d317 Mon Sep 17 00:00:00 2001
From: Wilfred Tyler Gee <wtylergee@gmail.com>
Date: Fri, 19 Sep 2025 09:27:37 -1000
Subject: [PATCH 1/3] Update state machine

* Adds a `simple` state file that removes the `pointing`, `tracking`, and `analyzing` states, which were effectively being skipped via options.
* Defaults to new state machine.

:warning: Needs to be tested on hardware for a full night before merging :warning:
---
 conf_files/pocs.yaml                          |  2 +-
 conf_files/state_table/simple.yaml            | 60 +++++++++++++++++++
 .../pocs/state/states/default/observing.py    |  4 +-
 .../pocs/state/states/default/scheduling.py   |  2 +-
 .../pocs/state/states/default/slewing.py      |  4 +-
 5 files changed, 66 insertions(+), 6 deletions(-)
 create mode 100644 conf_files/state_table/simple.yaml

diff --git a/conf_files/pocs.yaml b/conf_files/pocs.yaml
index 67caffdfd..91746bad3 100644
--- a/conf_files/pocs.yaml
+++ b/conf_files/pocs.yaml
@@ -42,7 +42,7 @@ wait_delay: 180 # time in seconds before checking safety/etc while waiting.
 max_transition_attempts: 5  # number of transitions attempts.
 status_check_interval: 60 # periodic status check.
 
-state_machine: panoptes
+state_machine: simple
 
 scheduler:
   type: panoptes.pocs.scheduler.dispatch
diff --git a/conf_files/state_table/simple.yaml b/conf_files/state_table/simple.yaml
new file mode 100644
index 000000000..3f5ca0a4a
--- /dev/null
+++ b/conf_files/state_table/simple.yaml
@@ -0,0 +1,60 @@
+---
+name: default
+initial: sleeping
+states:
+  parking:
+    tags: always_safe
+  parked:
+    tags: always_safe
+  sleeping:
+    tags: always_safe
+  housekeeping:
+    tags: always_safe
+  ready:
+    tags: always_safe
+  scheduling:
+    horizon: observe
+  slewing:
+  observing:
+transitions:
+  - source:
+      - ready
+      - scheduling
+      - slewing
+      - observing
+    dest: parking
+    trigger: park
+  - source: parking
+    dest: parked
+    trigger: set_park
+  - source: parked
+    dest: housekeeping
+    trigger: clean_up
+  - source: housekeeping
+    dest: sleeping
+    trigger: goto_sleep
+  - source: parked
+    dest: ready
+    trigger: get_ready
+    conditions: mount_is_initialized
+  - source: sleeping
+    dest: ready
+    trigger: get_ready
+    conditions: mount_is_initialized
+  - source: ready
+    dest: scheduling
+    trigger: schedule
+  - source: scheduling
+    dest: slewing
+    trigger: start_slewing
+  - source: slewing
+    dest: observing
+    trigger: observe
+    conditions: mount_is_tracking
+  - source: observing
+    dest: observing
+    trigger: observe
+    conditions: mount_is_tracking
+  - source: observing
+    dest: scheduling
+    trigger: schedule
diff --git a/src/panoptes/pocs/state/states/default/observing.py b/src/panoptes/pocs/state/states/default/observing.py
index 57353b3e4..6de941009 100644
--- a/src/panoptes/pocs/state/states/default/observing.py
+++ b/src/panoptes/pocs/state/states/default/observing.py
@@ -19,5 +19,5 @@ def on_enter(event_data):
         pocs.logger.warning(f"Problem with imaging: {e!r}")
         pocs.say("Hmm, I'm not sure what happened with that exposure.")
     else:
-        pocs.next_state = "analyzing"
-        pocs.logger.debug("Finished with observing, going to {pocs.next_state}")
+        pocs.next_state = "scheduling"
+        pocs.say(f"Finished with observing, going to {pocs.next_state}")
diff --git a/src/panoptes/pocs/state/states/default/scheduling.py b/src/panoptes/pocs/state/states/default/scheduling.py
index ff4ffca2e..fcad6d435 100644
--- a/src/panoptes/pocs/state/states/default/scheduling.py
+++ b/src/panoptes/pocs/state/states/default/scheduling.py
@@ -39,7 +39,7 @@ def on_enter(event_data):
 
                 # Make sure we are using existing observation (with pointing image)
                 pocs.observatory.current_observation = existing_observation
-                pocs.next_state = "tracking"
+                pocs.next_state = "slewing"
             else:
                 pocs.say(f"Got it! I'm going to check out: {observation.name}")
 
diff --git a/src/panoptes/pocs/state/states/default/slewing.py b/src/panoptes/pocs/state/states/default/slewing.py
index 9ef0ecc03..c6ee19877 100644
--- a/src/panoptes/pocs/state/states/default/slewing.py
+++ b/src/panoptes/pocs/state/states/default/slewing.py
@@ -21,8 +21,8 @@ def on_enter(event_data):
         if pocs.observatory.mount.slew_to_target(blocking=True) is False:
             raise error.PocsError("Mount did not successfully slew to target.")
 
-        pocs.say("I'm at the target, checking pointing.")
-        pocs.next_state = "pointing"
+        pocs.say("I'm at the target, going to start observing.")
+        pocs.next_state = "observing"
 
     except Exception as e:
         pocs.say(f"Wait a minute, there was a problem slewing. Sending to parking. {e}")

From 0a704bd659d2e750cad32c7be4b7b45ed5597ec2 Mon Sep 17 00:00:00 2001
From: Wilfred Tyler Gee <wtylergee@gmail.com>
Date: Sat, 20 Sep 2025 06:40:05 -1000
Subject: [PATCH 2/3] * Remove the unused states. * Remove unused `Image`
 class. * Remove related tests.

---
 src/panoptes/pocs/images.py                   | 248 ------------------
 src/panoptes/pocs/observatory.py              |  52 +---
 .../pocs/state/states/default/analyzing.py    |  25 --
 .../pocs/state/states/default/pointing.py     | 136 ----------
 .../pocs/state/states/default/tracking.py     |  27 --
 tests/test_images.py                          | 124 ---------
 tests/test_ioptron.py                         |  96 -------
 7 files changed, 1 insertion(+), 707 deletions(-)
 delete mode 100644 src/panoptes/pocs/images.py
 delete mode 100644 src/panoptes/pocs/state/states/default/analyzing.py
 delete mode 100644 src/panoptes/pocs/state/states/default/pointing.py
 delete mode 100644 src/panoptes/pocs/state/states/default/tracking.py
 delete mode 100644 tests/test_images.py

diff --git a/src/panoptes/pocs/images.py b/src/panoptes/pocs/images.py
deleted file mode 100644
index d077ff1ce..000000000
--- a/src/panoptes/pocs/images.py
+++ /dev/null
@@ -1,248 +0,0 @@
-"""Image helpers for FITS headers, WCS solving, and pointing comparisons.
-
-Provides the Image class, a lightweight utility that loads FITS headers, lazily
-solves for WCS (via panoptes-utils), and offers helpers to compute the pointing
-and pointing error between images.
-"""
-
-from collections import namedtuple
-from contextlib import suppress
-from pathlib import Path
-
-from astropy import units as u
-from astropy.coordinates import FK5, EarthLocation, SkyCoord
-from astropy.io import fits
-from astropy.time import Time
-from panoptes.utils.images import fits as fits_utils
-
-from panoptes.pocs.base import PanBase
-
-OffsetError = namedtuple("OffsetError", ["delta_ra", "delta_dec", "magnitude"])
-
-
-class Image(PanBase):
-    """Represents a single FITS image and associated pointing metadata.
-
-    Loads core header values (DATE-OBS, EXPTIME), optionally reads/solves WCS,
-    and exposes convenience properties for header pointing vs. WCS pointing and
-    their differences.
-    """
-
-    def __init__(self, fits_file: Path, wcs_file=None, location=None, *args, **kwargs):
-        """Object to represent a single image from a PANOPTES camera.
-
-        Args:
-            fits_file (str): Name of FITS file to be read (can be .fz)
-            wcs_file (str, optional): Name of FITS file to use for WCS
-        """
-        super().__init__(*args, **kwargs)
-        # Make sure we have a Path instance
-        fits_file = Path(fits_file)
-        assert fits_file.exists(), self.logger.warning("File does not exist: {fits_file}")
-
-        assert fits_file.suffix in [".fits", ".fz"], self.logger.warning("File must end with .fits")
-
-        self.wcs = None
-        self._wcs_file = None
-        self.fits_file = fits_file
-
-        if wcs_file is not None:
-            self.wcs_file = wcs_file
-        else:
-            self.wcs_file = fits_file
-
-        self.header_ext = 0
-        if fits_file.suffix == ".fz":
-            self.header_ext = 1
-
-        with fits.open(str(self.fits_file.absolute()), "readonly") as hdu:
-            self.header = hdu[self.header_ext].header
-
-        required_headers = ["DATE-OBS", "EXPTIME"]
-        for key in required_headers:
-            if key not in self.header:
-                raise KeyError(f"Missing required FITS header: {key}")
-
-        # Location Information
-        if location is None:
-            cfg_loc = self.get_config("location")
-            location = EarthLocation(
-                lat=cfg_loc["latitude"],
-                lon=cfg_loc["longitude"],
-                height=cfg_loc["elevation"],
-            )
-        # Time Information
-        self.starttime = Time(self.header["DATE-OBS"], location=location)
-        self.exptime = float(self.header["EXPTIME"]) * u.second
-        self.midtime = self.starttime + (self.exptime / 2.0)
-        self.sidereal = self.midtime.sidereal_time("apparent")
-        self.FK5_Jnow = FK5(equinox=self.midtime)
-
-        # Coordinates from header keywords
-        self.header_pointing = None
-        self.header_ra = None
-        self.header_dec = None
-        self.header_ha = None
-
-        # Coordinates from WCS
-        self.pointing = None
-        self.ra = None
-        self.dec = None
-        self.ha = None
-
-        self.get_header_pointing()
-        self.get_wcs_pointing()
-
-        self._luminance = None
-        self._pointing = None
-        self._pointing_error = None
-
-    @property
-    def wcs_file(self):
-        """WCS file name
-
-        When setting the WCS file name, the WCS information will be read,
-        setting the `wcs` property.
-        """
-        return self._wcs_file
-
-    @wcs_file.setter
-    def wcs_file(self, filename):
-        """Set the path to the FITS file containing WCS information.
-
-        Assigning this property will attempt to read WCS from the given file
-        and update the `wcs` attribute if a celestial WCS is present.
-
-        Args:
-            filename (str | Path | None): Path to a FITS/FITS.fz file whose header
-                contains a valid celestial WCS. If None, no change is made.
-        """
-        if filename is not None:
-            with suppress(AssertionError):
-                w = fits_utils.getwcs(str(filename))
-                assert w.is_celestial
-
-                self.wcs = w
-                self._wcs_file = filename
-                self.logger.debug("WCS loaded from image")
-
-    @property
-    def pointing_error(self):
-        """Pointing error namedtuple (delta_ra, delta_dec, magnitude)
-
-        Returns pointing error information. The first time this is accessed
-        this will solve the field if not previously solved.
-
-        Returns:
-            namedtuple: Pointing error information
-        """
-        if self._pointing_error is None:
-            assert self.pointing is not None, self.logger.warning(
-                "No world coordinate system (WCS), can't get pointing_error"
-            )
-            assert self.header_pointing is not None
-
-            if self.wcs is None:
-                self.solve_field()
-
-            mag = self.pointing.separation(self.header_pointing)
-            d_dec = self.pointing.dec - self.header_pointing.dec
-            d_ra = self.pointing.ra - self.header_pointing.ra
-
-            self._pointing_error = OffsetError(d_ra.to(u.arcsec), d_dec.to(u.arcsec), mag.to(u.arcsec))
-
-        return self._pointing_error
-
-    def get_header_pointing(self):
-        """Get the pointing information from the header
-
-        The header should contain the `RA-MNT` and `DEC-MNT` keywords, from which
-        the header pointing coordinates are built.
-        """
-        try:
-            self.header_pointing = SkyCoord(
-                ra=float(self.header["RA-MNT"]) * u.degree,
-                dec=float(self.header["DEC-MNT"]) * u.degree,
-            )
-
-            self.header_ra = self.header_pointing.ra.to(u.degree)
-            self.header_dec = self.header_pointing.dec.to(u.degree)
-
-            try:
-                self.header_ha = float(self.header["HA-MNT"]) * u.hourangle
-            except KeyError:
-                # Compute the HA from the RA and sidereal time.
-                # Precess to the current equinox otherwise the
-                # RA - LST method will be off.
-                # TODO(wtgee): This conversion doesn't seem to be correct.
-                # wtgee: I'm not sure what I meant by the above. May 2020.
-                self.header_ha = (
-                    self.header_pointing.transform_to(self.FK5_Jnow).ra.to(u.hourangle) - self.sidereal
-                )
-
-        except Exception as e:
-            self.logger.warning(f"Cannot get header pointing information: {e}")
-
-    def get_wcs_pointing(self):
-        """Get the pointing information from the WCS
-
-        Builds the pointing coordinates from the plate-solved WCS. These will be
-        compared with the coordinates stored in the header.
-        """
-        if self.wcs is not None:
-            ra = self.wcs.celestial.wcs.crval[0]
-            dec = self.wcs.celestial.wcs.crval[1]
-
-            self.pointing = SkyCoord(ra=ra * u.degree, dec=dec * u.degree)
-
-            self.ra = self.pointing.ra.to(u.degree)
-            self.dec = self.pointing.dec.to(u.degree)
-
-            # Precess to the current equinox otherwise the RA - LST method will be off.
-            self.ha = self.pointing.transform_to(self.FK5_Jnow).ra.to(u.degree) - self.sidereal
-
-    def solve_field(self, radius=15, **kwargs):
-        """Solve field and populate WCS information.
-
-        Args:
-            radius (scalar): The radius (in degrees) to search near RA-Dec. Defaults to 15°.
-            **kwargs: Options to be passed to `get_solve_field`.
-        """
-        solve_info = fits_utils.get_solve_field(
-            str(self.fits_file),
-            ra=self.header_pointing.ra.value,
-            dec=self.header_pointing.dec.value,
-            radius=radius,
-            **kwargs,
-        )
-
-        self.wcs_file = solve_info["solved_fits_file"]
-        self.get_wcs_pointing()
-
-        # Remove some fields
-        for header in ["COMMENT", "HISTORY"]:
-            with suppress(KeyError):
-                del solve_info[header]
-
-        return solve_info
-
-    def compute_offset(self, ref_image):
-        """Compute pointing offset relative to a reference Image.
-
-        Args:
-            ref_image (Image): The reference image to compare against.
-
-        Returns:
-            OffsetError: Named tuple of (delta_ra, delta_dec, magnitude) in arcseconds.
-        """
-        assert isinstance(ref_image, Image), self.logger.warning("Must pass an Image class for reference")
-
-        mag = self.pointing.separation(ref_image.pointing)
-        d_dec = self.pointing.dec - ref_image.pointing.dec
-        d_ra = self.pointing.ra - ref_image.pointing.ra
-
-        return OffsetError(d_ra.to(u.arcsec), d_dec.to(u.arcsec), mag.to(u.arcsec))
-
-    def __str__(self):
-        """Human-readable identifier including file path and header pointing."""
-        return f"{self.fits_file}: {self.header_pointing}"
diff --git a/src/panoptes/pocs/observatory.py b/src/panoptes/pocs/observatory.py
index 034e41a64..17cf678a6 100644
--- a/src/panoptes/pocs/observatory.py
+++ b/src/panoptes/pocs/observatory.py
@@ -24,7 +24,6 @@
 from panoptes.pocs.base import PanBase
 from panoptes.pocs.camera import AbstractCamera
 from panoptes.pocs.dome import AbstractDome
-from panoptes.pocs.images import Image
 from panoptes.pocs.mount.mount import AbstractMount
 from panoptes.pocs.scheduler.field import Field
 from panoptes.pocs.scheduler.observation.base import Observation
@@ -642,7 +641,7 @@ def process_observation(
                     self.logger.debug(f"Preparing {image_path=} for upload to {bucket_name=}")
 
                     # Remove images directory from path so it's stored in bucket relative to images directory.
-                    bucket_path = Path(image_path[image_path.find(images_dir) + len(images_dir) :])
+                    bucket_path = Path(image_path[image_path.find(images_dir) + len(images_dir):])
 
                     self.logger.debug(f"Adding {unit_id=} to {bucket_path=}")
                     bucket_path = Path(unit_id) / bucket_path.relative_to("/")
@@ -670,55 +669,6 @@ def process_observation(
                 metadata["status"] = "complete"
                 self.db.insert_current("images", metadata, store_permanently=False)
 
-    def analyze_recent(self):
-        """Analyze the most recent exposure
-
-        Compares the most recent exposure to the reference exposure and determines
-        the offset between the two.
-
-        Returns:
-            dict: Offset information
-        """
-        # Clear the offset info
-        self.current_offset_info = None
-
-        pointing_image_id, pointing_image = self.current_observation.pointing_image
-        self.logger.debug(f"Analyzing recent image using pointing image: '{pointing_image}'")
-
-        try:
-            # Get the image to compare
-            image_id, image_path = self.current_observation.last_exposure
-
-            current_image = Image(image_path, location=self.earth_location)
-
-            solve_info = current_image.solve_field(skip_solved=False)
-
-            self.logger.debug(f"Solve Info: {solve_info}")
-
-            # Get the offset between the two
-            self.current_offset_info = current_image.compute_offset(pointing_image)
-            self.logger.debug(f"Offset Info: {self.current_offset_info}")
-
-            # Store the offset information
-            self.db.insert_current(
-                "offset_info",
-                {
-                    "image_id": image_id,
-                    "d_ra": self.current_offset_info.delta_ra.value,
-                    "d_dec": self.current_offset_info.delta_dec.value,
-                    "magnitude": self.current_offset_info.magnitude.value,
-                    "unit": "arcsec",
-                },
-                store_permanently=False,
-            )
-
-        except error.SolveError:
-            self.logger.warning("Can't solve field, skipping")
-        except Exception as e:
-            self.logger.warning(f"Problem in analyzing: {e!r}")
-
-        return self.current_offset_info
-
     def update_tracking(self, **kwargs):
         """Update tracking with rate adjustment.
 
diff --git a/src/panoptes/pocs/state/states/default/analyzing.py b/src/panoptes/pocs/state/states/default/analyzing.py
deleted file mode 100644
index d38090cc4..000000000
--- a/src/panoptes/pocs/state/states/default/analyzing.py
+++ /dev/null
@@ -1,25 +0,0 @@
-def on_enter(event_data):
-    """ """
-    pocs = event_data.model
-
-    observation = pocs.observatory.current_observation
-
-    pocs.next_state = "tracking"
-    try:
-        if pocs.get_config("mount.settings.update_tracking", False):
-            pocs.logger.debug("Analyzing recent image from analyzing state")
-            pocs.say(f"Analyzing image {observation.current_exp_num} / {observation.min_nexp}")
-            pocs.observatory.analyze_recent()
-
-        if pocs.get_config("actions.FORCE_RESCHEDULE", False):
-            pocs.say("Forcing a move to the scheduler")
-            pocs.next_state = "scheduling"
-
-        # Check if observation set is finished
-        if observation.set_is_finished:
-            pocs.next_state = "scheduling"
-            pocs.say(f"Observation complete, going to {pocs.next_state}")
-
-    except Exception as e:
-        pocs.logger.error(f"Problem in analyzing: {e!r}")
-        pocs.next_state = "parking"
diff --git a/src/panoptes/pocs/state/states/default/pointing.py b/src/panoptes/pocs/state/states/default/pointing.py
deleted file mode 100644
index 57f2ceeee..000000000
--- a/src/panoptes/pocs/state/states/default/pointing.py
+++ /dev/null
@@ -1,136 +0,0 @@
-"""State: pointing.
-
-Capture a short exposure, solve it, measure pointing error, optionally correct,
-then proceed to 'tracking'.
-"""
-
-import numpy as np
-from panoptes.utils.time import wait_for_events
-
-from panoptes.pocs.images import Image
-
-MAX_EXTRA_TIME = 60  # second
-
-
-def on_enter(event_data):
-    """Pointing State
-
-    Take 30 second exposure and plate-solve to get the pointing error
-    """
-    pocs = event_data.model
-
-    pocs.next_state = "parking"
-
-    # Get pointing parameters
-    pointing_config = pocs.get_config("pointing")
-    max_attempts = int(pointing_config.get("max_attempts", 3))
-    if max_attempts == 0:
-        pocs.logger.info(f"Skipping pointing state, {max_attempts=}")
-        pocs.next_state = "tracking"
-        return
-
-    should_correct = pointing_config.get("auto_correct", False)
-    pointing_threshold = pointing_config.get("threshold", 0.05)  # degrees
-    exptime = pointing_config.get("exptime", 30)  # seconds
-
-    # We want about 3 iterations of waiting loop during pointing image.
-    wait_delay = int(exptime / 3) + 1
-
-    try:
-        pocs.say("Taking pointing picture.")
-
-        observation = pocs.observatory.current_observation
-
-        fits_headers = pocs.observatory.get_standard_headers(observation=observation)
-        fits_headers["POINTING"] = "True"
-        pocs.logger.debug(f"Pointing headers: {fits_headers!r}")
-
-        primary_camera = pocs.observatory.primary_camera
-
-        # Loop over maximum number of pointing iterations
-        for img_num in range(max_attempts):
-            pocs.logger.info(f"Pointing image {img_num + 1}/{max_attempts} on: {primary_camera}")
-
-            # Start the exposure
-            camera_event = primary_camera.take_observation(
-                observation,
-                headers=fits_headers,
-                exptime=exptime,
-                filename=f"pointing{img_num:02d}",
-            )
-
-            # Wait for images to complete
-            maximum_duration = exptime + MAX_EXTRA_TIME
-
-            def waiting_cb():
-                pocs.logger.info(f"Waiting for pointing image {img_num + 1}/{max_attempts}")
-                return pocs.is_safe()
-
-            wait_for_events(
-                camera_event, timeout=maximum_duration, callback=waiting_cb, sleep_delay=wait_delay
-            )
-
-            # Analyze pointing
-            if observation is not None:
-                pointing_id, pointing_path = observation.pointing_image
-                pointing_image = Image(
-                    pointing_path,
-                    location=pocs.observatory.earth_location,
-                )
-                pocs.logger.debug(f"Pointing image: {pointing_image}")
-
-                pocs.say("Ok, I've got the pointing picture, let's see how close we are.")
-                pointing_image.solve_field()
-
-                # Store the solved image object
-                observation.pointing_images[pointing_id] = pointing_image
-
-                pocs.logger.debug(f"Pointing Coords: {pointing_image.pointing}")
-                pocs.logger.debug(f"Pointing Error: {pointing_image.pointing_error}")
-
-                if should_correct is False:
-                    pocs.logger.info("Pointing correction turned off, done with pointing.")
-                    break
-
-                delta_ra = pointing_image.pointing_error.delta_ra.value
-                delta_dec = pointing_image.pointing_error.delta_dec.value
-
-                # Correct the pointing if either axis is off.
-                if np.abs(delta_ra) > pointing_threshold or np.abs(delta_dec) > pointing_threshold:
-                    pocs.say("I'm still a bit away from the field so I'm going to get closer.")
-
-                    # Tell the mount we are at the field, which is the center
-                    pocs.say("Syncing with the latest image...")
-                    has_field = pocs.observatory.mount.set_target_coordinates(pointing_image.pointing)
-                    pocs.logger.debug("Coords set, calibrating")
-
-                    # Calibrate the mount - Sync the mount's known position
-                    # with the current actual position.
-                    pocs.observatory.mount.query("calibrate_mount")
-
-                    # Now set back to field
-                    if has_field:
-                        if observation.field is not None:
-                            pocs.logger.debug("Slewing back to target")
-                            target_set = pocs.observatory.mount.set_target_coordinates(observation.field)
-
-                            # Check if target was set.
-                            if target_set is False:
-                                pocs.logger.warning("Field not properly set. Parking.")
-                            else:
-                                pocs.observatory.mount.slew_to_target(blocking=True)
-
-                    if img_num == (max_attempts - 1):
-                        pocs.logger.info(
-                            "Separation outside threshold but at max corrections. "
-                            + "Will proceed to observations."
-                        )
-                else:
-                    pocs.logger.info("Separation is within pointing threshold, starting tracking.")
-                    break
-
-        pocs.next_state = "tracking"
-
-    except Exception as e:
-        pocs.logger.warning(f"Error in pointing: {e!r}")
-        pocs.say("Hmm, I had a problem checking the pointing error. Going to park.")
diff --git a/src/panoptes/pocs/state/states/default/tracking.py b/src/panoptes/pocs/state/states/default/tracking.py
deleted file mode 100644
index 02da05cea..000000000
--- a/src/panoptes/pocs/state/states/default/tracking.py
+++ /dev/null
@@ -1,27 +0,0 @@
-"""State: tracking.
-
-Fine-tune tracking (if configured) after slewing/pointing, then transition to
-'observing'. If tracking update is disabled, proceed directly to observing.
-"""
-
-
-def on_enter(event_data):
-    """The unit is tracking the target. Proceed to observations."""
-    pocs = event_data.model
-    pocs.next_state = "parking"
-
-    if pocs.get_config("mount.settings.update_tracking", False):
-        pocs.next_state = "observing"
-        return
-
-    # If we came from pointing then don't try to adjust
-    if event_data.transition.source != "pointing":
-        pocs.say("Checking our tracking")
-        try:
-            pocs.observatory.update_tracking()
-            pocs.say("Done with tracking adjustment, going to observe")
-            pocs.next_state = "observing"
-        except Exception as e:
-            pocs.logger.warning(f"Problem adjusting tracking: {e}")
-    else:
-        pocs.next_state = "observing"
diff --git a/tests/test_images.py b/tests/test_images.py
deleted file mode 100644
index 43eaeb72c..000000000
--- a/tests/test_images.py
+++ /dev/null
@@ -1,124 +0,0 @@
-import os
-import shutil
-import tempfile
-
-import pytest
-from astropy import units as u
-from astropy.coordinates import SkyCoord
-from panoptes.utils.error import SolveError, Timeout
-
-from panoptes.pocs.images import Image, OffsetError
-
-
-def copy_file_to_dir(to_dir, file):
-    assert os.path.isfile(file)
-    result = os.path.join(to_dir, os.path.basename(file))
-    assert not os.path.exists(result)
-    shutil.copy(file, to_dir)
-    assert os.path.exists(result)
-    return result
-
-
-def test_fits_exists(unsolved_fits_file):
-    with pytest.raises(AssertionError):
-        Image(unsolved_fits_file.replace(".fits", ".fit"))
-
-
-def test_fits_extension():
-    with pytest.raises(AssertionError):
-        Image(os.path.join(".", "pocs", "images.py"))
-
-
-def test_fits_noheader(noheader_fits_file):
-    with pytest.raises(KeyError):
-        Image(noheader_fits_file)
-
-
-@pytest.mark.skip("Need to fix timeout buffer in panoptes-utils")
-def test_solve_timeout(tiny_fits_file):
-    with tempfile.TemporaryDirectory() as tmpdir:
-        tiny_fits_file = copy_file_to_dir(tmpdir, tiny_fits_file)
-        im0 = Image(tiny_fits_file)
-        assert str(im0)
-        with pytest.raises(Timeout):
-            im0.solve_field(verbose=True, replace=False, radius=4, timeout=0)
-
-
-@pytest.mark.plate_solve
-def test_fail_solve(tiny_fits_file):
-    with tempfile.TemporaryDirectory() as tmpdir:
-        tiny_fits_file = copy_file_to_dir(tmpdir, tiny_fits_file)
-        im0 = Image(tiny_fits_file)
-        assert str(im0)
-        with pytest.raises(SolveError):
-            im0.solve_field(verbose=True, replace=False, radius=4)
-
-
-@pytest.mark.plate_solve
-def test_solve_field_unsolved(unsolved_fits_file, solved_fits_file):
-    # We place the input images into a temp directory so that output images
-    # are also in the temp directory.
-    with tempfile.TemporaryDirectory() as tmpdir:
-        im0 = Image(copy_file_to_dir(tmpdir, unsolved_fits_file))
-
-        assert isinstance(im0, Image)
-        assert im0.wcs is None
-        assert im0.pointing is None
-
-        im0.solve_field(verbose=True, replace=True, radius=4)
-
-        assert im0.wcs is not None
-        assert im0.wcs_file is not None
-        assert isinstance(im0.pointing, SkyCoord)
-        assert im0.ra is not None
-        assert im0.dec is not None
-        assert im0.ha is not None
-
-        # Compare it to another file of known offset.
-        im1 = Image(copy_file_to_dir(tmpdir, solved_fits_file))
-        offset_info = im0.compute_offset(im1)
-        expected_offset = [10.1 * u.arcsec, 5.29 * u.arcsec, 8.77 * u.arcsec]
-        assert u.allclose(offset_info, expected_offset, rtol=0.1)
-
-
-def test_solve_field_solved(solved_fits_file):
-    im0 = Image(solved_fits_file)
-
-    assert isinstance(im0, Image)
-    assert im0.wcs is not None
-    assert im0.wcs_file is not None
-    assert im0.pointing is not None
-    assert im0.ra is not None
-    assert im0.dec is not None
-    assert im0.ha is not None
-
-    im0.solve_field(verbose=True, radius=4)
-
-    assert isinstance(im0.pointing, SkyCoord)
-
-
-def test_pointing_error_no_wcs(unsolved_fits_file):
-    im0 = Image(unsolved_fits_file)
-
-    with pytest.raises(AssertionError):
-        im0.pointing_error
-
-
-def test_pointing_error_passed_wcs(unsolved_fits_file, solved_fits_file):
-    im0 = Image(unsolved_fits_file, wcs_file=solved_fits_file)
-
-    assert isinstance(im0.pointing_error, OffsetError)
-
-
-@pytest.mark.plate_solve
-def test_pointing_error(solved_fits_file):
-    im0 = Image(solved_fits_file)
-
-    im0.solve_field(verbose=True, replace=False, radius=4)
-
-    perr = im0.pointing_error
-    assert isinstance(perr, OffsetError)
-
-    assert (perr.delta_ra.to(u.degree).value - 1.647535444553057) < 1e-5
-    assert (perr.delta_dec.to(u.degree).value - 1.560722632731533) < 1e-5
-    assert (perr.magnitude.to(u.degree).value - 1.9445870862060288) < 1e-5
diff --git a/tests/test_ioptron.py b/tests/test_ioptron.py
index 5c7856e26..196c592a0 100644
--- a/tests/test_ioptron.py
+++ b/tests/test_ioptron.py
@@ -2,11 +2,9 @@
 from contextlib import suppress
 
 import pytest
-from astropy import units as u
 from astropy.coordinates import EarthLocation
 from panoptes.utils.config.client import get_config
 
-from panoptes.pocs.images import OffsetError
 from panoptes.pocs.mount.ioptron.cem40 import Mount
 from panoptes.pocs.utils.location import create_location_from_config
 
@@ -65,97 +63,3 @@ def test_unpark_park(self):
         assert self.mount.is_parked is False
         self.mount.home_and_park()
         assert self.mount.is_parked is True
-
-
-def test_get_tracking_correction(mount):
-    offsets = [
-        # HA, ΔRA, ΔDec, Magnitude
-        (2, -13.0881456, 1.4009, 12.154),
-        (2, -13.0881456, -1.4009, 12.154),
-        (2, 13.0881456, 1.4009, 12.154),
-        (14, -13.0881456, 1.4009, 12.154),
-        (14, 13.0881456, 1.4009, 12.154),
-        # Too small
-        (2, -13.0881456, 0.4009, 2.154),
-        (2, 0.0881456, 1.4009, 2.154),
-        # Too big
-        (2, -13.0881456, 99999.4009, 2.154),
-        (2, -99999.0881456, 1.4009, 2.154),
-    ]
-
-    corrections = [
-        (103.49, "south", 966.84, "east"),
-        (103.49, "north", 966.84, "east"),
-        (103.49, "south", 966.84, "west"),
-        (103.49, "north", 966.84, "east"),
-        (103.49, "north", 966.84, "west"),
-        # Too small
-        (None, "south", 966.84, "east"),
-        (103.49, "south", None, "east"),
-        # Too big
-        (99999.0, "south", 966.84, "east"),
-        (103.49, "south", 99999.0, "east"),
-    ]
-
-    for offset, correction in zip(offsets, corrections):
-        pointing_ha = offset[0]
-        offset_info = OffsetError(offset[1] * u.arcsec, offset[2] * u.arcsec, offset[3] * u.arcsec)
-        correction_info = mount.get_tracking_correction(offset_info, pointing_ha)
-
-        dec_info = correction_info["dec"]
-        expected_correction = correction[0]
-        if expected_correction is not None:
-            assert dec_info[1] == pytest.approx(expected_correction, abs=1e-2)
-            assert dec_info[2] == correction[1]
-        else:
-            assert dec_info == expected_correction
-
-        ra_info = correction_info["ra"]
-        expected_correction = correction[2]
-        if expected_correction is not None:
-            assert ra_info[1] == pytest.approx(expected_correction, abs=1e-2)
-            assert ra_info[2] == correction[3]
-        else:
-            assert ra_info == expected_correction
-
-
-def test_get_tracking_correction_custom(mount):
-    min_tracking = 105
-    max_tracking = 950
-
-    offsets = [
-        # HA, ΔRA, ΔDec, Magnitude
-        (2, -13.0881456, 1.4009, 12.154),
-        (2, -13.0881456, -1.4009, 12.154),
-    ]
-
-    corrections = [
-        (None, "south", 950.0, "east"),
-        (None, "north", 950.0, "east"),
-    ]
-
-    for offset, correction in zip(offsets, corrections):
-        pointing_ha = offset[0]
-        offset_info = OffsetError(offset[1] * u.arcsec, offset[2] * u.arcsec, offset[3] * u.arcsec)
-        correction_info = mount.get_tracking_correction(
-            offset_info,
-            pointing_ha,
-            min_tracking_threshold=min_tracking,
-            max_tracking_threshold=max_tracking,
-        )
-
-        dec_info = correction_info["dec"]
-        expected_correction = correction[0]
-        if expected_correction is not None:
-            assert dec_info[1] == pytest.approx(expected_correction, abs=1e-2)
-            assert dec_info[2] == correction[1]
-        else:
-            assert dec_info == expected_correction
-
-        ra_info = correction_info["ra"]
-        expected_correction = correction[2]
-        if expected_correction is not None:
-            assert ra_info[1] == pytest.approx(expected_correction, abs=1e-2)
-            assert ra_info[2] == correction[3]
-        else:
-            assert ra_info == expected_correction

From 01f64a41f2175d2930efba3eb8728aa66c74b94d Mon Sep 17 00:00:00 2001
From: Wilfred Tyler Gee <wtylergee@gmail.com>
Date: Sat, 20 Sep 2025 07:01:05 -1000
Subject: [PATCH 3/3] * Since we removed states, change `simple` back to
 `panoptes`.

---
 conf_files/pocs.yaml                       |   2 +-
 conf_files/state_table/panoptes.yaml       | 155 ++++++++-------------
 conf_files/state_table/simple.yaml         |  60 --------
 src/panoptes/pocs/scheduler/__init__.py    |   2 +-
 tests/scheduler/test_dispatch_scheduler.py |   2 +-
 5 files changed, 58 insertions(+), 163 deletions(-)
 delete mode 100644 conf_files/state_table/simple.yaml

diff --git a/conf_files/pocs.yaml b/conf_files/pocs.yaml
index 91746bad3..67caffdfd 100644
--- a/conf_files/pocs.yaml
+++ b/conf_files/pocs.yaml
@@ -42,7 +42,7 @@ wait_delay: 180 # time in seconds before checking safety/etc while waiting.
 max_transition_attempts: 5  # number of transitions attempts.
 status_check_interval: 60 # periodic status check.
 
-state_machine: simple
+state_machine: panoptes
 
 scheduler:
   type: panoptes.pocs.scheduler.dispatch
diff --git a/conf_files/state_table/panoptes.yaml b/conf_files/state_table/panoptes.yaml
index 0fa5c62ca..3f5ca0a4a 100644
--- a/conf_files/state_table/panoptes.yaml
+++ b/conf_files/state_table/panoptes.yaml
@@ -2,104 +2,59 @@
 name: default
 initial: sleeping
 states:
-    parking:
-        tags: always_safe
-    parked:
-        tags: always_safe
-    sleeping:
-        tags: always_safe
-    housekeeping:
-        tags: always_safe
-    ready:
-        tags: always_safe
-    scheduling:
-        horizon: observe
-    slewing:
-    pointing:
-    tracking:
-    observing:
-    analyzing:
+  parking:
+    tags: always_safe
+  parked:
+    tags: always_safe
+  sleeping:
+    tags: always_safe
+  housekeeping:
+    tags: always_safe
+  ready:
+    tags: always_safe
+  scheduling:
+    horizon: observe
+  slewing:
+  observing:
 transitions:
-    -
-        source:
-            - ready
-            - scheduling
-            - slewing
-            - pointing
-            - tracking
-            - observing
-            - analyzing
-        dest: parking
-        trigger: park
-    -
-        source: parking
-        dest: parked
-        trigger: set_park
-    -
-        source: parked
-        dest: housekeeping
-        trigger: clean_up
-    -
-        source: housekeeping
-        dest: sleeping
-        trigger: goto_sleep
-    -
-        source: parked
-        dest: ready
-        trigger: get_ready
-        conditions: mount_is_initialized
-    -
-        source: sleeping
-        dest: ready
-        trigger: get_ready
-        conditions: mount_is_initialized
-    -
-        source: ready
-        dest: scheduling
-        trigger: schedule
-    -
-        source: analyzing
-        dest: scheduling
-        trigger: schedule
-    -
-        source: scheduling
-        dest: slewing
-        trigger: start_slewing
-    -
-        source: scheduling
-        dest: tracking
-        trigger: adjust_tracking
-    -
-        source: slewing
-        dest: pointing
-        trigger: adjust_pointing
-        conditions: mount_is_tracking
-    -
-        source: pointing
-        dest: slewing
-        trigger: start_slewing
-        conditions: mount_is_tracking
-    -
-        source: pointing
-        dest: tracking
-        trigger: track
-        conditions: mount_is_tracking
-    -
-        source: tracking
-        dest: observing
-        trigger: observe
-        conditions: mount_is_tracking
-    -
-        source: observing
-        dest: analyzing
-        trigger: analyze
-    -
-        source: observing
-        dest: observing
-        trigger: observe
-        conditions: mount_is_tracking
-    -
-        source: analyzing
-        dest: tracking
-        trigger: adjust_tracking
-        conditions: mount_is_tracking
+  - source:
+      - ready
+      - scheduling
+      - slewing
+      - observing
+    dest: parking
+    trigger: park
+  - source: parking
+    dest: parked
+    trigger: set_park
+  - source: parked
+    dest: housekeeping
+    trigger: clean_up
+  - source: housekeeping
+    dest: sleeping
+    trigger: goto_sleep
+  - source: parked
+    dest: ready
+    trigger: get_ready
+    conditions: mount_is_initialized
+  - source: sleeping
+    dest: ready
+    trigger: get_ready
+    conditions: mount_is_initialized
+  - source: ready
+    dest: scheduling
+    trigger: schedule
+  - source: scheduling
+    dest: slewing
+    trigger: start_slewing
+  - source: slewing
+    dest: observing
+    trigger: observe
+    conditions: mount_is_tracking
+  - source: observing
+    dest: observing
+    trigger: observe
+    conditions: mount_is_tracking
+  - source: observing
+    dest: scheduling
+    trigger: schedule
diff --git a/conf_files/state_table/simple.yaml b/conf_files/state_table/simple.yaml
deleted file mode 100644
index 3f5ca0a4a..000000000
--- a/conf_files/state_table/simple.yaml
+++ /dev/null
@@ -1,60 +0,0 @@
----
-name: default
-initial: sleeping
-states:
-  parking:
-    tags: always_safe
-  parked:
-    tags: always_safe
-  sleeping:
-    tags: always_safe
-  housekeeping:
-    tags: always_safe
-  ready:
-    tags: always_safe
-  scheduling:
-    horizon: observe
-  slewing:
-  observing:
-transitions:
-  - source:
-      - ready
-      - scheduling
-      - slewing
-      - observing
-    dest: parking
-    trigger: park
-  - source: parking
-    dest: parked
-    trigger: set_park
-  - source: parked
-    dest: housekeeping
-    trigger: clean_up
-  - source: housekeeping
-    dest: sleeping
-    trigger: goto_sleep
-  - source: parked
-    dest: ready
-    trigger: get_ready
-    conditions: mount_is_initialized
-  - source: sleeping
-    dest: ready
-    trigger: get_ready
-    conditions: mount_is_initialized
-  - source: ready
-    dest: scheduling
-    trigger: schedule
-  - source: scheduling
-    dest: slewing
-    trigger: start_slewing
-  - source: slewing
-    dest: observing
-    trigger: observe
-    conditions: mount_is_tracking
-  - source: observing
-    dest: observing
-    trigger: observe
-    conditions: mount_is_tracking
-  - source: observing
-    dest: scheduling
-    trigger: schedule
diff --git a/src/panoptes/pocs/scheduler/__init__.py b/src/panoptes/pocs/scheduler/__init__.py
index f1bf17d88..07819889c 100644
--- a/src/panoptes/pocs/scheduler/__init__.py
+++ b/src/panoptes/pocs/scheduler/__init__.py
@@ -56,7 +56,7 @@ def create_scheduler_from_config(config=None, observer=None, iers_url=None, *arg
         observer = site_details.observer
 
     # Read the targets from the file
-    fields_file = Path(scheduler_config.get("fields_file", "simple.yaml"))
+    fields_file = Path(scheduler_config.get("fields_file", "panoptes.yaml"))
     base_dir = Path(str(get_config("directories.base", default=".")))
     fields_dir = Path(str(get_config("directories.fields", default="./conf_files/fields")))
     fields_path = base_dir / fields_dir / fields_file
diff --git a/tests/scheduler/test_dispatch_scheduler.py b/tests/scheduler/test_dispatch_scheduler.py
index d250d4789..801a96236 100644
--- a/tests/scheduler/test_dispatch_scheduler.py
+++ b/tests/scheduler/test_dispatch_scheduler.py
@@ -30,7 +30,7 @@ def field_file():
     scheduler_config = get_config("scheduler", default={})
 
     # Read the targets from the file
-    fields_file = scheduler_config.get("fields_file", "simple.yaml")
+    fields_file = scheduler_config.get("fields_file", "panoptes.yaml")
     fields_path = os.path.join(get_config("directories.fields"), fields_file)
 
     return fields_path