diff --git a/.claude/settings.local.json b/.claude/settings.local.json
deleted file mode 100644
index ffa799142..000000000
--- a/.claude/settings.local.json
+++ /dev/null
@@ -1,40 +0,0 @@
-{
-  "permissions": {
-    "allow": [
-      "Bash(find:*)",
-      "Bash(jj log:*)",
-      "Bash(jj status:*)",
-      "Bash(jj show:*)",
-      "Bash(jj file list:*)",
-      "Bash(ls:*)",
-      "Bash(git checkout:*)",
-      "Bash(git pull:*)",
-      "Bash(jj branch:*)",
-      "Bash(jj git fetch:*)",
-      "Bash(jj help:*)",
-      "Bash(jj bookmark:*)",
-      "Bash(jj describe:*)",
-      "Bash(jj rebase:*)",
-      "WebFetch(domain:localhost)",
-      "mcp__playwright__browser_navigate",
-      "mcp__playwright__browser_type",
-      "mcp__playwright__browser_click",
-      "mcp__playwright__browser_take_screenshot",
-      "mcp__playwright__browser_snapshot",
-      "mcp__playwright__browser_press_key",
-      "mcp__playwright__browser_close",
-      "Bash(pkill:*)",
-      "Bash(source:*)",
-      "Bash(python:*)",
-      "Bash(pip install:*)",
-      "Bash(timeout 10 python:*)",
-      "Bash(grep:*)",
-      "Bash(nox:*)",
-      "Bash(# Navigate to python dir and set up venv\nPYTHON_DIR=\"\"/Users/mike/dev/amateur_astro/myPiFinder/wt-radec/python\"\"\ncd \"\"$PYTHON_DIR\"\"\npython3.9 -m venv .venv\nsource .venv/bin/activate\npip install -r requirements.txt\npip install -r requirements_dev.txt)",
-      "Bash(PYTHON_DIR=\"/Users/mike/dev/amateur_astro/myPiFinder/wt-radec/python\")",
-      "Bash(pytest:*)",
-      "Bash(sed:*)",
-    ],
-    "deny": []
-  }
-}
diff --git a/.envrc b/.envrc
new file mode 100644
index 000000000..3550a30f2
--- /dev/null
+++ b/.envrc
@@ -0,0 +1 @@
+use flake
diff --git a/.github/workflows/bootstrap-tarball.yml b/.github/workflows/bootstrap-tarball.yml
new file mode 100644
index 000000000..e1bf59fd6
--- /dev/null
+++ b/.github/workflows/bootstrap-tarball.yml
@@ -0,0 +1,117 @@
+name: Build Bootstrap Tarball
+
+on:
+  push:
+    branches: [nixos]
+    paths:
+      - 'nixos/bootstrap.nix'
+      - 'flake.nix'
+      - '.github/workflows/bootstrap-tarball.yml'
+  workflow_dispatch:
+    inputs:
+      version:
+        description: "Version tag (e.g. 2.5.0)"
+        required: false
+        default: "2.5.0"
+        type: string
+
+jobs:
+  build-bootstrap:
+    runs-on: [self-hosted, aarch64]
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Set version
+        run: |
+          if [ -n "${{ inputs.version }}" ]; then
+            echo "VERSION=${{ inputs.version }}" >> "$GITHUB_ENV"
+          else
+            echo "VERSION=2.5.0" >> "$GITHUB_ENV"
+          fi
+
+      - name: Install Nix
+        uses: cachix/install-nix-action@v30
+        with:
+          extra_nix_config: |
+            experimental-features = nix-command flakes
+
+      - name: Setup Cachix
+        uses: cachix/cachix-action@v15
+        with:
+          name: pifinder
+          authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+
+      - name: Build bootstrap SD image
+        run: |
+          nix build .#images.bootstrap --print-out-paths > /tmp/image_path
+          echo "IMAGE_PATH=$(cat /tmp/image_path)" >> "$GITHUB_ENV"
+
+      - name: Extract boot and rootfs
+        run: |
+          # Clean up any leftover from previous runs
+          sudo rm -rf /tmp/tarball-staging /tmp/bootstrap.img /mnt/boot /mnt/root
+
+          # The SD image output is a directory containing sd-image/*.img.zst
+          IMAGE_FILE=$(find "$IMAGE_PATH" -type f \( -name "*.img" -o -name "*.img.zst" \) | head -1)
+          echo "Found image: $IMAGE_FILE"
+
+          if [[ "${IMAGE_FILE}" == *.zst ]]; then
+            zstd -d "${IMAGE_FILE}" -o /tmp/bootstrap.img
+          else
+            cp "${IMAGE_FILE}" /tmp/bootstrap.img
+          fi
+
+          LOOP=$(sudo losetup --find --show --partscan /tmp/bootstrap.img)
+          echo "LOOP=${LOOP}" >> "$GITHUB_ENV"
+
+          sudo mkdir -p /mnt/boot /mnt/root
+          sudo mount "${LOOP}p1" /mnt/boot
+          sudo mount "${LOOP}p2" /mnt/root
+
+          mkdir -p /tmp/tarball-staging
+          sudo cp -a /mnt/boot /tmp/tarball-staging/boot
+          sudo cp -a /mnt/root /tmp/tarball-staging/rootfs
+
+          sudo umount /mnt/boot /mnt/root
+          sudo losetup -d "${LOOP}"
+          rm -f /tmp/bootstrap.img
+
+      - name: Create bootstrap tarball
+        run: |
+          TARBALL="pifinder-bootstrap-v${VERSION}.tar.gz"
+
+          # Clean up any leftover files from previous runs
+          sudo rm -rf /tmp/tarball-staging/manifest.json "/tmp/${TARBALL}" "/tmp/${TARBALL}.sha256"
+
+          cat > /tmp/tarball-staging/manifest.json <<EOF
+          {
+            "version": "$VERSION",
+            "type": "bootstrap",
+            "created": "$(date -u +%Y-%m-%dT%H:%M:%SZ)",
+            "boot_label": "FIRMWARE",
+            "root_label": "NIXOS_SD"
+          }
+          EOF
+
+          # Use sudo for tar since rootfs contains root-owned files
+          sudo tar -C /tmp/tarball-staging -czf "/tmp/${TARBALL}" \
+            --exclude='*/lost+found' \
+            boot rootfs manifest.json
+          sudo chown $USER "/tmp/${TARBALL}"
+
+          echo "TARBALL=/tmp/${TARBALL}" >> "$GITHUB_ENV"
+          echo "TARBALL_NAME=${TARBALL}" >> "$GITHUB_ENV"
+
+          sha256sum "/tmp/${TARBALL}" | awk '{print $1}' > "/tmp/${TARBALL}.sha256"
+          echo "SHA256=$(cat /tmp/${TARBALL}.sha256)" >> "$GITHUB_ENV"
+
+          ls -lh "/tmp/${TARBALL}"
+
+      - name: Upload tarball artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: ${{ env.TARBALL_NAME }}
+          path: |
+            ${{ env.TARBALL }}
+            ${{ env.TARBALL }}.sha256
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
new file mode 100644
index 000000000..771a0d313
--- /dev/null
+++ b/.github/workflows/build.yml
@@ -0,0 +1,155 @@
+name: Build PiFinder NixOS
+
+on:
+  push:
+    branches: [main, nixos]
+  pull_request:
+    types: [labeled, synchronize, opened]
+  workflow_dispatch:
+
+concurrency:
+  group: build-${{ github.head_ref || github.ref_name }}
+  cancel-in-progress: true
+
+jobs:
+  # Try Pi5 native build first (fast)
+  build-native:
+    if: |
+      github.event_name == 'push' ||
+      github.event_name == 'workflow_dispatch' ||
+      contains(github.event.pull_request.labels.*.name, 'preview') ||
+      contains(github.event.pull_request.labels.*.name, 'testable')
+    runs-on: [self-hosted, aarch64]
+    timeout-minutes: 30
+    outputs:
+      success: ${{ steps.build.outcome == 'success' }}
+      store_path: ${{ steps.push.outputs.store_path }}
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: cachix/cachix-action@v15
+        with:
+          name: pifinder
+          authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+
+      - name: Build NixOS system closure
+        id: build
+        run: |
+          nix build .#nixosConfigurations.pifinder.config.system.build.toplevel \
+            -L --no-link
+
+      - name: Push to Cachix
+        id: push
+        run: |
+          STORE_PATH=$(nix build .#nixosConfigurations.pifinder.config.system.build.toplevel \
+            --json | jq -r '.[].outputs.out')
+          echo "$STORE_PATH" | cachix push pifinder
+          echo "store_path=$STORE_PATH" >> "$GITHUB_OUTPUT"
+
+  # Wait up to 15 min for native builder, then decide on fallback
+  native-wait:
+    if: |
+      github.event_name == 'push' ||
+      github.event_name == 'workflow_dispatch' ||
+      contains(github.event.pull_request.labels.*.name, 'preview') ||
+      contains(github.event.pull_request.labels.*.name, 'testable')
+    runs-on: ubuntu-latest
+    timeout-minutes: 20
+    outputs:
+      need_emulated: ${{ steps.wait.outputs.need_emulated }}
+    steps:
+      - name: Wait for native build
+        id: wait
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: |
+          for i in $(seq 1 30); do
+            sleep 30
+            RESULT=$(gh api "repos/${{ github.repository }}/actions/runs/${{ github.run_id }}/jobs" \
+              --jq '.jobs[] | select(.name == "build-native") | .conclusion // "pending"' 2>/dev/null || echo "pending")
+            echo "Check $i/30: build-native=$RESULT"
+            if [ "$RESULT" = "success" ]; then
+              echo "need_emulated=false" >> "$GITHUB_OUTPUT"
+              exit 0
+            elif [ "$RESULT" = "failure" ] || [ "$RESULT" = "cancelled" ]; then
+              echo "need_emulated=true" >> "$GITHUB_OUTPUT"
+              exit 0
+            fi
+          done
+          echo "Native build not done after 15 min, falling back to emulated"
+          echo "need_emulated=true" >> "$GITHUB_OUTPUT"
+
+  # Fallback to QEMU emulation if Pi5 unavailable or slow
+  build-emulated:
+    needs: native-wait
+    if: needs.native-wait.outputs.need_emulated == 'true'
+    runs-on: ubuntu-latest
+    timeout-minutes: 360
+    outputs:
+      store_path: ${{ steps.push.outputs.store_path }}
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: cachix/install-nix-action@v27
+        with:
+          extra_nix_config: |
+            extra-platforms = aarch64-linux
+            extra-system-features = big-parallel
+
+      - uses: cachix/cachix-action@v15
+        with:
+          name: pifinder
+          authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+
+      - name: Register QEMU binfmt for aarch64
+        run: sudo apt-get update && sudo apt-get install -y qemu-user-static
+
+      - name: Build NixOS system closure
+        run: |
+          nix build .#nixosConfigurations.pifinder.config.system.build.toplevel \
+            --system aarch64-linux \
+            -L --no-link
+
+      - name: Push to Cachix
+        id: push
+        run: |
+          STORE_PATH=$(nix build .#nixosConfigurations.pifinder.config.system.build.toplevel \
+            --system aarch64-linux \
+            --json | jq -r '.[].outputs.out')
+          echo "$STORE_PATH" | cachix push pifinder
+          echo "store_path=$STORE_PATH" >> "$GITHUB_OUTPUT"
+
+  # Commit pifinder-build.json with store path to the same branch
+  stamp-build:
+    needs: [build-native, build-emulated]
+    if: always() && (needs.build-native.result == 'success' || needs.build-emulated.result == 'success')
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          ref: ${{ github.head_ref || github.ref_name }}
+          token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Write pifinder-build.json
+        run: |
+          STORE_PATH="${{ needs.build-native.outputs.store_path || needs.build-emulated.outputs.store_path }}"
+          BRANCH="${{ github.head_ref || github.ref_name }}"
+          SHORT_SHA=$(git rev-parse --short HEAD)
+          PR_NUMBER="${{ github.event.pull_request.number }}"
+          if [ -n "$PR_NUMBER" ]; then
+            VERSION="PR#${PR_NUMBER}-${SHORT_SHA}"
+          else
+            VERSION="${BRANCH}-${SHORT_SHA}"
+          fi
+          jq -n --arg sp "$STORE_PATH" --arg v "$VERSION" \
+            '{store_path: $sp, version: $v}' > pifinder-build.json
+
+      - name: Commit pifinder-build.json
+        run: |
+          git config user.name "github-actions[bot]"
+          git config user.email "github-actions[bot]@users.noreply.github.com"
+          git add pifinder-build.json
+          git diff --staged --quiet || git commit -m "chore: stamp build [skip ci]"
+          git push
diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml
new file mode 100644
index 000000000..37e24bfbc
--- /dev/null
+++ b/.github/workflows/lint.yml
@@ -0,0 +1,56 @@
+name: Lint & Test
+on: [push, pull_request]
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - uses: DeterminateSystems/nix-installer-action@main
+        with:
+          determinate: false
+      - uses: DeterminateSystems/magic-nix-cache-action@main
+      - name: Lint
+        run: nix develop --command bash -c "cd python && ruff check"
+      - name: Format check
+        run: nix develop --command bash -c "cd python && ruff format --check"
+      - name: Check for removed config keys
+        if: github.event_name == 'pull_request'
+        run: |
+          BASE_SHA="${{ github.event.pull_request.base.sha }}"
+          git show "$BASE_SHA:default_config.json" 2>/dev/null \
+            | python3 -c "import json,sys; print('\n'.join(sorted(json.load(sys.stdin).keys())))" \
+            > /tmp/base_keys.txt || exit 0
+          python3 -c "import json,sys; print('\n'.join(sorted(json.load(sys.stdin).keys())))" \
+            < default_config.json > /tmp/head_keys.txt
+          REMOVED=$(comm -23 /tmp/base_keys.txt /tmp/head_keys.txt)
+          if [ -n "$REMOVED" ]; then
+            while IFS= read -r key; do
+              echo "::warning file=default_config.json::Config key '$key' was removed — this may break user preferences across release switches"
+            done <<< "$REMOVED"
+          fi
+
+  type-check:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: DeterminateSystems/nix-installer-action@main
+        with:
+          determinate: false
+      - uses: DeterminateSystems/magic-nix-cache-action@main
+      - name: Type check
+        run: nix develop --command bash -c "cd python && mypy --install-types --non-interactive ."
+
+  test:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: DeterminateSystems/nix-installer-action@main
+        with:
+          determinate: false
+      - uses: DeterminateSystems/magic-nix-cache-action@main
+      - name: Smoke tests
+        run: nix develop --command bash -c "cd python && pytest -m smoke"
+      - name: Unit tests
+        run: nix develop --command bash -c "cd python && pytest -m unit"
diff --git a/.github/workflows/nox.yml b/.github/workflows/nox.yml
deleted file mode 100644
index 1fd793bed..000000000
--- a/.github/workflows/nox.yml
+++ /dev/null
@@ -1,14 +0,0 @@
-name: nox
-on: [push, pull_request]
-jobs:
-  nox:
-    runs-on: ubuntu-latest
-    defaults:
-      run:
-        working-directory: ./python
-    steps:
-      - uses: actions/checkout@v4
-      - uses: wntrblm/nox@2024.04.15
-        with:
-          python-versions: "3.9"
-      - run: nox -s lint format type_hints smoke_tests unit_tests
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
new file mode 100644
index 000000000..213b8787e
--- /dev/null
+++ b/.github/workflows/release.yml
@@ -0,0 +1,112 @@
+name: Release
+
+on:
+  workflow_dispatch:
+    inputs:
+      version:
+        description: 'Version (e.g., 2.5.0)'
+        required: true
+      notes:
+        description: 'Release notes'
+        required: true
+      type:
+        description: 'Release type'
+        type: choice
+        options:
+          - stable
+          - beta
+        default: stable
+      source_branch:
+        description: 'Source branch (default: main, use release/X.Y for hotfixes)'
+        required: false
+        default: 'main'
+
+jobs:
+  release:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          ref: ${{ inputs.source_branch }}
+          token: ${{ secrets.GITHUB_TOKEN }}
+
+      - uses: cachix/install-nix-action@v27
+        with:
+          extra_nix_config: |
+            extra-platforms = aarch64-linux
+            extra-system-features = big-parallel
+
+      - uses: cachix/cachix-action@v15
+        with:
+          name: pifinder
+          authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+
+      - name: Register QEMU binfmt for aarch64
+        run: sudo apt-get update && sudo apt-get install -y qemu-user-static
+
+      - name: Build and push closure to Cachix
+        id: push
+        run: |
+          STORE_PATH=$(nix build .#nixosConfigurations.pifinder.config.system.build.toplevel \
+            --system aarch64-linux -L --json | jq -r '.[].outputs.out')
+          echo "$STORE_PATH" | cachix push pifinder
+          echo "store_path=$STORE_PATH" >> "$GITHUB_OUTPUT"
+
+      - name: Stamp pifinder-build.json and create tag
+        run: |
+          TAG="v${{ inputs.version }}"
+          [[ "${{ inputs.type }}" == "beta" ]] && TAG="${TAG}-beta"
+
+          STORE_PATH="${{ steps.push.outputs.store_path }}"
+          VERSION="${{ inputs.version }}"
+          jq -n --arg sp "$STORE_PATH" --arg v "$VERSION" \
+            '{store_path: $sp, version: $v}' > pifinder-build.json
+
+          git config user.name "github-actions[bot]"
+          git config user.email "github-actions[bot]@users.noreply.github.com"
+          git add pifinder-build.json
+          git diff --staged --quiet || git commit -m "release: stamp build for $TAG [skip ci]"
+          git push origin "${{ inputs.source_branch }}"
+
+          git tag "$TAG"
+          git push origin "$TAG"
+          echo "TAG=$TAG" >> $GITHUB_ENV
+
+      - name: Build SD image
+        run: |
+          nix build .#images.pifinder \
+            --system aarch64-linux \
+            -L -o result-sd
+          mkdir -p release
+          for f in result-sd/sd-image/*.img.zst; do
+            cp "$f" "release/pifinder-${TAG}.img.zst"
+          done
+
+      - name: Build bootstrap tarball
+        run: |
+          nix build .#images.bootstrap \
+            --system aarch64-linux \
+            -L -o result-bootstrap
+          for f in result-bootstrap/tarball/*.tar.zst; do
+            cp "$f" "release/pifinder-bootstrap-${TAG}.tar.zst"
+          done
+
+      - name: Upload build artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: pifinder-release-${{ env.TAG }}
+          path: release/pifinder-*.zst
+          retention-days: 90
+
+      - name: Create GitHub Release
+        uses: softprops/action-gh-release@v1
+        with:
+          tag_name: ${{ env.TAG }}
+          name: PiFinder ${{ env.TAG }}
+          body: ${{ inputs.notes }}
+          prerelease: ${{ inputs.type == 'beta' }}
+          files: |
+            release/pifinder-*.img.zst
+            release/pifinder-bootstrap-*.tar.zst
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 2a538aa17..317fee59c 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -1,15 +1,27 @@
-# See https://pre-commit.com for more information
-# See https://pre-commit.com/hooks.html for more hooks
 repos:
-  - repo: https://github.com/saltstack/mirrors-nox
-    rev: 'v2022.11.21'  # Use the sha / tag you want to point at
+  - repo: local
     hooks:
-      - id: nox
-        files: ^.*\.py$
-        args:
-          - -f
-          - python/noxfile.py
-          - -s
-          - type_hints
-          - smoke_tests
-          - --
+      - id: ruff-lint
+        name: ruff lint
+        entry: bash -c 'cd python && ruff check'
+        language: system
+        files: ^python/.*\.py$
+        pass_filenames: false
+      - id: ruff-format
+        name: ruff format check
+        entry: bash -c 'cd python && ruff format --check'
+        language: system
+        files: ^python/.*\.py$
+        pass_filenames: false
+      - id: mypy
+        name: mypy type check
+        entry: bash -c 'cd python && mypy .'
+        language: system
+        files: ^python/.*\.py$
+        pass_filenames: false
+      - id: smoke-tests
+        name: smoke tests
+        entry: bash -c 'cd python && pytest -m smoke'
+        language: system
+        files: ^python/.*\.py$
+        pass_filenames: false
diff --git a/CLAUDE.md b/CLAUDE.md
index bac5f63c2..298aa2859 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -118,3 +118,35 @@ Tests use pytest with custom markers for different test types. The smoke tests p
 - **I18n Support:** Babel integration for multi-language UI
 
 The codebase follows modern Python practices with type hints, comprehensive testing, and automated code quality checks integrated into the development workflow.
+
+## NixOS Development
+
+**CRITICAL: Never run `nix build` or `nix eval` on Pi 4 targets.** The Pi 4 lacks sufficient resources and will hang/crash. Always build on pi5.local (GitHub Actions runner), push to cachix, then trigger the upgrade service:
+```bash
+# Build on pi5
+ssh pi5.local 'nix build --no-link --print-out-paths github:mrosseel/PiFinder/nixos#nixosConfigurations.pifinder.config.system.build.toplevel'
+# Push to cachix (so Pi can download signed paths)
+ssh pi5.local 'cachix push pifinder <store-path>'
+# Trigger upgrade on target Pi (downloads from cachix, activates, reboots)
+ssh pifinder@<target-ip> 'echo "<store-path>" > /run/pifinder/upgrade-ref && sudo systemctl start --no-block pifinder-upgrade.service'
+# Monitor progress
+ssh pifinder@<target-ip> 'cat /run/pifinder/upgrade-status'
+```
+
+**Netboot deployment (dev Pi on proxnix NFS):**
+```bash
+./deploy-image-to-nfs.sh    # Build and deploy to NFS
+```
+
+**Power control (Shelly plug via Home Assistant):**
+```bash
+~/.local/bin/pifinder-power-off.sh   # Turn off PiFinder
+~/.local/bin/pifinder-power-on.sh    # Turn on PiFinder
+```
+
+**Check Pi status:**
+```bash
+ssh pifinder@192.168.5.146           # SSH to netboot Pi
+systemctl status pifinder            # Check service status
+journalctl -u pifinder -f            # Follow service logs
+```
diff --git a/NIXOS_STATUS.md b/NIXOS_STATUS.md
new file mode 100644
index 000000000..d56c759bc
--- /dev/null
+++ b/NIXOS_STATUS.md
@@ -0,0 +1,54 @@
+# NixOS Migration Status
+
+## What Works
+- **PWM LEDs** - Fixed with proper pinctrl overlay routing PWM0_1 to GPIO 13
+- **Boot splash** - Static red splash screen on OLED during boot
+- **PAM authentication** - Fixed /etc symlinks using /etc/static
+- **Netboot** - TFTP/NFS working with u-boot → extlinux chain
+- **CI/CD** - Pi5 native builds on self-hosted runner with ubuntu-latest fallback
+- **Cachix** - pifinder.cachix.org for binary cache
+
+## Recent Fixes (this session)
+1. PWM overlay: added pinctrl to route PWM signal to GPIO 13
+2. Boot splash: changed to static mode (no animation)
+3. PAM symlinks: use `/etc/static/pam.d` not direct closure paths
+4. CI workflow: use Pi5 `[self-hosted, aarch64]` runner, fallback to ubuntu-latest
+5. pifinder service: `Type=simple` instead of `Type=idle` (was causing ~2min delay)
+6. Deploy script: `rm -rf pam.d` before symlink (can't overwrite directory)
+
+## Commits Pushed (nixos branch)
+- `957b55e` - fix: PWM overlay pinctrl and boot splash improvements
+- `f00b041` - ci: use Pi5 native runner with ubuntu-latest fallback
+- `78c1eb9` - fix(ci): use correct flake output names
+- `721e59b` - fix: use /etc/static for symlinks in deploy script
+- `258a367` - fix: use Type=simple for pifinder service
+- `bf4d561` - fix: remove pam.d before symlink in deploy script
+
+## Known Issues / TODO
+1. ~~**WiFi kernel oops**~~ - CLOSED: Just a harmless FORTIFY_SOURCE warning in brcmfmac driver (struct flexible array declared as 1-byte field). WiFi hardware works fine. Using ethernet for netboot anyway.
+2. **Python startup slow** - 1m46s between systemd starting service and Python first log. Not systemd delay - it's Python import/NFS latency. Consider:
+   - Lazy imports
+   - Local caching of Python bytecode
+   - Profiling import time with `python -X importtime`
+3. **IP changes** - Pi getting different DHCP IPs (146, 150) - consider static IP
+4. **Samba** - Taking 10.7s at boot, do we need it?
+5. **firewall.service** - Taking 16s, could optimize or disable if not needed
+
+## Files Changed
+- `nixos/hardware.nix` - PWM overlay with pinctrl
+- `nixos/services.nix` - boot-splash static, pifinder Type=simple
+- `nixos/pkgs/boot-splash.c` - static mode, red color fix
+- `flake.nix` - initrd splash changes
+- `deploy-image-to-nfs.sh` - /etc/static symlinks, rm before ln
+- `.github/workflows/build.yml` - Pi5 runner, fallback, correct flake outputs
+
+## Deploy Command
+```bash
+./deploy-image-to-nfs.sh
+```
+
+## Test After Reboot
+```bash
+ssh pifinder@192.168.5.146 "systemd-analyze blame | head -10"
+ssh pifinder@192.168.5.146 "journalctl -u pifinder --no-pager | head -20"
+```
diff --git a/RELEASE.md b/RELEASE.md
new file mode 100644
index 000000000..10b3633c6
--- /dev/null
+++ b/RELEASE.md
@@ -0,0 +1,65 @@
+# PiFinder v2.4.0 Release Notes
+
+## Major New Features
+
+### Sky Quality Meter (SQM) - Experimental
+A new Sky Quality Meter feature measures sky brightness and displays the corresponding Bortle scale classification. This helps observers assess observing conditions at their location.
+- Real-time SQM measurement with Bortle class display
+- Calibration UI for accurate readings across different camera configurations
+- Camera profiles for IMX296 and other supported sensors
+- Rotating constellation/SQM display in title bar
+
+### Camera Auto Exposure
+Automatic exposure control using a PID-based algorithm that adapts to changing sky conditions.
+- Asymmetric tuning for responsive exposure adjustments
+- Exposure sweep functionality for calibration
+- SNR-based thresholds derived from camera profiles
+- Visual exposure overlay in preview mode
+
+### Cedar-Detect System Service
+Cedar-Detect now runs as a dedicated system service rather than a subprocess, improving stability and resource management. This change is transparent to users but provides better crash recovery and memory handling.
+
+## Improvements
+
+### GPS
+- **Configurable baud rate**: GPS baud rate can now be configured via the Advanced settings menu (#345)
+- **Reorganized GPS settings**: GPS options now grouped under Settings > Advanced > GPS Settings
+- **GPSD improvements**: Fixed lock_type handling for GPSD-based GPS messages (#358)
+- **Early dongle fix**: Fixed issue where some GPS dongles never reported sky data (#373)
+
+### Catalogs
+- **WDS catalog**: Improved loading speed with background loading for better UI responsiveness (#352, #355)
+- **Async search**: Search is now asynchronous for improved responsiveness
+- **Comet catalog**: Better refresh and download handling with non-blocking updates (#353)
+- **Bright stars**: Fixed off-by-one error in bright stars catalog
+
+### User Interface
+- **EQ mode**: Push-to now uses +/- buttons rather than arrows for clearer directional guidance
+- **Settings reorganization**: Advanced settings (PiFinder Type, Camera Type, GPS Settings) now grouped under an "Advanced" submenu
+- **Preview cleanup**: Removed background subtraction and gamma functions from preview
+- **Experimental menu**: Moved higher in menu structure for easier access
+
+## Bug Fixes
+
+- Fixed preview crash when marking menu items are missing
+- Fixed crash when screenshot title contains a slash
+- Fixed OSX logging levels by applying log config in each subprocess
+- Fixed various solver stability issues with improved error handling
+- Fixed typo in SkySafari documentation
+- Fixed typo in menu
+
+## Hardware & Documentation
+
+- Adjusted GPS antenna holder sizing
+- Improved case tolerances and new dovetail design
+- Updated shroud with tighter tolerance
+- Added instructions to build guide for testing LEDs and buttons
+- Clarified DIY vs Assembled parts in case documentation
+
+## Migration Notes
+
+This release includes a migration script (`migration_source/v2.4.0.sh`) that sets up the Cedar-Detect system service. The migration will run automatically during the update process.
+
+---
+
+**Full Changelog**: 40 commits from release to main
diff --git a/astro_data/pifinder_objects.db b/astro_data/pifinder_objects.db
index ac3c348a1..5e7eb9ac5 100644
Binary files a/astro_data/pifinder_objects.db and b/astro_data/pifinder_objects.db differ
diff --git a/bin/cedar-detect-server-aarch64 b/bin/cedar-detect-server-aarch64
deleted file mode 100755
index 7b44b89b7..000000000
Binary files a/bin/cedar-detect-server-aarch64 and /dev/null differ
diff --git a/bin/cedar-detect-server-arm64 b/bin/cedar-detect-server-arm64
deleted file mode 100755
index ea792437f..000000000
Binary files a/bin/cedar-detect-server-arm64 and /dev/null differ
diff --git a/case/v3/common/pi_mount.stl b/case/v3/common/pi_mount.stl
index 599f0b79d..c0b709da3 100644
Binary files a/case/v3/common/pi_mount.stl and b/case/v3/common/pi_mount.stl differ
diff --git a/default_config.json b/default_config.json
index aa10ca9f8..694ed8225 100644
--- a/default_config.json
+++ b/default_config.json
@@ -15,6 +15,11 @@
     "chart_dso": 128,
     "chart_reticle": 128,
     "chart_constellations": 64,
+    "obj_chart_crosshair": "pulse",
+    "obj_chart_crosshair_style": "simple",
+    "obj_chart_crosshair_speed": "2.0",
+    "obj_chart_lm_mode": "auto",
+    "obj_chart_lm_fixed": 14.0,
     "solve_pixel": [256, 256],
     "gps_type": "ublox",
     "gps_baud_rate": 9600,
@@ -175,5 +180,6 @@
         "active_telescope_index": 0,
         "active_eyepiece_index": 0
     },
-    "imu_threshold_scale": 1
+    "imu_threshold_scale": 1,
+    "software_unstable_unlocked": false
 }
diff --git a/deploy-image-to-nfs.sh b/deploy-image-to-nfs.sh
new file mode 100755
index 000000000..1aec63990
--- /dev/null
+++ b/deploy-image-to-nfs.sh
@@ -0,0 +1,383 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+# Deploy PiFinder NixOS netboot configuration to proxnix
+#
+# Builds the pifinder-netboot closure (NFS root baked in), copies the nix store
+# closure to NFS, and sets up TFTP with kernel/initrd/firmware for PXE boot.
+#
+# Boot sequence: Pi firmware → u-boot → extlinux/extlinux.conf (TFTP) → NFS root
+
+PROXNIX="mike@192.168.5.12"
+NFS_ROOT="/srv/nfs/pifinder"
+TFTP_ROOT="/srv/tftp"
+PI_IP="192.168.5.150"
+PI_MAC="e4-5f-01-b7-37-31"  # For PXE boot speedup
+
+# SSH options to prevent timeout during long transfers
+SSH_OPTS="-o ServerAliveInterval=30 -o ServerAliveCountMax=10"
+export RSYNC_RSH="ssh ${SSH_OPTS}"
+
+SSH_PUBKEY="ssh-ed25519 AAAAC3NzaC1lZDI1NTE5AAAAIGrPg9hSgxwg0EECxXSpYi7t3F/w/BgpymlD1uUDedRz mike@nixtop"
+
+# Password hash for "solveit"
+SHADOW_HASH='$6$upbQ1/Jfh7zDiIYW$jPVQdYJCZn/Pe/OIGx89DZm9trIhEJp7Q4LNZsq/5x9csj6U08.P2avebrQIDJCEyD0xipsV6C19Sr5iAbCuv1'
+
+# ── Helpers ──────────────────────────────────────────────────────────────────
+
+run_proxnix() {
+    ssh ${SSH_OPTS} "${PROXNIX}" "bash -euo pipefail -c \"$1\""
+}
+
+# ── Build netboot closure ────────────────────────────────────────────────────
+
+echo "=== Building pifinder-netboot closure ==="
+nix build .#nixosConfigurations.pifinder-netboot.config.system.build.toplevel \
+    -o result-netboot --system aarch64-linux
+
+CLOSURE=$(readlink -f result-netboot)
+echo "Closure: $CLOSURE"
+
+# Extract paths from closure
+KERNEL=$(readlink -f result-netboot/kernel)
+INITRD=$(readlink -f result-netboot/initrd)
+DTBS=$(readlink -f result-netboot/dtbs)
+INIT_PATH="${CLOSURE}/init"
+
+KERNEL_NAME=$(basename "$(dirname "$KERNEL")")-Image
+INITRD_NAME=$(basename "$(dirname "$INITRD")")-initrd
+
+echo "Kernel: $KERNEL"
+echo "Initrd: $INITRD"
+echo "DTBs:   $DTBS"
+echo "Init:   $INIT_PATH"
+
+# ── Stop TFTP — prevent Pi from netbooting during deploy ─────────────────────
+
+echo "Stopping TFTP server..."
+ssh "${PROXNIX}" "sudo systemctl stop atftpd.service"
+
+# ── Halt Pi if running — prevent NFS corruption ──────────────────────────────
+
+if ssh -o ConnectTimeout=3 -o BatchMode=yes "pifinder@${PI_IP}" "echo ok" 2>/dev/null; then
+    echo "Pi is running — halting..."
+    ssh "pifinder@${PI_IP}" "echo solveit | sudo -S poweroff" 2>/dev/null || true
+    echo "Waiting for Pi to go down..."
+    sleep 3
+    while ping -c1 -W1 "${PI_IP}" &>/dev/null; do sleep 1; done
+    echo "Pi is down"
+else
+    echo "Pi not reachable, proceeding"
+fi
+
+# ── Backup SSH host keys ─────────────────────────────────────────────────────
+
+echo "Backing up SSH host keys..."
+ssh "${PROXNIX}" "sudo cp -a ${NFS_ROOT}/etc/ssh/ssh_host_* /tmp/ 2>/dev/null || true"
+
+# ── Copy nix store closure to NFS ────────────────────────────────────────────
+
+echo "Copying nix store closure to NFS..."
+ssh "${PROXNIX}" "sudo mkdir -p ${NFS_ROOT}/nix/store"
+
+# Get list of store paths and stream via tar (fast, handles duplicates via overwrite)
+STORE_PATHS=$(nix path-info -r "$CLOSURE")
+TOTAL_PATHS=$(echo "$STORE_PATHS" | wc -l)
+echo "Streaming ${TOTAL_PATHS} store paths via tar..."
+
+# Rsync store paths with -R to preserve directory structure
+# shellcheck disable=SC2086
+rsync -avR --rsync-path="sudo rsync" $STORE_PATHS "${PROXNIX}:${NFS_ROOT}/"
+echo "Transfer complete"
+
+# ── Set up NFS root directory structure ──────────────────────────────────────
+
+echo "Setting up NFS root directory structure..."
+ssh "${PROXNIX}" "sudo bash -euo pipefail" << SETUP
+# Create standard directories (bin/usr are symlinks, not dirs)
+mkdir -p ${NFS_ROOT}/{etc/ssh,home/pifinder/.ssh,root/.ssh,var,tmp,proc,sys,dev,run,boot}
+chmod 1777 ${NFS_ROOT}/tmp
+
+# Symlinks from NixOS system (remove existing dirs/symlinks first)
+rm -rf ${NFS_ROOT}/bin ${NFS_ROOT}/usr
+ln -sfT ${CLOSURE}/sw/bin ${NFS_ROOT}/bin
+ln -sfT ${CLOSURE}/sw ${NFS_ROOT}/usr
+
+# /etc/static points to the NixOS etc derivation (required for PAM, etc.)
+ln -sfT ${CLOSURE}/etc ${NFS_ROOT}/etc/static
+
+# Critical /etc symlinks that NixOS activation would normally create
+rm -rf ${NFS_ROOT}/etc/pam.d 2>/dev/null || true
+ln -sfT /etc/static/pam.d ${NFS_ROOT}/etc/pam.d
+ln -sfT /etc/static/bashrc ${NFS_ROOT}/etc/bashrc
+# passwd/shadow/group are created as real files later (need to be writable for netboot)
+rm -f ${NFS_ROOT}/etc/passwd ${NFS_ROOT}/etc/shadow ${NFS_ROOT}/etc/group 2>/dev/null || true
+ln -sfT /etc/static/sudoers ${NFS_ROOT}/etc/sudoers 2>/dev/null || true
+ln -sfT /etc/static/sudoers.d ${NFS_ROOT}/etc/sudoers.d 2>/dev/null || true
+ln -sfT /etc/static/nsswitch.conf ${NFS_ROOT}/etc/nsswitch.conf 2>/dev/null || true
+ln -sfT /etc/static/systemd ${NFS_ROOT}/etc/systemd 2>/dev/null || true
+ln -sfT /etc/static/polkit-1 ${NFS_ROOT}/etc/polkit-1 2>/dev/null || true
+
+# Create nix profile symlinks
+mkdir -p ${NFS_ROOT}/nix/var/nix/profiles
+ln -sfT ${CLOSURE} ${NFS_ROOT}/nix/var/nix/profiles/system
+ln -sfT ${CLOSURE} ${NFS_ROOT}/run/current-system 2>/dev/null || true
+SETUP
+
+# ── Restore SSH host keys ────────────────────────────────────────────────────
+
+echo "Restoring/generating SSH host keys..."
+ssh "${PROXNIX}" "bash -euo pipefail -c '
+if ls /tmp/ssh_host_* >/dev/null 2>&1; then
+    sudo cp -a /tmp/ssh_host_* ${NFS_ROOT}/etc/ssh/
+    echo \"Restored existing host keys\"
+else
+    sudo ssh-keygen -A -f ${NFS_ROOT}
+    echo \"Generated new host keys\"
+fi
+'"
+
+# ── Link NixOS /etc files ────────────────────────────────────────────────────
+
+echo "Linking NixOS etc files..."
+ssh "${PROXNIX}" "sudo bash -euo pipefail -c '
+ln -sf /etc/static/ssh/sshd_config ${NFS_ROOT}/etc/ssh/sshd_config
+ln -sf /etc/static/ssh/ssh_config ${NFS_ROOT}/etc/ssh/ssh_config 2>/dev/null || true
+ln -sf /etc/static/ssh/moduli ${NFS_ROOT}/etc/ssh/moduli 2>/dev/null || true
+# pam.d already symlinked to /etc/static/pam.d in SETUP block
+'"
+
+# ── Static user files ────────────────────────────────────────────────────────
+
+echo "Creating static user files..."
+
+ssh "${PROXNIX}" "sudo tee ${NFS_ROOT}/etc/passwd > /dev/null" << 'PASSWD'
+root:x:0:0:System administrator:/root:/run/current-system/sw/bin/bash
+pifinder:x:1000:100::/home/pifinder:/run/current-system/sw/bin/bash
+nobody:x:65534:65534:Unprivileged account:/var/empty:/run/current-system/sw/bin/nologin
+sshd:x:993:993:SSH daemon user:/var/empty:/run/current-system/sw/bin/nologin
+avahi:x:994:994:Avahi daemon user:/var/empty:/run/current-system/sw/bin/nologin
+gpsd:x:992:992:GPSD daemon user:/var/empty:/run/current-system/sw/bin/nologin
+PASSWD
+
+ssh "${PROXNIX}" "sudo tee ${NFS_ROOT}/etc/group > /dev/null" << 'GROUP'
+root:x:0:
+wheel:x:1:pifinder
+users:x:100:pifinder
+kmem:x:9:pifinder
+input:x:174:pifinder
+nobody:x:65534:
+spi:x:996:pifinder
+i2c:x:997:pifinder
+gpio:x:998:pifinder
+dialout:x:995:pifinder
+video:x:994:pifinder
+networkmanager:x:993:pifinder
+sshd:x:993:
+avahi:x:994:
+gpsd:x:992:
+GROUP
+
+ssh "${PROXNIX}" "echo 'root:${SHADOW_HASH}:1::::::
+pifinder:${SHADOW_HASH}:1::::::
+nobody:!:1::::::
+sshd:!:1::::::
+avahi:!:1::::::
+gpsd:!:1::::::' | sudo tee ${NFS_ROOT}/etc/shadow > /dev/null"
+
+run_proxnix "sudo chmod 644 ${NFS_ROOT}/etc/passwd ${NFS_ROOT}/etc/group"
+run_proxnix "sudo chmod 640 ${NFS_ROOT}/etc/shadow"
+
+# ── SSH authorized_keys ──────────────────────────────────────────────────────
+
+echo "Setting up SSH authorized_keys..."
+ssh "${PROXNIX}" "echo '${SSH_PUBKEY}' | sudo tee ${NFS_ROOT}/home/pifinder/.ssh/authorized_keys > /dev/null"
+ssh "${PROXNIX}" "echo '${SSH_PUBKEY}' | sudo tee ${NFS_ROOT}/root/.ssh/authorized_keys > /dev/null"
+run_proxnix "sudo chown -R 1000:100 ${NFS_ROOT}/home/pifinder"
+run_proxnix "sudo chmod 700 ${NFS_ROOT}/home/pifinder/.ssh ${NFS_ROOT}/root/.ssh"
+run_proxnix "sudo chmod 600 ${NFS_ROOT}/home/pifinder/.ssh/authorized_keys ${NFS_ROOT}/root/.ssh/authorized_keys"
+
+# ── PiFinder symlink ─────────────────────────────────────────────────────────
+
+echo "Setting up PiFinder directory..."
+# Find pifinder-src from the current closure (not just any old one in the store)
+PFSRC_REL=$(nix path-info -r "$CLOSURE" | grep pifinder-src | head -1)
+echo "PiFinder source from closure: $PFSRC_REL"
+ssh "${PROXNIX}" "sudo bash -euo pipefail -c '
+PFSRC=\"${NFS_ROOT}${PFSRC_REL}\"
+if [ ! -d \"\$PFSRC\" ]; then
+    echo \"ERROR: pifinder-src not found: \$PFSRC\"
+    exit 1
+fi
+PFHOME=${NFS_ROOT}/home/pifinder/PiFinder
+
+echo \"PiFinder source: ${PFSRC_REL}\"
+
+[ -L \"\$PFHOME\" ] && rm \"\$PFHOME\"
+[ -d \"\$PFHOME\" ] && rm -rf \"\$PFHOME\"
+
+ln -sfT \"${PFSRC_REL}\" \"\$PFHOME\"
+
+mkdir -p ${NFS_ROOT}/home/pifinder/PiFinder_data
+chown 1000:100 ${NFS_ROOT}/home/pifinder/PiFinder_data
+'"
+
+# ── Copy firmware to TFTP (from raspberrypi firmware package) ────────────────
+
+echo "Copying firmware to TFTP..."
+FW_PKG=$(nix build nixpkgs#raspberrypifw --print-out-paths --system aarch64-linux 2>/dev/null)
+ssh "${PROXNIX}" "sudo mkdir -p ${TFTP_ROOT}"
+
+# Copy firmware files
+rsync -avz "${FW_PKG}/share/raspberrypi/boot/"*.{elf,dat,bin,dtb} "${PROXNIX}:/tmp/fw/"
+ssh "${PROXNIX}" "sudo cp /tmp/fw/* ${TFTP_ROOT}/ && rm -rf /tmp/fw"
+
+# Copy custom u-boot with network boot priority
+UBOOT=$(nix build .#packages.aarch64-linux.uboot-netboot --print-out-paths --system aarch64-linux 2>/dev/null)
+echo "Using custom u-boot: $UBOOT"
+rsync -avz "${UBOOT}/u-boot.bin" "${PROXNIX}:/tmp/u-boot-rpi4.bin"
+ssh "${PROXNIX}" "sudo mv /tmp/u-boot-rpi4.bin ${TFTP_ROOT}/"
+
+# ── Copy kernel, initrd, DTBs to TFTP ────────────────────────────────────────
+
+echo "Copying kernel/initrd/DTBs to TFTP..."
+ssh "${PROXNIX}" "sudo mkdir -p ${TFTP_ROOT}/nixos"
+rsync -avz "${KERNEL}" "${PROXNIX}:/tmp/${KERNEL_NAME}"
+rsync -avz "${INITRD}" "${PROXNIX}:/tmp/${INITRD_NAME}"
+ssh "${PROXNIX}" "sudo mv /tmp/${KERNEL_NAME} /tmp/${INITRD_NAME} ${TFTP_ROOT}/nixos/"
+
+# Copy NixOS-built DTBs (with camera overlay baked in) to dtbs/ subdirectory
+ssh "${PROXNIX}" "sudo mkdir -p ${TFTP_ROOT}/dtbs"
+rsync -avz "${DTBS}/broadcom/" "${PROXNIX}:/tmp/dtbs/"
+ssh "${PROXNIX}" "sudo cp /tmp/dtbs/*.dtb ${TFTP_ROOT}/dtbs/ && sudo rm -rf /tmp/dtbs"
+
+# Copy overlays from kernel package
+KERNEL_DIR=$(dirname "$KERNEL")
+rsync -avz "${KERNEL_DIR}/dtbs/overlays/" "${PROXNIX}:/tmp/overlays/"
+ssh "${PROXNIX}" "sudo rm -rf ${TFTP_ROOT}/overlays && sudo mv /tmp/overlays ${TFTP_ROOT}/"
+
+# ── Write config.txt for u-boot ──────────────────────────────────────────────
+
+echo "Writing config.txt..."
+ssh "${PROXNIX}" "sudo tee ${TFTP_ROOT}/config.txt > /dev/null" << CONFIG
+[pi4]
+kernel=u-boot-rpi4.bin
+enable_gic=1
+armstub=armstub8-gic.bin
+
+disable_overscan=1
+arm_boost=1
+
+[all]
+arm_64bit=1
+enable_uart=1
+avoid_warnings=1
+CONFIG
+
+# ── Generate extlinux/extlinux.conf ────────────────────────────────────────────
+
+echo "Generating extlinux/extlinux.conf..."
+ssh "${PROXNIX}" "sudo mkdir -p ${TFTP_ROOT}/extlinux && sudo tee ${TFTP_ROOT}/extlinux/extlinux.conf > /dev/null" << EXTLINUX
+TIMEOUT 10
+DEFAULT nixos-default
+
+LABEL nixos-default
+  MENU LABEL NixOS - Default
+  LINUX /nixos/${KERNEL_NAME}
+  INITRD /nixos/${INITRD_NAME}
+  FDTDIR /dtbs
+  APPEND init=${INIT_PATH} ip=dhcp console=ttyS0,115200n8 console=ttyAMA0,115200n8 console=tty0 loglevel=4
+EXTLINUX
+
+# ── Create pxelinux.cfg for faster MAC-based boot ─────────────────────────────
+
+echo "Creating pxelinux.cfg/01-${PI_MAC}..."
+ssh "${PROXNIX}" "sudo mkdir -p ${TFTP_ROOT}/pxelinux.cfg && sudo ln -sf ../extlinux/extlinux.conf ${TFTP_ROOT}/pxelinux.cfg/01-${PI_MAC}"
+
+# ── Clean up old artifacts ───────────────────────────────────────────────────
+
+echo "Cleaning up old artifacts..."
+ssh "${PROXNIX}" "sudo rm -f ${TFTP_ROOT}/cmdline.txt ${TFTP_ROOT}/nixos/patched-initrd 2>/dev/null || true"
+ssh "${PROXNIX}" "sudo rm -f /tmp/ssh_host_*"
+
+# ── Restart TFTP ─────────────────────────────────────────────────────────────
+
+echo "Restarting TFTP server..."
+ssh "${PROXNIX}" "sudo systemctl start atftpd.service"
+
+# ── Verification ─────────────────────────────────────────────────────────────
+
+echo ""
+echo "=========================================="
+echo "VERIFYING DEPLOYMENT CONSISTENCY"
+echo "=========================================="
+VERIFY_FAILED=0
+
+echo -n "Checking u-boot... "
+if ssh "${PROXNIX}" "test -f ${TFTP_ROOT}/u-boot-rpi4.bin"; then
+    echo "OK"
+else
+    echo "FAILED"
+    VERIFY_FAILED=1
+fi
+
+echo -n "Checking config.txt... "
+if ssh "${PROXNIX}" "grep -q 'kernel=u-boot-rpi4.bin' ${TFTP_ROOT}/config.txt"; then
+    echo "OK"
+else
+    echo "FAILED"
+    VERIFY_FAILED=1
+fi
+
+echo -n "Checking extlinux/extlinux.conf... "
+if ssh "${PROXNIX}" "test -f ${TFTP_ROOT}/extlinux/extlinux.conf"; then
+    echo "OK"
+else
+    echo "FAILED"
+    VERIFY_FAILED=1
+fi
+
+echo -n "Checking kernel... "
+if ssh "${PROXNIX}" "test -f ${TFTP_ROOT}/nixos/${KERNEL_NAME}"; then
+    echo "OK"
+else
+    echo "FAILED"
+    VERIFY_FAILED=1
+fi
+
+echo -n "Checking initrd... "
+if ssh "${PROXNIX}" "test -f ${TFTP_ROOT}/nixos/${INITRD_NAME}"; then
+    echo "OK"
+else
+    echo "FAILED"
+    VERIFY_FAILED=1
+fi
+
+echo -n "Checking NFS closure... "
+if ssh "${PROXNIX}" "test -f ${NFS_ROOT}${INIT_PATH}"; then
+    echo "OK"
+else
+    echo "FAILED"
+    VERIFY_FAILED=1
+fi
+
+echo -n "Checking PiFinder symlink... "
+PFSRC_TARGET=$(ssh "${PROXNIX}" "readlink ${NFS_ROOT}/home/pifinder/PiFinder 2>/dev/null || true")
+if [ -n "$PFSRC_TARGET" ] && ssh "${PROXNIX}" "test -d ${NFS_ROOT}${PFSRC_TARGET}/python"; then
+    echo "OK"
+else
+    echo "FAILED"
+    VERIFY_FAILED=1
+fi
+
+echo "=========================================="
+
+if [ $VERIFY_FAILED -eq 1 ]; then
+    echo "=== DEPLOY FAILED VERIFICATION — DO NOT BOOT ==="
+    exit 1
+fi
+
+echo "=== Deploy complete and verified ==="
+echo ""
+echo "Boot chain: Pi firmware → u-boot → extlinux/extlinux.conf → NFS root"
+echo "To boot the Pi: power cycle it"
diff --git a/docs/source/build_guide.rst b/docs/source/build_guide.rst
index 263416f89..a9b3d65c8 100644
--- a/docs/source/build_guide.rst
+++ b/docs/source/build_guide.rst
@@ -8,7 +8,6 @@ Introduction and Overview
 
 Welcome to the PiFinder build guide!  This guide is split into three main parts, one for building the :ref:`UI Board<build_guide:pifinder ui hat>` with Screen and Buttons, a section related to :ref:`3d printing<build_guide:printed parts>` and preparing the case parts, and one for :ref:`final assembly<build_guide:assembly>`.   Along with these sections, please consult the :doc:`Bill of Materials<BOM>` for a full list of parts required and reach out with any questions via `email <mailto:info@pifinder.io>`_ or `discord <https://discord.gg/Nk5fHcAtWD>`_
 
-If you've received a kit with an assembled UI Board + 3d Parts, you can jump right to the :ref:`final assembly<build_guide:assembly>`.  Otherwise, fire up that 3d printer and get the :ref:`parts printing<build_guide:printing>` while you work to assemble the UI Hat.
 
 PiFinder UI Hat
 ========================
diff --git a/flake.lock b/flake.lock
new file mode 100644
index 000000000..4d2ec76d4
--- /dev/null
+++ b/flake.lock
@@ -0,0 +1,43 @@
+{
+  "nodes": {
+    "nixos-hardware": {
+      "locked": {
+        "lastModified": 1770631810,
+        "narHash": "sha256-b7iK/x+zOXbjhRqa+XBlYla4zFvPZyU5Ln2HJkiSnzc=",
+        "owner": "NixOS",
+        "repo": "nixos-hardware",
+        "rev": "2889685785848de940375bf7fea5e7c5a3c8d502",
+        "type": "github"
+      },
+      "original": {
+        "owner": "NixOS",
+        "repo": "nixos-hardware",
+        "type": "github"
+      }
+    },
+    "nixpkgs": {
+      "locked": {
+        "lastModified": 1770617025,
+        "narHash": "sha256-1jZvgZoAagZZB6NwGRv2T2ezPy+X6EFDsJm+YSlsvEs=",
+        "owner": "NixOS",
+        "repo": "nixpkgs",
+        "rev": "2db38e08fdadcc0ce3232f7279bab59a15b94482",
+        "type": "github"
+      },
+      "original": {
+        "owner": "NixOS",
+        "ref": "nixos-25.11",
+        "repo": "nixpkgs",
+        "type": "github"
+      }
+    },
+    "root": {
+      "inputs": {
+        "nixos-hardware": "nixos-hardware",
+        "nixpkgs": "nixpkgs"
+      }
+    }
+  },
+  "root": "root",
+  "version": 7
+}
diff --git a/flake.nix b/flake.nix
new file mode 100644
index 000000000..2f39b6563
--- /dev/null
+++ b/flake.nix
@@ -0,0 +1,401 @@
+{
+  inputs = {
+    nixpkgs.url = "github:NixOS/nixpkgs/nixos-25.11";
+    nixos-hardware.url = "github:NixOS/nixos-hardware";
+  };
+
+  outputs = { self, nixpkgs, nixos-hardware, ... }: let
+    # Shared modules for all PiFinder configurations
+    commonModules = [
+      nixos-hardware.nixosModules.raspberry-pi-4
+      ./nixos/hardware.nix
+      ./nixos/networking.nix
+      ./nixos/services.nix
+      ./nixos/python-env.nix
+      # Pass git revision to pifinder-src for build identity
+      ({ ... }: {
+        _module.args.pifinderGitRev = self.shortRev or self.dirtyShortRev or "unknown";
+      })
+      # Headless — strip X11, fonts, docs, desktop bloat
+      ({ lib, ... }: {
+        services.xserver.enable = false;
+        security.polkit.enable = true;
+        fonts.fontconfig.enable = false;
+        documentation.enable = false;
+        documentation.man.enable = false;
+        documentation.nixos.enable = false;
+        xdg.portal.enable = false;
+        services.pipewire.enable = false;
+        services.pulseaudio.enable = false;
+        boot.initrd.availableKernelModules = lib.mkForce [ "mmc_block" "usbhid" "usb_storage" "vc4" ];
+      })
+    ];
+
+    mkPifinderSystem = { includeSDImage ? false }: nixpkgs.lib.nixosSystem {
+      system = "aarch64-linux";
+      modules = commonModules ++ [
+        { pifinder.devMode = false; }
+        # Camera specialisations — base is imx462 (default), specialisations for others
+        ({ ... }: {
+          specialisation = {
+            imx296.configuration = { pifinder.cameraType = "imx296"; };
+            imx477.configuration = { pifinder.cameraType = "imx477"; };
+          };
+        })
+        ({ lib, ... }: {
+          boot.supportedFilesystems = lib.mkForce [ "vfat" "ext4" ];
+          boot.loader.timeout = 0;
+        })
+      ] ++ nixpkgs.lib.optionals includeSDImage [
+        "${nixpkgs}/nixos/modules/installer/sd-card/sd-image-aarch64.nix"
+        ({ config, pkgs, lib, ... }:
+        let
+          ubootSD = pkgs.ubootRaspberryPi4_64bit.override {
+            extraConfig = ''
+              CONFIG_CMD_PXE=y
+              CONFIG_CMD_SYSBOOT=y
+              CONFIG_BOOTDELAY=0
+              CONFIG_PREBOOT=""
+              CONFIG_BOOTCOMMAND="sysboot mmc 0:2 any 0x02400000 /boot/extlinux/extlinux.conf"
+              CONFIG_PCI=n
+              CONFIG_USB=n
+              CONFIG_CMD_USB=n
+              CONFIG_CMD_PCI=n
+              CONFIG_USB_KEYBOARD=n
+              CONFIG_BCMGENET=n
+            '';
+          };
+          configTxt = pkgs.writeText "config.txt" ''
+            [pi3]
+            kernel=u-boot-rpi3.bin
+
+            [pi02]
+            kernel=u-boot-rpi3.bin
+
+            [pi4]
+            kernel=u-boot-rpi4.bin
+            enable_gic=1
+            armstub=armstub8-gic.bin
+
+            disable_overscan=1
+            arm_boost=1
+
+            [cm4]
+            otg_mode=1
+
+            [all]
+            arm_64bit=1
+            enable_uart=1
+            avoid_warnings=1
+          '';
+          catalog-images = pkgs.stdenv.mkDerivation {
+            pname = "pifinder-catalog-images";
+            version = "1.0";
+            src = pkgs.fetchurl {
+              url = "https://files.miker.be/public/pifinder/catalog_images.tar.zst";
+              hash = "sha256-20YOmO2qy2W27nIFV4Aqibu0MLip4gymHrfe411+VNg=";
+            };
+            nativeBuildInputs = [ pkgs.zstd ];
+            unpackPhase = "tar xf $src";
+            installPhase = "mv catalog_images $out";
+          };
+          gaia-stars = pkgs.stdenv.mkDerivation {
+            pname = "pifinder-gaia-stars";
+            version = "1.0";
+            src = pkgs.fetchurl {
+              url = "https://files.miker.be/public/pifinder/gaia_stars.tar.zst";
+              hash = "sha256-vmsOz7U0X4bnMZrcKjiwIk0YYy/AqRV2+fzaH7qO8wo=";
+            };
+            nativeBuildInputs = [ pkgs.zstd ];
+            unpackPhase = "tar xf $src";
+            installPhase = "mv gaia_stars $out";
+          };
+        in {
+          sdImage.populateRootCommands = ''
+            mkdir -p ./files/home/pifinder/PiFinder_data
+            cp -r ${catalog-images} ./files/home/pifinder/PiFinder_data/catalog_images
+            chmod -R u+w ./files/home/pifinder/PiFinder_data/catalog_images
+            cp -r ${gaia-stars} ./files/home/pifinder/PiFinder_data/gaia_stars
+            chmod -R u+w ./files/home/pifinder/PiFinder_data/gaia_stars
+          '';
+          sdImage.populateFirmwareCommands = lib.mkForce ''
+            (cd ${pkgs.raspberrypifw}/share/raspberrypi/boot && cp bootcode.bin fixup*.dat start*.elf $NIX_BUILD_TOP/firmware/)
+
+            cp ${configTxt} firmware/config.txt
+
+            # Pi3 files
+            cp ${pkgs.ubootRaspberryPi3_64bit}/u-boot.bin firmware/u-boot-rpi3.bin
+            cp ${pkgs.raspberrypifw}/share/raspberrypi/boot/bcm2710-rpi-2-b.dtb firmware/
+            cp ${pkgs.raspberrypifw}/share/raspberrypi/boot/bcm2710-rpi-3-b.dtb firmware/
+            cp ${pkgs.raspberrypifw}/share/raspberrypi/boot/bcm2710-rpi-3-b-plus.dtb firmware/
+            cp ${pkgs.raspberrypifw}/share/raspberrypi/boot/bcm2710-rpi-cm3.dtb firmware/
+            cp ${pkgs.raspberrypifw}/share/raspberrypi/boot/bcm2710-rpi-zero-2.dtb firmware/
+            cp ${pkgs.raspberrypifw}/share/raspberrypi/boot/bcm2710-rpi-zero-2-w.dtb firmware/
+
+            # Pi4 files
+            cp ${ubootSD}/u-boot.bin firmware/u-boot-rpi4.bin
+            cp ${pkgs.raspberrypi-armstubs}/armstub8-gic.bin firmware/armstub8-gic.bin
+            cp ${pkgs.raspberrypifw}/share/raspberrypi/boot/bcm2711-rpi-4-b.dtb firmware/
+            cp ${pkgs.raspberrypifw}/share/raspberrypi/boot/bcm2711-rpi-400.dtb firmware/
+            cp ${pkgs.raspberrypifw}/share/raspberrypi/boot/bcm2711-rpi-cm4.dtb firmware/
+            cp ${pkgs.raspberrypifw}/share/raspberrypi/boot/bcm2711-rpi-cm4s.dtb firmware/
+          '';
+        })
+      ] ++ nixpkgs.lib.optionals (!includeSDImage) [
+        # Minimal filesystem stub for closure builds (CI)
+        ({ lib, ... }: {
+          fileSystems."/" = {
+            device = "/dev/disk/by-label/NIXOS_SD";
+            fsType = "ext4";
+          };
+          fileSystems."/boot/firmware" = {
+            device = "/dev/disk/by-label/FIRMWARE";
+            fsType = "vfat";
+          };
+        })
+      ];
+    };
+
+    # Netboot configuration — NFS root, DHCP network in initrd
+    mkPifinderNetboot = nixpkgs.lib.nixosSystem {
+      system = "aarch64-linux";
+      modules = commonModules ++ [
+        { pifinder.devMode = true; }
+        { pifinder.cameraType = nixpkgs.lib.mkDefault "imx477"; }  # HQ camera for netboot dev
+        # Camera specialisations for netboot (base is imx477)
+        ({ ... }: {
+          specialisation = {
+            imx296.configuration = { pifinder.cameraType = "imx296"; };
+            imx462.configuration = { pifinder.cameraType = "imx462"; };
+          };
+        })
+        ({ lib, pkgs, ... }:
+        let
+          boot-splash = import ./nixos/pkgs/boot-splash.nix { inherit pkgs; };
+        in {
+          # Static passwd/group — NFS can't run activation scripts
+          users.mutableUsers = false;
+          # DNS for netboot (udhcpc doesn't configure resolvconf properly)
+          networking.nameservers = [ "192.168.5.1" "8.8.8.8" ];
+          boot.supportedFilesystems = lib.mkForce [ "vfat" "ext4" "nfs" ];
+          boot.initrd.supportedFilesystems = [ "nfs" ];
+          # Add SPI kernel module for early OLED splash
+          boot.initrd.kernelModules = [ "spi_bcm2835" ];
+          # Override the minimal module list from commonModules — add network drivers
+          # Note: genet (RPi4 ethernet) is built into the kernel, not a module
+          boot.initrd.availableKernelModules = lib.mkForce [
+            "mmc_block" "usbhid" "usb_storage" "vc4"
+          ];
+          # Add boot-splash to initrd
+          boot.initrd.extraUtilsCommands = ''
+            copy_bin_and_libs ${boot-splash}/bin/boot-splash
+          '';
+          # Disable predictable interface names so eth0 works
+          boot.kernelParams = [ "net.ifnames=0" "biosdevname=0" ];
+          boot.initrd.network = {
+            enable = true;
+          };
+          # Show static splash, then configure network
+          boot.initrd.postDeviceCommands = ''
+            # Create device nodes for SPI OLED
+            mkdir -p /dev
+            mknod -m 666 /dev/spidev0.0 c 153 0 2>/dev/null || true
+            mknod -m 666 /dev/gpiochip0 c 254 0 2>/dev/null || true
+
+            # Show static splash image (--static flag = display once and exit)
+            boot-splash --static || true
+            # Wait for interface to appear (up to 30 seconds)
+            echo "Waiting for eth0..."
+            for i in $(seq 1 60); do
+              if ip link show eth0 >/dev/null 2>&1; then
+                echo "eth0 found after $i attempts"
+                break
+              fi
+              sleep 0.5
+            done
+
+            ip link set eth0 up
+
+            # Wait for link carrier (cable connected)
+            echo "Waiting for link carrier..."
+            for i in $(seq 1 20); do
+              if [ "$(cat /sys/class/net/eth0/carrier 2>/dev/null)" = "1" ]; then
+                echo "Link up after $i attempts"
+                break
+              fi
+              sleep 0.5
+            done
+
+            # DHCP with retries
+            echo "Starting DHCP..."
+            for attempt in 1 2 3; do
+              if udhcpc -i eth0 -t 5 -T 3 -n -q -s /etc/udhcpc.script; then
+                echo "DHCP succeeded on attempt $attempt"
+                break
+              fi
+              echo "DHCP attempt $attempt failed, retrying..."
+              sleep 2
+            done
+
+            # Verify we got an IP
+            if ip addr show eth0 | grep -q "inet "; then
+              echo "Network configured:"
+              ip addr show eth0
+            else
+              echo "WARNING: No IP address on eth0!"
+              ip addr show eth0
+            fi
+          '';
+          # NFS root filesystem - NFSv4 with disabled caching for Nix compatibility
+          fileSystems."/" = {
+            device = "192.168.5.12:/srv/nfs/pifinder";
+            fsType = "nfs";
+            options = [ "vers=4" "noac" "actimeo=0" ];
+          };
+          # Dummy /boot — not used for netboot but NixOS requires it
+          fileSystems."/boot" = {
+            device = "none";
+            fsType = "tmpfs";
+            neededForBoot = false;
+          };
+        })
+      ];
+    };
+    # Custom u-boot variants
+    pkgsAarch64 = import nixpkgs { system = "aarch64-linux"; };
+    # SD boot: skip PCI/USB/net probe, go straight to mmc extlinux
+    ubootSD = pkgsAarch64.ubootRaspberryPi4_64bit.override {
+      extraConfig = ''
+        CONFIG_CMD_PXE=y
+        CONFIG_CMD_SYSBOOT=y
+        CONFIG_BOOTDELAY=0
+        CONFIG_PREBOOT=""
+        CONFIG_BOOTCOMMAND="sysboot mmc 0:2 any 0x02400000 /boot/extlinux/extlinux.conf"
+        CONFIG_PCI=n
+        CONFIG_USB=n
+        CONFIG_CMD_USB=n
+        CONFIG_CMD_PCI=n
+        CONFIG_USB_KEYBOARD=n
+        CONFIG_BCMGENET=n
+      '';
+    };
+    # Netboot: PCI + DHCP + PXE
+    ubootNetboot = pkgsAarch64.ubootRaspberryPi4_64bit.override {
+      extraConfig = ''
+        CONFIG_BOOTCOMMAND="pci enum; dhcp; pxe get; pxe boot"
+      '';
+    };
+
+  in {
+    nixosConfigurations = {
+      # SD card boot — camera baked into DT, switched via specialisations
+      pifinder = mkPifinderSystem {};
+      # NFS netboot — for development on proxnix
+      pifinder-netboot = mkPifinderNetboot;
+    };
+    images = {
+      # SD card image
+      pifinder = (mkPifinderSystem { includeSDImage = true; }).config.system.build.sdImage;
+      # Migration bootstrap tarball
+      bootstrap = let
+        system = mkPifinderSystem {};
+        toplevel = system.config.system.build.toplevel;
+        pkgs = import nixpkgs { system = "aarch64-linux"; };
+        closure = pkgs.closureInfo { rootPaths = [ toplevel ]; };
+        kernelParams = builtins.concatStringsSep " " system.config.boot.kernelParams;
+        configTxt = pkgs.writeText "config.txt" ''
+          [pi3]
+          kernel=u-boot-rpi3.bin
+
+          [pi02]
+          kernel=u-boot-rpi3.bin
+
+          [pi4]
+          kernel=u-boot-rpi4.bin
+          enable_gic=1
+          armstub=armstub8-gic.bin
+
+          disable_overscan=1
+          arm_boost=1
+
+          [cm4]
+          otg_mode=1
+
+          [all]
+          arm_64bit=1
+          enable_uart=1
+          avoid_warnings=1
+        '';
+        fw = "${pkgs.raspberrypifw}/share/raspberrypi/boot";
+      in pkgs.stdenv.mkDerivation {
+        name = "pifinder-bootstrap-tarball";
+        __structuredAttrs = true;
+        unsafeDiscardReferences.out = true;
+        nativeBuildInputs = [ pkgs.zstd ];
+        buildCommand = ''
+          root=$(mktemp -d)
+
+          # Copy store closure into isolated root (avoids sandbox nix symlink)
+          mkdir -p "$root/nix/store"
+          while IFS= read -r path; do
+            cp -a "$path" "$root$path"
+          done < ${closure}/store-paths
+
+          # Nix DB registration for nix-store --load-db
+          cp ${closure}/registration "$root/nix-path-registration"
+
+          # System profile symlink
+          mkdir -p "$root/nix/var/nix/profiles"
+          ln -s ${toplevel} "$root/nix/var/nix/profiles/system"
+
+          # Boot firmware (migration init moves these to FAT32 partition)
+          mkdir -p "$root/boot"
+          cp ${fw}/bootcode.bin "$root/boot/"
+          cp ${fw}/fixup4.dat "$root/boot/"
+          cp ${fw}/start4.elf "$root/boot/"
+          cp ${pkgs.raspberrypi-armstubs}/armstub8-gic.bin "$root/boot/"
+          cp ${ubootSD}/u-boot.bin "$root/boot/u-boot-rpi4.bin"
+          cp ${pkgs.ubootRaspberryPi3_64bit}/u-boot.bin "$root/boot/u-boot-rpi3.bin"
+          cp ${configTxt} "$root/boot/config.txt"
+
+          # Device trees
+          cp ${fw}/bcm2711-rpi-4-b.dtb "$root/boot/"
+          cp ${fw}/bcm2711-rpi-400.dtb "$root/boot/"
+          cp ${fw}/bcm2711-rpi-cm4.dtb "$root/boot/"
+          cp ${fw}/bcm2710-rpi-3-b.dtb "$root/boot/"
+          cp ${fw}/bcm2710-rpi-3-b-plus.dtb "$root/boot/"
+          cp ${fw}/bcm2710-rpi-zero-2.dtb "$root/boot/"
+          cp ${fw}/bcm2710-rpi-zero-2-w.dtb "$root/boot/"
+
+          # Bootloader config
+          mkdir -p "$root/boot/extlinux"
+          cat > "$root/boot/extlinux/extlinux.conf" <<EXTLINUX
+          DEFAULT nixos
+          LABEL nixos
+            LINUX ${toplevel}/kernel
+            INITRD ${toplevel}/initrd
+            APPEND init=${toplevel}/init ${kernelParams}
+          EXTLINUX
+
+          # Create tarball
+          mkdir -p $out/tarball $out/nix-support
+          (cd "$root" && tar --sort=name --mtime='@1' --owner=0 --group=0 --numeric-owner -c * \
+            | zstd -T0 -8 > $out/tarball/pifinder-bootstrap.tar.zst)
+          echo "file system-tarball $out/tarball/pifinder-bootstrap.tar.zst" > $out/nix-support/hydra-build-products
+        '';
+      };
+    };
+    packages.aarch64-linux = {
+      uboot-sd = ubootSD;
+      uboot-netboot = ubootNetboot;
+    };
+
+    devShells.x86_64-linux.default = let
+      pkgs = import nixpkgs { system = "x86_64-linux"; };
+      pyPkgs = import ./nixos/pkgs/python-packages.nix { inherit pkgs; };
+      cedar-detect = import ./nixos/pkgs/cedar-detect.nix { inherit pkgs; };
+    in pkgs.mkShell {
+      packages = [ pyPkgs.devEnv pkgs.ruff cedar-detect ];
+    };
+  };
+}
diff --git a/nixos/hardware.nix b/nixos/hardware.nix
new file mode 100644
index 000000000..128dac681
--- /dev/null
+++ b/nixos/hardware.nix
@@ -0,0 +1,130 @@
+{ config, lib, pkgs, ... }:
+let
+  cfg = config.pifinder;
+
+  # Camera driver name mapping
+  cameraDriver = {
+    imx296 = "imx296";
+    imx462 = "imx290";  # imx462 uses imx290 driver
+    imx477 = "imx477";
+  }.${cfg.cameraType};
+
+  # Compile DTS text to DTBO
+  compileOverlay = name: dtsText: pkgs.deviceTree.compileDTS {
+    name = "${name}-dtbo";
+    dtsFile = pkgs.writeText "${name}.dts" dtsText;
+  };
+
+  # SPI0 — no nixos-hardware option, use custom overlay
+  spi0Dtbo = compileOverlay "spi0" ''
+    /dts-v1/;
+    /plugin/;
+    / { compatible = "brcm,bcm2711"; };
+    &spi0 { status = "okay"; };
+  '';
+
+  # UART3 for GPS on /dev/ttyAMA1
+  uart3Dtbo = compileOverlay "uart3" ''
+    /dts-v1/;
+    /plugin/;
+    / { compatible = "brcm,bcm2711"; };
+    &uart3 { status = "okay"; };
+  '';
+
+  # I2C1 (ARM bus) — nixos-hardware overlay is bypassed by our mkForce DTB package
+  i2c1Dtbo = compileOverlay "i2c1" ''
+    /dts-v1/;
+    /plugin/;
+    / { compatible = "brcm,bcm2711"; };
+    &i2c1 {
+      status = "okay";
+      clock-frequency = <${toString cfg.i2cFrequency}>;
+    };
+  '';
+
+  # PWM on GPIO 13 (PWM channel 1) for keypad backlight
+  # GPIO 13 = PWM0_1 when ALT0 (function 4)
+  pwmDtbo = compileOverlay "pwm" ''
+    /dts-v1/;
+    /plugin/;
+    / { compatible = "brcm,bcm2711"; };
+    &gpio {
+      pwm_pin13: pwm_pin13 {
+        brcm,pins = <13>;
+        brcm,function = <4>;  /* ALT0 = PWM0_1 */
+      };
+    };
+    &pwm {
+      status = "okay";
+      pinctrl-names = "default";
+      pinctrl-0 = <&pwm_pin13>;
+    };
+  '';
+
+  # Camera overlay from kernel's DTB overlays directory
+  cameraDtbo = "${config.boot.kernelPackages.kernel}/dtbs/overlays/${cameraDriver}.dtbo";
+in {
+  options.pifinder = {
+    cameraType = lib.mkOption {
+      type = lib.types.enum [ "imx296" "imx462" "imx477" ];
+      default = "imx462";
+      description = "Camera sensor type for PiFinder";
+    };
+    i2cFrequency = lib.mkOption {
+      type = lib.types.int;
+      default = 10000;
+      description = "I2C1 bus clock frequency in Hz (10 kHz for BNO055 IMU)";
+    };
+  };
+
+  config = {
+    # Only include RPi 4B device tree (not CM4 variants)
+    hardware.deviceTree.filter = "*rpi-4-b.dtb";
+    # Explicit DTB name so extlinux uses FDT instead of FDTDIR
+    # (DTBs are in broadcom/ subdirectory, FDTDIR doesn't descend into it)
+    hardware.deviceTree.name = "broadcom/bcm2711-rpi-4-b.dtb";
+
+    # I2C enabled (loads i2c-dev module, creates i2c group)
+    hardware.i2c.enable = true;
+
+    # Apply all DT overlays via fdtoverlay, bypassing NixOS apply_overlays.py
+    # which rejects RPi camera overlays due to compatible string mismatch
+    # (overlays declare "brcm,bcm2835" but kernel DTBs use "brcm,bcm2711")
+    hardware.deviceTree.package = let
+      kernelDtbs = config.hardware.deviceTree.dtbSource;
+    in lib.mkForce (pkgs.runCommand "device-tree-with-overlays" {
+      nativeBuildInputs = [ pkgs.dtc ];
+    } ''
+      mkdir -p $out/broadcom
+      for dtb in ${kernelDtbs}/broadcom/*rpi-4-b.dtb; do
+        fdtoverlay -i "$dtb" \
+          -o "$out/broadcom/$(basename $dtb)" \
+          ${i2c1Dtbo} ${spi0Dtbo} ${uart3Dtbo} ${pwmDtbo} ${cameraDtbo}
+      done
+    '');
+
+    # udev rules for hardware access without root
+    services.udev.extraRules = ''
+      SUBSYSTEM=="spidev", GROUP="spi", MODE="0660"
+      SUBSYSTEM=="i2c-dev", GROUP="i2c", MODE="0660"
+      SUBSYSTEM=="pwm", GROUP="gpio", MODE="0660"
+      SUBSYSTEM=="gpio", GROUP="gpio", MODE="0660"
+      KERNEL=="gpiomem", GROUP="gpio", MODE="0660"
+      KERNEL=="ttyAMA1", GROUP="dialout", MODE="0660"
+      # DMA heap for libcamera/picamera2 (CMA memory allocation)
+      SUBSYSTEM=="dma_heap", GROUP="video", MODE="0660"
+    '';
+
+    users.users.root.initialPassword = "solveit";
+    users.users.pifinder = {
+      isNormalUser = true;
+      initialPassword = "solveit";
+      extraGroups = [ "spi" "i2c" "gpio" "dialout" "video" "networkmanager" "systemd-journal" "input" "kmem" ];
+    };
+    users.groups = {
+      spi = {};
+      i2c = {};
+      gpio = {};
+    };
+  };
+}
diff --git a/nixos/networking.nix b/nixos/networking.nix
new file mode 100644
index 000000000..8c2af0a55
--- /dev/null
+++ b/nixos/networking.nix
@@ -0,0 +1,85 @@
+{ config, lib, pkgs, ... }:
+{
+  networking = {
+    hostName = "pifinder";
+    networkmanager.enable = true;
+    wireless.enable = false; # NetworkManager handles WiFi
+    firewall = {
+      checkReversePath = "loose";   # Allow multi-interface (WiFi + ethernet) on same subnet
+      allowedUDPPorts = [ 53 67 ];  # DNS + DHCP for AP mode
+      allowedTCPPorts = [ 80 ];     # PiFinder web UI (other ports via service openFirewall)
+    };
+  };
+
+  # dnsmasq for NetworkManager AP shared mode (DHCP for AP clients)
+  services.dnsmasq.enable = false;  # NM manages its own dnsmasq instance
+  environment.systemPackages = [ pkgs.dnsmasq ];
+
+  # Wired ethernet with DHCP (autoconnect)
+  environment.etc."NetworkManager/system-connections/Wired.nmconnection" = {
+    text = ''
+      [connection]
+      id=Wired
+      type=ethernet
+      autoconnect=true
+
+      [ipv4]
+      method=auto
+
+      [ipv6]
+      method=auto
+    '';
+    mode = "0600";
+  };
+
+  # Policy routing: when ethernet and WiFi are on the same subnet, the kernel
+  # sends all replies via ethernet (lower metric), breaking TCP on the WiFi IP.
+  # This dispatcher adds a policy route so WiFi-sourced replies go out WiFi.
+  environment.etc."NetworkManager/dispatcher.d/50-policy-route" = {
+    text = ''
+      #!/bin/sh
+      [ "$1" = "wlan0" ] || [ "$1" = "end0" ] || exit 0
+      case "$2" in up|down|dhcp4-change) ;; *) exit 0 ;; esac
+
+      ip rule del from all table 100 2>/dev/null || true
+      ip route flush table 100 2>/dev/null || true
+
+      WLAN_CIDR=$(ip -4 -o addr show wlan0 2>/dev/null | awk '{print $4}')
+      [ -z "$WLAN_CIDR" ] && exit 0
+      WLAN_IP=''${WLAN_CIDR%%/*}
+      WLAN_GW=$(ip route show dev wlan0 default 2>/dev/null | awk '{print $3}' | head -1)
+      [ -z "$WLAN_IP" ] || [ -z "$WLAN_GW" ] && exit 0
+      WLAN_NET=$(python3 -c "import ipaddress; print(ipaddress.ip_interface('$WLAN_CIDR').network)")
+
+      ip route add "$WLAN_NET" dev wlan0 src "$WLAN_IP" table 100
+      ip route add default via "$WLAN_GW" dev wlan0 table 100
+      ip rule add from "$WLAN_IP" table 100 priority 100
+    '';
+    mode = "0755";
+  };
+
+  # Pre-configured AP profile (activated on demand via nmcli)
+  environment.etc."NetworkManager/system-connections/PiFinder-AP.nmconnection" = {
+    text = ''
+      [connection]
+      id=PiFinder-AP
+      type=wifi
+      autoconnect=true
+      autoconnect-priority=-1
+
+      [wifi]
+      mode=ap
+      ssid=PiFinderAP
+      band=bg
+      channel=7
+
+      [ipv4]
+      method=shared
+      address1=10.10.10.1/24
+
+      [ipv6]
+      method=disabled
+    '';
+    mode = "0600";
+  };
+}
diff --git a/nixos/pkgs/boot-splash.c b/nixos/pkgs/boot-splash.c
new file mode 100644
index 000000000..74881a855
--- /dev/null
+++ b/nixos/pkgs/boot-splash.c
@@ -0,0 +1,276 @@
+/*
+ * boot-splash - Early boot splash for PiFinder
+ *
+ * Displays welcome image with Knight Rider animation until stopped.
+ * Designed for NixOS early boot (before Python starts).
+ *
+ * Hardware: SPI0.0, DC=GPIO24, RST=GPIO25, 128x128 SSD1351 OLED
+ */
+
+#include <fcntl.h>
+#include <linux/gpio.h>
+#include <linux/spi/spidev.h>
+#include <signal.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/ioctl.h>
+#include <sys/stat.h>
+#include <time.h>
+#include <unistd.h>
+
+#define WIDTH 128
+#define HEIGHT 128
+#define SPI_DEVICE "/dev/spidev0.0"
+#define SPI_SPEED 40000000
+#define GPIO_DC 24
+#define GPIO_RST 25
+
+/* RGB565 colors (display interprets as RGB despite BGR setting) */
+#define COL_BLACK   0x0000
+#define COL_RED     0xF800
+
+/* Include generated image data */
+#include "welcome_image.h"
+
+static int spi_fd = -1;
+static int gpio_fd = -1;
+static struct gpio_v2_line_request dc_req;
+static struct gpio_v2_line_request rst_req;
+static uint16_t framebuf[WIDTH * HEIGHT];
+static volatile int running = 1;
+
+static void signal_handler(int sig) {
+    (void)sig;
+    running = 0;
+}
+
+static void msleep(int ms) {
+    struct timespec ts = { .tv_sec = ms / 1000, .tv_nsec = (ms % 1000) * 1000000L };
+    nanosleep(&ts, NULL);
+}
+
+static int gpio_request_line(int chip_fd, int pin, struct gpio_v2_line_request *req) {
+    struct gpio_v2_line_request r = {0};
+    r.offsets[0] = pin;
+    r.num_lines = 1;
+    r.config.flags = GPIO_V2_LINE_FLAG_OUTPUT;
+    snprintf(r.consumer, sizeof(r.consumer), "boot-splash");
+
+    if (ioctl(chip_fd, GPIO_V2_GET_LINE_IOCTL, &r) < 0) {
+        perror("GPIO_V2_GET_LINE_IOCTL");
+        return -1;
+    }
+    *req = r;
+    return 0;
+}
+
+static void gpio_set(struct gpio_v2_line_request *req, int value) {
+    struct gpio_v2_line_values vals = {0};
+    vals.bits = value ? 1 : 0;
+    vals.mask = 1;
+    ioctl(req->fd, GPIO_V2_LINE_SET_VALUES_IOCTL, &vals);
+}
+
+static void spi_write(const uint8_t *data, size_t len) {
+    const size_t chunk_size = 4096;
+    while (len > 0) {
+        size_t this_len = len > chunk_size ? chunk_size : len;
+        struct spi_ioc_transfer tr = {0};
+        tr.tx_buf = (unsigned long)data;
+        tr.len = this_len;
+        tr.speed_hz = SPI_SPEED;
+        tr.bits_per_word = 8;
+        ioctl(spi_fd, SPI_IOC_MESSAGE(1), &tr);
+        data += this_len;
+        len -= this_len;
+    }
+}
+
+static void ssd1351_cmd(uint8_t cmd) {
+    gpio_set(&dc_req, 0);
+    spi_write(&cmd, 1);
+}
+
+static void ssd1351_data(const uint8_t *data, size_t len) {
+    gpio_set(&dc_req, 1);
+    spi_write(data, len);
+}
+
+static void ssd1351_init(void) {
+    uint8_t d;
+
+    /* Hardware reset */
+    gpio_set(&rst_req, 1);
+    msleep(10);
+    gpio_set(&rst_req, 0);
+    msleep(10);
+    gpio_set(&rst_req, 1);
+    msleep(10);
+
+    ssd1351_cmd(0xFD); d = 0x12; ssd1351_data(&d, 1); /* Unlock */
+    ssd1351_cmd(0xFD); d = 0xB1; ssd1351_data(&d, 1); /* Unlock commands */
+    ssd1351_cmd(0xAE); /* Display off */
+    ssd1351_cmd(0xB3); d = 0xF1; ssd1351_data(&d, 1); /* Clock divider */
+    ssd1351_cmd(0xCA); d = 0x7F; ssd1351_data(&d, 1); /* Mux ratio */
+
+    uint8_t col[2] = {0x00, 0x7F};
+    ssd1351_cmd(0x15); ssd1351_data(col, 2); /* Column address */
+    uint8_t row[2] = {0x00, 0x7F};
+    ssd1351_cmd(0x75); ssd1351_data(row, 2); /* Row address */
+
+    ssd1351_cmd(0xA0); d = 0x74; ssd1351_data(&d, 1); /* BGR, 65k color */
+    ssd1351_cmd(0xA1); d = 0x00; ssd1351_data(&d, 1); /* Start line */
+    ssd1351_cmd(0xA2); d = 0x00; ssd1351_data(&d, 1); /* Display offset */
+    ssd1351_cmd(0xB5); d = 0x00; ssd1351_data(&d, 1); /* GPIO */
+    ssd1351_cmd(0xAB); d = 0x01; ssd1351_data(&d, 1); /* Function select */
+    ssd1351_cmd(0xB1); d = 0x32; ssd1351_data(&d, 1); /* Precharge */
+
+    uint8_t vsl[3] = {0xA0, 0xB5, 0x55};
+    ssd1351_cmd(0xB4); ssd1351_data(vsl, 3); /* VSL */
+
+    ssd1351_cmd(0xBE); d = 0x05; ssd1351_data(&d, 1); /* VCOMH */
+    ssd1351_cmd(0xC7); d = 0x0F; ssd1351_data(&d, 1); /* Master contrast */
+    ssd1351_cmd(0xB6); d = 0x01; ssd1351_data(&d, 1); /* Precharge2 */
+    ssd1351_cmd(0xA6); /* Normal display */
+
+    uint8_t contrast[3] = {0xFF, 0xFF, 0xFF};
+    ssd1351_cmd(0xC1); ssd1351_data(contrast, 3); /* Contrast */
+}
+
+static void ssd1351_flush(void) {
+    uint8_t col[2] = {0x00, 0x7F};
+    ssd1351_cmd(0x15); ssd1351_data(col, 2);
+    uint8_t row[2] = {0x00, 0x7F};
+    ssd1351_cmd(0x75); ssd1351_data(row, 2);
+    ssd1351_cmd(0x5C); /* Write RAM */
+
+    uint8_t buf[WIDTH * HEIGHT * 2];
+    for (int i = 0; i < WIDTH * HEIGHT; i++) {
+        buf[i * 2] = framebuf[i] >> 8;
+        buf[i * 2 + 1] = framebuf[i] & 0xFF;
+    }
+    ssd1351_data(buf, sizeof(buf));
+}
+
+static void draw_scanner(int pos, int scanner_width) {
+    /* Copy welcome image to framebuffer */
+    memcpy(framebuf, welcome_image, sizeof(framebuf));
+
+    /* Draw Knight Rider scanner at bottom (last 4 rows) */
+    int y_start = HEIGHT - 4;
+    int center = pos;
+
+    for (int x = 0; x < WIDTH; x++) {
+        int dist = abs(x - center);
+        uint16_t color = COL_BLACK;
+
+        if (dist < scanner_width) {
+            /* Gradient: brighter at center */
+            int intensity = 31 - (dist * 31 / scanner_width);
+            if (intensity < 8) intensity = 8;  /* Minimum brightness */
+            /* RGB565: RRRRRGGGGGGBBBBB - red is high 5 bits */
+            color = ((uint16_t)intensity & 0x1F) << 11;
+        }
+
+        for (int y = y_start; y < HEIGHT; y++) {
+            framebuf[y * WIDTH + x] = color;
+        }
+    }
+
+    ssd1351_flush();
+}
+
+static int hw_init(void) {
+    spi_fd = open(SPI_DEVICE, O_RDWR);
+    if (spi_fd < 0) {
+        perror("open spi");
+        return -1;
+    }
+
+    uint8_t mode = SPI_MODE_0;
+    uint8_t bits = 8;
+    uint32_t speed = SPI_SPEED;
+    ioctl(spi_fd, SPI_IOC_WR_MODE, &mode);
+    ioctl(spi_fd, SPI_IOC_WR_BITS_PER_WORD, &bits);
+    ioctl(spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
+
+    gpio_fd = open("/dev/gpiochip0", O_RDWR);
+    if (gpio_fd < 0) {
+        perror("open gpiochip0");
+        return -1;
+    }
+
+    if (gpio_request_line(gpio_fd, GPIO_DC, &dc_req) < 0)
+        return -1;
+    if (gpio_request_line(gpio_fd, GPIO_RST, &rst_req) < 0)
+        return -1;
+
+    ssd1351_init();
+    return 0;
+}
+
+static void hw_cleanup(void) {
+    if (dc_req.fd > 0) close(dc_req.fd);
+    if (rst_req.fd > 0) close(rst_req.fd);
+    if (gpio_fd >= 0) close(gpio_fd);
+    if (spi_fd >= 0) close(spi_fd);
+}
+
+static void show_static_image(void) {
+    memcpy(framebuf, welcome_image, sizeof(framebuf));
+    ssd1351_flush();
+}
+
+int main(int argc, char *argv[]) {
+    int static_mode = 0;
+
+    for (int i = 1; i < argc; i++) {
+        if (strcmp(argv[i], "--static") == 0) {
+            static_mode = 1;
+        }
+    }
+
+    signal(SIGTERM, signal_handler);
+    signal(SIGINT, signal_handler);
+
+    if (hw_init() < 0) {
+        fprintf(stderr, "Hardware init failed\n");
+        hw_cleanup();
+        return 1;
+    }
+
+    /* Turn on display */
+    ssd1351_cmd(0xAF);
+
+    if (static_mode) {
+        /* Static mode: show image once and exit */
+        show_static_image();
+        hw_cleanup();
+        return 0;
+    }
+
+    /* Animation mode: Knight Rider scanner */
+    int pos = 0;
+    int dir = 1;
+    int scanner_width = 20;
+
+    while (running) {
+        draw_scanner(pos, scanner_width);
+
+        pos += dir * 4;  /* Speed */
+        if (pos >= WIDTH - scanner_width/2) {
+            pos = WIDTH - scanner_width/2;
+            dir = -1;
+        } else if (pos <= scanner_width/2) {
+            pos = scanner_width/2;
+            dir = 1;
+        }
+
+        msleep(30);  /* ~33 FPS */
+    }
+
+    hw_cleanup();
+    return 0;
+}
diff --git a/nixos/pkgs/boot-splash.nix b/nixos/pkgs/boot-splash.nix
new file mode 100644
index 000000000..9dfad935e
--- /dev/null
+++ b/nixos/pkgs/boot-splash.nix
@@ -0,0 +1,24 @@
+{ pkgs }:
+
+pkgs.stdenv.mkDerivation {
+  pname = "boot-splash";
+  version = "0.1.0";
+
+  src = ./.;
+
+  buildInputs = [ pkgs.linuxHeaders ];
+
+  buildPhase = ''
+    $CC -O2 -Wall -o boot-splash boot-splash.c
+  '';
+
+  installPhase = ''
+    mkdir -p $out/bin
+    cp boot-splash $out/bin/
+  '';
+
+  meta = {
+    description = "Early boot splash for PiFinder OLED display";
+    platforms = [ "aarch64-linux" ];
+  };
+}
diff --git a/nixos/pkgs/cedar-detect-Cargo.lock b/nixos/pkgs/cedar-detect-Cargo.lock
new file mode 100644
index 000000000..e5bb4b5eb
--- /dev/null
+++ b/nixos/pkgs/cedar-detect-Cargo.lock
@@ -0,0 +1,2633 @@
+# This file is automatically @generated by Cargo.
+# It is not intended for manual editing.
+version = 4
+
+[[package]]
+name = "ab_glyph"
+version = "0.2.32"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "01c0457472c38ea5bd1c3b5ada5e368271cb550be7a4ca4a0b4634e9913f6cc2"
+dependencies = [
+ "ab_glyph_rasterizer",
+ "owned_ttf_parser",
+]
+
+[[package]]
+name = "ab_glyph_rasterizer"
+version = "0.1.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "366ffbaa4442f4684d91e2cd7c5ea7c4ed8add41959a31447066e279e432b618"
+
+[[package]]
+name = "adler2"
+version = "2.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "320119579fcad9c21884f5c4861d16174d0e06250625266f50fe6898340abefa"
+
+[[package]]
+name = "aho-corasick"
+version = "1.1.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ddd31a130427c27518df266943a5308ed92d4b226cc639f5a8f1002816174301"
+dependencies = [
+ "memchr",
+]
+
+[[package]]
+name = "aligned"
+version = "0.4.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ee4508988c62edf04abd8d92897fca0c2995d907ce1dfeaf369dac3716a40685"
+dependencies = [
+ "as-slice",
+]
+
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dc890384c8602f339876ded803c97ad529f3842aba97f6392b3dba0dd171769b"
+dependencies = [
+ "equator",
+]
+
+[[package]]
+name = "anstream"
+version = "0.6.21"
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+checksum = "43d5b281e737544384e969a5ccad3f1cdd24b48086a0fc1b2a5262a26b8f4f4a"
+dependencies = [
+ "anstyle",
+ "anstyle-parse",
+ "anstyle-query",
+ "anstyle-wincon",
+ "colorchoice",
+ "is_terminal_polyfill",
+ "utf8parse",
+]
+
+[[package]]
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+
+[[package]]
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+ "utf8parse",
+]
+
+[[package]]
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+checksum = "40c48f72fd53cd289104fc64099abca73db4166ad86ea0b4341abe65af83dadc"
+dependencies = [
+ "windows-sys 0.61.2",
+]
+
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "291e6a250ff86cd4a820112fb8898808a366d8f9f58ce16d1f538353ad55747d"
+dependencies = [
+ "anstyle",
+ "once_cell_polyfill",
+ "windows-sys 0.61.2",
+]
+
+[[package]]
+name = "anyhow"
+version = "1.0.101"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5f0e0fee31ef5ed1ba1316088939cea399010ed7731dba877ed44aeb407a75ea"
+
+[[package]]
+name = "approx"
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+checksum = "cab112f0a86d568ea0e627cc1d6be74a1e9cd55214684db5561995f6dad897c6"
+dependencies = [
+ "num-traits",
+]
+
+[[package]]
+name = "arbitrary"
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+
+[[package]]
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+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "arrayvec"
+version = "0.7.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7c02d123df017efcdfbd739ef81735b36c5ba83ec3c59c80a9d7ecc718f92e50"
+
+[[package]]
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+checksum = "516b6b4f0e40d50dcda9365d53964ec74560ad4284da2e7fc97122cd83174516"
+dependencies = [
+ "stable_deref_trait",
+]
+
+[[package]]
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+version = "0.8.39"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "db6d35d663eadb6c932438e763b262fe1a70987f9ae936e60158176d710cae4a"
+dependencies = [
+ "zerocopy-derive",
+]
+
+[[package]]
+name = "zerocopy-derive"
+version = "0.8.39"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4122cd3169e94605190e77839c9a40d40ed048d305bfdc146e7df40ab0f3e517"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "zmij"
+version = "1.0.20"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4de98dfa5d5b7fef4ee834d0073d560c9ca7b6c46a71d058c48db7960f8cfaf7"
+
+[[package]]
+name = "zune-core"
+version = "0.4.12"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3f423a2c17029964870cfaabb1f13dfab7d092a62a29a89264f4d36990ca414a"
+
+[[package]]
+name = "zune-core"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cb8a0807f7c01457d0379ba880ba6322660448ddebc890ce29bb64da71fb40f9"
+
+[[package]]
+name = "zune-inflate"
+version = "0.2.54"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "73ab332fe2f6680068f3582b16a24f90ad7096d5d39b974d1c0aff0125116f02"
+dependencies = [
+ "simd-adler32",
+]
+
+[[package]]
+name = "zune-jpeg"
+version = "0.4.21"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "29ce2c8a9384ad323cf564b67da86e21d3cfdff87908bc1223ed5c99bc792713"
+dependencies = [
+ "zune-core 0.4.12",
+]
+
+[[package]]
+name = "zune-jpeg"
+version = "0.5.12"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "410e9ecef634c709e3831c2cfdb8d9c32164fae1c67496d5b68fff728eec37fe"
+dependencies = [
+ "zune-core 0.5.1",
+]
diff --git a/nixos/pkgs/cedar-detect.nix b/nixos/pkgs/cedar-detect.nix
new file mode 100644
index 000000000..da84d849d
--- /dev/null
+++ b/nixos/pkgs/cedar-detect.nix
@@ -0,0 +1,27 @@
+{ pkgs }:
+pkgs.rustPlatform.buildRustPackage rec {
+  pname = "cedar-detect-server";
+  version = "0.5.0-unstable-2026-02-11";
+
+  src = pkgs.fetchFromGitHub {
+    owner = "smroid";
+    repo = "cedar-detect";
+    rev = "da6be9d318976a1a0853ecdf6dd6cefe41615352";
+    hash = "sha256-SqWJ35cBOSCu8w5nK2lcdlMWK/bHINatzjr/p+MH3/o=";
+  };
+
+  cargoLock.lockFile = ./cedar-detect-Cargo.lock;
+
+  postPatch = ''
+    ln -s ${./cedar-detect-Cargo.lock} Cargo.lock
+  '';
+
+  nativeBuildInputs = [ pkgs.protobuf ];
+
+  cargoBuildFlags = [ "--bin" "cedar-detect-server" ];
+
+  meta = {
+    description = "Cedar Detect star detection gRPC server";
+    homepage = "https://github.com/smroid/cedar-detect";
+  };
+}
diff --git a/nixos/pkgs/pifinder-src.nix b/nixos/pkgs/pifinder-src.nix
new file mode 100644
index 000000000..e680425da
--- /dev/null
+++ b/nixos/pkgs/pifinder-src.nix
@@ -0,0 +1,71 @@
+{ pkgs, python ? pkgs.python313, gitRev ? "unknown" }:
+let
+  tetra3-src = pkgs.fetchFromGitHub {
+    owner = "smroid";
+    repo = "cedar-solve";
+    rev = "cded265ca1c41e4e526f91e06d3c7ef99bc37288";
+    hash = "sha256-eJtBuBmsElEojXLYfYy3gQ/s2+8qjyvOYAqROe4sNO0=";
+  };
+
+  # Hipparcos star catalog for starfield plotting
+  hip_main = pkgs.fetchurl {
+    url = "https://cdsarc.cds.unistra.fr/ftp/cats/I/239/hip_main.dat";
+    sha256 = "1q0n6sa55z92bad8gy6r9axkd802798nxkipjh6iciyn0jqspkjq";
+  };
+
+  # Stable astro data — catalogs, star patterns, ephemeris (~193MB, rarely changes)
+  astro-data = pkgs.stdenv.mkDerivation {
+    pname = "pifinder-astro-data";
+    version = "1.0";
+    src = ../../astro_data;
+    phases = [ "installPhase" ];
+    installPhase = ''
+      mkdir -p $out
+      cp -r $src/* $out/
+      cp ${hip_main} $out/hip_main.dat
+    '';
+  };
+
+in
+pkgs.stdenv.mkDerivation {
+  pname = "pifinder-src";
+  version = "0.0.1";
+  src = ../..;
+
+  nativeBuildInputs = [ python ];
+  phases = [ "installPhase" ];
+
+  installPhase = ''
+    mkdir -p $out
+
+    # Copy everything except build artifacts and non-runtime directories
+    cp -r --no-preserve=mode $src/* $out/ || true
+
+    # Remove directories not needed at runtime
+    rm -rf $out/.git $out/.github $out/nixos $out/result* $out/.venv
+    rm -rf $out/case $out/docs $out/gerbers $out/kicad
+    rm -rf $out/migration_source $out/pi_config_files $out/scripts
+    rm -rf $out/bin
+
+    # Strip doc photos from images/ but keep welcome.png (used at runtime)
+    find $out/images -type f ! -name 'welcome.png' -delete
+
+    # Replace astro_data with symlink to stable derivation
+    rm -rf $out/astro_data
+    ln -s ${astro-data} $out/astro_data
+
+    # tetra3/cedar-solve is a git submodule — Nix doesn't include submodule
+    # contents, so we fetch it separately and graft it into the source tree.
+    rm -rf $out/python/PiFinder/tetra3
+    cp -r ${tetra3-src} $out/python/PiFinder/tetra3
+
+    # Generate build identity from git metadata (overwrites committed CI version)
+    cat > $out/pifinder-build.json <<EOF
+    {"version": "nix-${gitRev}", "store_path": ""}
+    EOF
+
+    # Pre-compile .pyc bytecode so Python skips compilation at runtime
+    chmod -R u+w $out/python
+    python3 -m compileall -q $out/python
+  '';
+}
diff --git a/nixos/pkgs/python-packages.nix b/nixos/pkgs/python-packages.nix
new file mode 100644
index 000000000..9bb336e98
--- /dev/null
+++ b/nixos/pkgs/python-packages.nix
@@ -0,0 +1,528 @@
+{ pkgs, lib ? pkgs.lib }:
+let
+  python = pkgs.python313;
+
+  pifinderPython = python.override {
+    packageOverrides = self: super: {
+      # --- Pure Python, trivial packages ---
+
+      sh = self.buildPythonPackage rec {
+        pname = "sh";
+        version = "1.14.3";
+        pyproject = true;
+        build-system = [ self.setuptools ];
+        src = self.fetchPypi {
+          inherit pname version;
+          hash = "sha256-5ARbbHMtnOddVxx59awiNO3Zrk9fqdWbCXBQgr3KGMc=";
+        };
+        doCheck = false;
+      };
+
+      gpsdclient = self.buildPythonPackage rec {
+        pname = "gpsdclient";
+        version = "1.3.2";
+        pyproject = true;
+        build-system = [ self.poetry-core ];
+        src = self.fetchPypi {
+          inherit pname version;
+          hash = "sha256-cKSWVQqXR9/14OULPJWm4dyrnYQoYJl+lRIHZ+IGCno=";
+        };
+        doCheck = false;
+      };
+
+      dataclasses-json = self.buildPythonPackage rec {
+        pname = "dataclasses-json";
+        version = "0.6.7";
+        format = "pyproject";
+        src = pkgs.fetchurl {
+          url = "https://files.pythonhosted.org/packages/64/a4/f71d9cf3a5ac257c993b5ca3f93df5f7fb395c725e7f1e6479d2514173c3/dataclasses_json-0.6.7.tar.gz";
+          hash = "sha256-trPlKCZupFuVNSI7xTymRfUgiDPCkinoR7PyahzFX8A=";
+        };
+        nativeBuildInputs = [ self.poetry-core ];
+        propagatedBuildInputs = [
+          self.marshmallow
+          self.typing-inspect
+        ];
+        postPatch = ''
+          substituteInPlace pyproject.toml \
+            --replace-fail 'requires = ["poetry-core>=1.2.0", "poetry-dynamic-versioning"]' 'requires = ["poetry-core>=1.2.0"]' \
+            --replace-fail 'build-backend = "poetry_dynamic_versioning.backend"' 'build-backend = "poetry.core.masonry.api"'
+        '';
+        doCheck = false;
+      };
+
+      pydeepskylog = self.buildPythonPackage rec {
+        pname = "pydeepskylog";
+        version = "1.6";
+        pyproject = true;
+        build-system = [ self.setuptools ];
+        src = self.fetchPypi {
+          inherit pname version;
+          hash = "sha256-3erm0ASBfPtQ1cngzsqkZUrnKoLNIBu8U1D6iA4ePmE=";
+        };
+        propagatedBuildInputs = [ self.requests ];
+        doCheck = false;
+      };
+
+      python-pam = self.buildPythonPackage rec {
+        pname = "python-pam";
+        version = "2.0.2";
+        format = "pyproject";
+        src = self.fetchPypi {
+          inherit pname version;
+          hash = "sha256-lyNSNbqbgtuugGjRCZUIRVlJsnX3cnPKIv29ix+12VA=";
+        };
+        nativeBuildInputs = [ self.setuptools self.six ];
+        postPatch = ''
+          substituteInPlace src/pam/__internals.py \
+            --replace-fail 'find_library("pam")' '"${pkgs.pam}/lib/libpam.so"' \
+            --replace-fail 'find_library("pam_misc")' '"${pkgs.pam}/lib/libpam_misc.so"'
+        '';
+        doCheck = false;
+      };
+
+      # --- Display stack: luma.core -> luma.oled, luma.lcd ---
+
+      luma-core = self.buildPythonPackage rec {
+        pname = "luma.core";
+        version = "2.4.2";
+        pyproject = true;
+        build-system = [ self.setuptools ];
+        src = self.fetchPypi {
+          inherit pname version;
+          hash = "sha256-ljwmQWTUN09UnVfbCVmeDKRYzqG9BeFpOYl2Gb5Obb0=";
+        };
+        propagatedBuildInputs = [
+          self.pillow
+          self.smbus2
+          self.pyftdi
+          self.cbor2
+          self.deprecated
+        ];
+        dontCheckRuntimeDeps = true;
+        doCheck = false;
+      };
+
+      luma-oled = self.buildPythonPackage rec {
+        pname = "luma.oled";
+        version = "3.13.0";
+        pyproject = true;
+        build-system = [ self.setuptools ];
+        src = self.fetchPypi {
+          inherit pname version;
+          hash = "sha256-fioNakyWjGSYAlXWgewnkU2avVpmqQGbKJvzrQUMISU=";
+        };
+        propagatedBuildInputs = [ self.luma-core ];
+        doCheck = false;
+      };
+
+      pyhotkey = self.buildPythonPackage rec {
+        pname = "PyHotKey";
+        version = "1.5.2";
+        pyproject = true;
+        build-system = [ self.setuptools ];
+        src = self.fetchPypi {
+          inherit pname version;
+          hash = "sha256-ObV5wDjnhQwmqmfMH5F9VUbJ2XPOYKuZH9OGodSdGrQ=";
+        };
+        propagatedBuildInputs = [ self.pynput ];
+        pythonRelaxDeps = [ "pynput" ];
+        nativeBuildInputs = [ pkgs.python313Packages.pythonRelaxDepsHook ];
+        doCheck = false;
+      };
+
+      luma-emulator = self.buildPythonPackage rec {
+        pname = "luma.emulator";
+        version = "1.5.0";
+        pyproject = true;
+        build-system = [ self.setuptools ];
+        src = self.fetchPypi {
+          inherit pname version;
+          hash = "sha256-0PCbFz9BQmXadpL+THw348tU9PgTjhNfixtHFeN4248=";
+        };
+        propagatedBuildInputs = [ self.luma-core self.pygame ];
+        doCheck = false;
+      };
+
+      luma-lcd = self.buildPythonPackage rec {
+        pname = "luma.lcd";
+        version = "2.11.0";
+        pyproject = true;
+        build-system = [ self.setuptools ];
+        src = self.fetchPypi {
+          inherit pname version;
+          hash = "sha256-1GBE6W/TmUPr5Iph51M3FXG+FJekvqlrcuOpxzL77uQ=";
+        };
+        propagatedBuildInputs = [ self.luma-core ];
+        doCheck = false;
+      };
+
+      python-libinput = self.buildPythonPackage rec {
+        pname = "python-libinput";
+        version = "0.3.0a0";
+        pyproject = true;
+        build-system = [ self.setuptools ];
+        src = self.fetchPypi {
+          inherit pname version;
+          hash = "sha256-fj08l4aqp5vy8UYBZIWBtGJLaS0/DZGZkC0NCDQhkwI=";
+        };
+        buildInputs = [ pkgs.libinput pkgs.systemd ];
+        nativeBuildInputs = [ pkgs.pkg-config ];
+        propagatedBuildInputs = [ self.cffi ];
+        postPatch = ''
+          substituteInPlace setup.py \
+            --replace-fail 'from imp import load_source' 'import importlib.util, types
+def load_source(name, path):
+    spec = importlib.util.spec_from_file_location(name, path)
+    mod = importlib.util.module_from_spec(spec)
+    spec.loader.exec_module(mod)
+    return mod'
+          substituteInPlace libinput/__init__.py \
+            --replace-fail "CDLL('libudev.so.1')" "CDLL('${lib.getLib pkgs.systemd}/lib/libudev.so.1')" \
+            --replace-fail "CDLL('libinput.so.10')" "CDLL('${lib.getLib pkgs.libinput}/lib/libinput.so.10')"
+        '';
+        doCheck = false;
+      };
+
+      # --- Hardware-only packages (aarch64/Pi) ---
+
+      RPi-GPIO = self.buildPythonPackage rec {
+        pname = "RPi.GPIO";
+        version = "0.7.1";
+        pyproject = true;
+        build-system = [ self.setuptools ];
+        src = self.fetchPypi {
+          inherit pname version;
+          hash = "sha256-zWHEsDw3tiu6SlrP6phidJwzxhjgKV5+kKpHE/s3O3A=";
+        };
+        postPatch = ''
+          python3 -c '
+          import sys
+          with open("source/cpuinfo.c") as f: src = f.read()
+          old = "   if (!found)\n      return -1;"
+          new = (
+              "   if (!found) {\n"
+              "      FILE *fp2 = fopen(\"/proc/device-tree/compatible\", \"r\");\n"
+              "      if (fp2) {\n"
+              "         char compat[256] = {0};\n"
+              "         fread(compat, 1, sizeof(compat)-1, fp2);\n"
+              "         fclose(fp2);\n"
+              "         if (strstr(compat, \"raspberrypi\")) {\n"
+              "            found = 1;\n"
+              "            strcpy(revision, \"c03115\");\n"
+              "         }\n"
+              "      }\n"
+              "   }\n"
+              "\n"
+              "   if (!found)\n"
+              "      return -1;"
+          )
+          assert old in src, "pattern not found in cpuinfo.c"
+          src = src.replace(old, new, 1)
+          with open("source/cpuinfo.c", "w") as f: f.write(src)
+          '
+        '';
+        doCheck = false;
+      };
+
+      rpi-hardware-pwm = self.buildPythonPackage rec {
+        pname = "rpi-hardware-pwm";
+        version = "0.3.0";
+        pyproject = true;
+        build-system = [ self.setuptools ];
+        src = pkgs.fetchurl {
+          url = "https://files.pythonhosted.org/packages/be/0c/4308050d8b6bbe24e8e54b38e48b287b1e356efce33cd485ee4387fc92a9/rpi_hardware_pwm-0.3.0.tar.gz";
+          hash = "sha256-HshwYzp5XpijEGhWXwZ/gvZKjhZ4BpvPjdcC+i+zGyY=";
+        };
+        doCheck = false;
+      };
+
+      adafruit-circuitpython-typing = self.buildPythonPackage rec {
+        pname = "adafruit-circuitpython-typing";
+        version = "1.12.3";
+        format = "pyproject";
+        src = pkgs.fetchurl {
+          url = "https://files.pythonhosted.org/packages/65/a2/40a3440aed2375371507af668570b68523ee01db9c25c47ce5a05883170e/adafruit_circuitpython_typing-1.12.3.tar.gz";
+          hash = "sha256-Y/GW+DTkeEK81M+MN6qgxh4a610H8FbIdfwwFs2pGhI=";
+        };
+        nativeBuildInputs = [ self.setuptools-scm ];
+        propagatedBuildInputs = [ self.typing-extensions ];
+        doCheck = false;
+        dontCheckRuntimeDeps = true;
+      };
+
+      adafruit-platformdetect = self.buildPythonPackage rec {
+        pname = "Adafruit-PlatformDetect";
+        version = "3.73.0";
+        format = "pyproject";
+        src = pkgs.fetchurl {
+          url = "https://files.pythonhosted.org/packages/3c/83/79eb6746d01d64bd61f02b12a2637fad441f7823a4f540842e0a47dbcfd8/adafruit_platformdetect-3.73.0.tar.gz";
+          hash = "sha256-IwkJityP+Hs9mkpdOu6+P3t/VasOE9Get1/6hl82+rg=";
+        };
+        nativeBuildInputs = [ self.setuptools-scm ];
+        doCheck = false;
+      };
+
+      adafruit-pureio = self.buildPythonPackage rec {
+        pname = "Adafruit-PureIO";
+        version = "1.1.11";
+        format = "pyproject";
+        src = pkgs.fetchurl {
+          url = "https://files.pythonhosted.org/packages/e5/b7/f1672435116822079bbdab42163f9e6424769b7db778873d95d18c085230/Adafruit_PureIO-1.1.11.tar.gz";
+          hash = "sha256-xM+7NlcxlC0fEJKhFvR9/a4K7xjFsn8QcrWCStXqjHw=";
+        };
+        nativeBuildInputs = [ self.setuptools-scm ];
+        doCheck = false;
+      };
+
+      adafruit-blinka = self.buildPythonPackage rec {
+        pname = "Adafruit-Blinka";
+        version = "8.47.0";
+        format = "pyproject";
+        src = pkgs.fetchurl {
+          url = "https://files.pythonhosted.org/packages/4a/30/84193a19683732387ec5f40661b589fcee29e0ab47c1e7dee36fb92efe9b/adafruit_blinka-8.47.0.tar.gz";
+          hash = "sha256-Q2qFasw4v5xTRtuMQTuiraledi9qqXp9viOENMy8hRk=";
+        };
+        nativeBuildInputs = [ self.setuptools-scm ];
+        propagatedBuildInputs = [
+          self.RPi-GPIO
+          self.adafruit-platformdetect
+          self.adafruit-pureio
+          self.adafruit-circuitpython-typing
+        ];
+        pythonRelaxDeps = true;
+        pythonRemoveDeps = [ "binho-host-adapter" "pyftdi" "sysv-ipc" ];
+        dontCheckRuntimeDeps = true;
+        doCheck = false;
+      };
+
+      adafruit-circuitpython-busdevice = self.buildPythonPackage rec {
+        pname = "adafruit-circuitpython-busdevice";
+        version = "5.2.9";
+        format = "pyproject";
+        src = pkgs.fetchurl {
+          url = "https://files.pythonhosted.org/packages/a8/04/cf8d2ebfe0d171b7c8fe3425f1e2e80ed59738855d419e5486f5d2fa9145/adafruit_circuitpython_busdevice-5.2.9.tar.gz";
+          hash = "sha256-n5w984UJFBDaxZYZGOR17Ij67X/1Q61tdCCPCMJWZRM=";
+        };
+        nativeBuildInputs = [ self.setuptools-scm ];
+        propagatedBuildInputs = [
+          self.adafruit-blinka
+          self.adafruit-circuitpython-typing
+        ];
+        doCheck = false;
+      };
+
+      adafruit-circuitpython-register = self.buildPythonPackage rec {
+        pname = "adafruit-circuitpython-register";
+        version = "1.10.0";
+        format = "pyproject";
+        src = pkgs.fetchurl {
+          url = "https://files.pythonhosted.org/packages/0f/f1/b7e16545dac1056227ca9c612966ec26d69a04a99df6892aec27a71884af/adafruit_circuitpython_register-1.10.0.tar.gz";
+          hash = "sha256-vH6191d2bxAqhyZXPgylwp6h1+UBweN1nGxOnhNmD3o=";
+        };
+        nativeBuildInputs = [ self.setuptools-scm ];
+        propagatedBuildInputs = [
+          self.adafruit-blinka
+          self.adafruit-circuitpython-busdevice
+          self.adafruit-circuitpython-typing
+        ];
+        doCheck = false;
+      };
+
+      adafruit-circuitpython-bno055 = self.buildPythonPackage rec {
+        pname = "adafruit-circuitpython-bno055";
+        version = "5.4.16";
+        format = "pyproject";
+        src = pkgs.fetchurl {
+          url = "https://files.pythonhosted.org/packages/8d/20/ad6bb451c5bf228af869bf045d4fc415174e7c042dfc1d998e9c0bc8ad21/adafruit_circuitpython_bno055-5.4.16.tar.gz";
+          hash = "sha256-kL/bz689GF/sZxgbzv+bEPQ4F5zQqjl+k4ctSwlK3aA=";
+        };
+        nativeBuildInputs = [ self.setuptools-scm ];
+        propagatedBuildInputs = [
+          self.adafruit-blinka
+          self.adafruit-circuitpython-busdevice
+          self.adafruit-circuitpython-register
+          self.adafruit-circuitpython-typing
+        ];
+        doCheck = false;
+      };
+
+      pidng = self.buildPythonPackage rec {
+        pname = "pidng";
+        version = "4.0.9";
+        pyproject = true;
+        build-system = [ self.setuptools ];
+        src = pkgs.fetchurl {
+          url = "https://files.pythonhosted.org/packages/source/p/pidng/pidng-4.0.9.tar.gz";
+          hash = "sha256-Vg6wCAhvinFf2eGrmYgXp9TIUAp/Fhuc5q9asnUB+Cw=";
+        };
+        propagatedBuildInputs = [ self.numpy ];
+        doCheck = false;
+      };
+
+      simplejpeg = self.buildPythonPackage rec {
+        pname = "simplejpeg";
+        version = "1.9.0";
+        format = "wheel";
+        src = pkgs.fetchurl {
+          url = "https://files.pythonhosted.org/packages/88/8b/d8ca384f1362371d61690d7460d3ae4cec4a5a25d9eb06cd15623de3725a/simplejpeg-1.9.0-cp313-cp313-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl";
+          hash = "sha256-oMN1Ew9zuwgimj3tOS2E7i2Raz6H5+xdKsTke3FENGo=";
+        };
+        propagatedBuildInputs = [ self.numpy ];
+        doCheck = false;
+      };
+
+      healpy = self.buildPythonPackage rec {
+        pname = "healpy";
+        version = "1.19.0";
+        format = "wheel";
+        src = pkgs.fetchurl {
+          url = "https://files.pythonhosted.org/packages/f6/d4/a60ed9a50768ff5e896dd94d878496ae16767925ea32c49d5a4189ab818a/healpy-1.19.0-cp313-cp313-manylinux_2_28_aarch64.whl";
+          hash = "sha256-kgwKHGdJwFyK2VIqWiYw97yDEkxXQu9Q+RufXmob3Mc=";
+        };
+        propagatedBuildInputs = [ self.numpy self.astropy self.matplotlib ];
+        doCheck = false;
+      };
+
+      python-prctl = self.buildPythonPackage rec {
+        pname = "python-prctl";
+        version = "1.8.1";
+        pyproject = true;
+        build-system = [ self.setuptools ];
+        src = pkgs.fetchurl {
+          url = "https://files.pythonhosted.org/packages/source/p/python-prctl/python-prctl-1.8.1.tar.gz";
+          hash = "sha256-tMqaJafU8azk//0fOi5k71II/gX5KfPt1eJwgcp+Z84=";
+        };
+        buildInputs = [ pkgs.libcap ];
+        doCheck = false;
+      };
+
+      v4l2-python3 = self.buildPythonPackage rec {
+        pname = "v4l2-python3";
+        version = "0.3.4";
+        pyproject = true;
+        build-system = [ self.setuptools ];
+        src = self.fetchPypi {
+          inherit pname version;
+          hash = "sha256-YliResgEmsaYcaXg39bYnVXJ5/gOgSwe+LqIeb2hxYc=";
+        };
+        doCheck = false;
+      };
+
+      videodev2 = self.buildPythonPackage rec {
+        pname = "videodev2";
+        version = "0.0.4";
+        format = "wheel";
+        src = pkgs.fetchurl {
+          url = "https://files.pythonhosted.org/packages/68/30/4982441a03860ab8f656702d8a2c13d0cf6f56d65bfb78fe288028dcb473/videodev2-0.0.4-py3-none-any.whl";
+          hash = "sha256-0196s53bBtUP7Japm/yNW4tSW8fqA3iCWdOGOT8aZLo=";
+        };
+        doCheck = false;
+      };
+
+      picamera2 = self.buildPythonPackage rec {
+        pname = "picamera2";
+        version = "0.3.22";
+        pyproject = true;
+        build-system = [ self.setuptools ];
+        src = self.fetchPypi {
+          inherit pname version;
+          hash = "sha256-iShpgUNCu8uHS7jeehtgWJhEm/UhJjn0bw2qpkbWgy0=";
+        };
+        postPatch = ''
+          substituteInPlace picamera2/previews/__init__.py \
+            --replace-fail 'from .drm_preview import DrmPreview' \
+            'try:
+    from .drm_preview import DrmPreview
+except ImportError:
+    DrmPreview = None'
+        '';
+        propagatedBuildInputs = [
+          self.numpy
+          self.pillow
+          self.piexif
+          self.v4l2-python3
+          self.videodev2
+          self.pidng
+          self.simplejpeg
+          self.python-prctl
+          pkgs.libcamera
+        ];
+        postFixup = ''
+          wrapPythonProgramsIn "$out" "$out ${pkgs.libcamera}/lib/python3.13/site-packages"
+        '';
+        dontCheckRuntimeDeps = true;
+        doCheck = false;
+      };
+    };
+  };
+
+  commonPackages = ps: with ps; [
+    # Packages from nixpkgs
+    numpy
+    scipy
+    scikit-learn
+    pillow
+    pandas
+    grpcio
+    protobuf
+    bottle
+    cheroot
+    requests
+    pytz
+    skyfield
+    tqdm
+    pyjwt
+    aiofiles
+    json5
+    smbus2
+    spidev
+    pygobject3
+    av
+    dbus-python
+    timezonefinder
+    jsonschema
+    libarchive-c
+
+    # Custom packages (cross-platform)
+    sh
+    gpsdclient
+    dataclasses-json
+    pydeepskylog
+    python-pam
+    luma-oled
+    luma-lcd
+    python-libinput
+  ];
+
+  hardwarePackages = ps: with ps; [
+    RPi-GPIO
+    rpi-hardware-pwm
+    adafruit-blinka
+    adafruit-circuitpython-bno055
+    picamera2
+    pidng
+    simplejpeg
+    python-prctl
+    videodev2
+    healpy
+  ];
+
+  devPackages = ps: with ps; [
+    pytest
+    mypy
+    luma-emulator
+    pyhotkey
+  ];
+
+  pifinderEnv = pifinderPython.withPackages (ps:
+    commonPackages ps ++ hardwarePackages ps
+  );
+
+  devEnv = pifinderPython.withPackages (ps:
+    commonPackages ps ++ devPackages ps
+  );
+
+in {
+  inherit pifinderPython commonPackages hardwarePackages devPackages pifinderEnv devEnv;
+}
diff --git a/nixos/pkgs/welcome_image.h b/nixos/pkgs/welcome_image.h
new file mode 100644
index 000000000..ef8cfc2ff
--- /dev/null
+++ b/nixos/pkgs/welcome_image.h
@@ -0,0 +1,1027 @@
+// Auto-generated from welcome.png - 128x128 BGR565
+static const uint16_t welcome_image[16384] = {
+    0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800,
+    0x4800, 0x4000, 0x4000, 0x4800, 0x4800, 0x5000, 0x5000, 0x5800, 0x6000, 0x6000, 0x6000, 0x6000, 0x6800, 0x6800, 0x5800, 0x5800,
+    0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x6000, 0x5800,
+    0x5800, 0x5800, 0x6000, 0x6000, 0x6000, 0x6000, 0x5800, 0x5800, 0x6000, 0x6000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800,
+    0x5800, 0x6000, 0x5800, 0x5800, 0x6000, 0x6000, 0x6000, 0x6800, 0x6800, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x6000, 0x6000,
+    0x6000, 0x6000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x6000, 0x6800, 0x6800, 0x6800, 0x6800, 0x6800,
+    0x6800, 0x6800, 0x6800, 0x6800, 0x6000, 0x6000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5000,
+    0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x6000, 0x5800, 0x5000, 0x5000, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5000,
+    0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4000, 0x4000,
+    0x4000, 0x4000, 0x4800, 0x4800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x6000, 0x6000, 0x6000, 0x6800, 0x6800, 0x6800,
+    0x6800, 0x5800, 0x5800, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x5800,
+    0x5800, 0x5800, 0x5800, 0x5800, 0x6000, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x6000, 0x5800, 0x6000, 0x5800, 0x5800, 0x5800,
+    0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x5800, 0x5800,
+    0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x6000, 0x6000, 0x6800, 0x6800, 0x6800,
+    0x6800, 0x6800, 0x7000, 0x6800, 0x6800, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5000,
+    0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x5000, 0x5000, 0x5000, 0x5000, 0x4800, 0x5000, 0x5000, 0x5000, 0x5000,
+    0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000,
+    0x4000, 0x4000, 0x4000, 0x4800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x6000, 0x6800, 0x6800, 0x7000,
+    0x7000, 0x5800, 0x5800, 0x6000, 0x6800, 0x7800, 0x6000, 0x5800, 0x6000, 0x6000, 0x6000, 0x6000, 0x5800, 0x5800, 0x6000, 0x5800,
+    0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000,
+    0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000,
+    0x5800, 0x5800, 0x5800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x6000, 0x6000,
+    0x6800, 0x6800, 0x6800, 0x6800, 0x6800, 0x6800, 0x6800, 0x6000, 0x6000, 0x6000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5000, 0x5000,
+    0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x5000, 0x5000, 0x5800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800,
+    0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000,
+    0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x6000, 0x6000, 0x6000, 0x6000,
+    0x5800, 0x6000, 0x6000, 0x6000, 0x6000, 0x6800, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x5800, 0x5800,
+    0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x6000, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x5800,
+    0x5800, 0x5800, 0x5800, 0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x6800,
+    0x6000, 0x5000, 0x5800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000,
+    0x6000, 0x6000, 0x6800, 0x6800, 0x6800, 0x6800, 0x6800, 0x6800, 0x6800, 0x6000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5000,
+    0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800,
+    0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x4000, 0x4000, 0x3800, 0x4000, 0x3800, 0x3800,
+    0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x4800, 0x5000, 0x5000, 0x5000, 0x5800, 0x6000, 0x6000, 0x6000,
+    0x5800, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x5800,
+    0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x6000, 0x6000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800,
+    0x5800, 0x5800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800,
+    0x5800, 0x5800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800,
+    0x5800, 0x6000, 0x6000, 0x6000, 0x6000, 0x6800, 0x6800, 0x6800, 0x6800, 0x6000, 0x6000, 0x6000, 0x5800, 0x5800, 0x5800, 0x5800,
+    0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000,
+    0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800,
+    0x3800, 0x4000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800, 0x5000, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5800, 0x5800,
+    0x5800, 0x5800, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000,
+    0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x6000, 0x6000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5000, 0x5000, 0x5800,
+    0x5800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5000,
+    0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x5800,
+    0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x6000, 0x6800, 0x6800, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x5800, 0x5800, 0x5800,
+    0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x5000, 0x5000, 0x5800, 0x5800,
+    0x3000, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800,
+    0x3800, 0x3800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000,
+    0x5000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000,
+    0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5000, 0x5000, 0x5000, 0x5000,
+    0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5000, 0x5800, 0x5000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5000,
+    0x5000, 0x5000, 0x7800, 0x8000, 0x5000, 0x5000, 0x5000, 0x4800, 0x5000, 0x4800, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x5000,
+    0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x5800, 0x5800, 0x5800,
+    0x5800, 0x5800, 0x5800, 0x5800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5000, 0x5800, 0x5800,
+    0x3800, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800,
+    0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800,
+    0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000,
+    0x6000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000,
+    0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x5000,
+    0x5000, 0x5000, 0x8000, 0x9000, 0x5000, 0x5000, 0x5000, 0x5000, 0x4800, 0x6000, 0x6000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000,
+    0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x5800, 0x5800, 0x5800,
+    0x5800, 0x5800, 0x5800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3800, 0x3000, 0x3000, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800,
+    0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000, 0x4800, 0x5000, 0x4000, 0x4000, 0x4800, 0x4800,
+    0x4800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x6000, 0x5800, 0x5800, 0x6000, 0x6000,
+    0x6000, 0x6000, 0x6000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000,
+    0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x5000, 0x5000,
+    0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000,
+    0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x6000, 0x6000, 0x6000, 0x6000, 0x6000, 0x5800, 0x5800, 0x5800, 0x5800,
+    0x5800, 0x5800, 0x5800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800,
+    0x3000, 0x3000, 0x3000, 0x4000, 0x3800, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800,
+    0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000, 0x5000, 0x5800, 0x4000, 0x4000, 0x4000, 0x4800,
+    0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800,
+    0x5800, 0x6000, 0x6000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000,
+    0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000,
+    0x5000, 0x5000, 0x5000, 0x4800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000,
+    0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x5800, 0x6000, 0x6000, 0x5800, 0x5800, 0x5800, 0x5800,
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+    0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5800, 0x5800, 0x5800, 0x5800, 0x5800,
+    0x2800, 0x2800, 0x2800, 0x4800, 0x3000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x5000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x4000,
+    0x7000, 0x4000, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x5800, 0x3000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x3800, 0x4000, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x3000, 0x4000, 0x5800, 0x3800, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x4000, 0x6000, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000,
+    0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4000, 0x4000, 0x4000, 0x4000,
+    0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x6000, 0x5800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x4800,
+    0x5800, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x3000, 0x3000, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x3000, 0x3000, 0x3800, 0x3800, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000,
+    0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x6000, 0x7000, 0x4800, 0x4800, 0x4800, 0x4800, 0x4000, 0x6000, 0x6000, 0x6000,
+    0x5000, 0x6000, 0x4000, 0x5800, 0x6000, 0x5000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5800, 0x5800, 0x5800,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x5000, 0x4000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0xF800,
+    0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x4800, 0x8800, 0x9000, 0x7800, 0x4000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3800, 0x3800, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3800, 0x3800, 0x3800, 0xA000, 0xA800, 0xA800, 0xA800, 0x6000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000,
+    0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x5800, 0x6000, 0x4800, 0x4800, 0x4800, 0x4800, 0x4000, 0x8000, 0xA000, 0x8000,
+    0x6000, 0xB000, 0x6800, 0x5800, 0x9800, 0x8000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5800, 0x5800, 0x6000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x4000, 0x4000, 0x2800, 0x2800, 0x2800, 0x2800, 0xB800, 0xF800, 0xF800, 0xE000, 0xD000,
+    0xC000, 0xB800, 0xB800, 0xC000, 0xC000, 0xB800, 0x7800, 0x4000, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2800, 0x2800, 0xF800,
+    0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x7800, 0x9800, 0x9800, 0xA000, 0xA000, 0x9800, 0x9800, 0x9800, 0x9000, 0x9800, 0x9800,
+    0x9800, 0x9000, 0x7800, 0x2800, 0x2800, 0x8800, 0x9000, 0x9000, 0x9000, 0x6000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3800, 0x3800, 0x3800, 0x3800, 0xA000, 0xB000, 0xA800, 0xA800, 0x6000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000,
+    0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800, 0x4000, 0x4800, 0x9800, 0x4000,
+    0x4000, 0xA000, 0x9000, 0x5000, 0xB000, 0x8000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x5000, 0x5000, 0x5000, 0x5800, 0x6000,
+    0x2000, 0x2000, 0x2800, 0x2000, 0x2800, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0xB800, 0xF800, 0xF800, 0xF000, 0xE000,
+    0xC800, 0xC000, 0xC000, 0xC000, 0xC800, 0xC800, 0xC000, 0xB800, 0x7800, 0x2800, 0x2800, 0x3800, 0x4800, 0xF800, 0xF800, 0xF800,
+    0xF800, 0xF800, 0x2800, 0x2000, 0x2800, 0x7000, 0x9800, 0x9800, 0x9800, 0x9800, 0xA000, 0x9800, 0x9800, 0x9800, 0x9800, 0x9800,
+    0x9800, 0x9800, 0x7800, 0x2800, 0x2800, 0x9000, 0x9000, 0x9000, 0x9000, 0x6000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3800, 0x3800, 0x3800, 0x3800, 0xA800, 0xB000, 0xB000, 0xB800, 0x6000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000,
+    0x4000, 0x4000, 0x4800, 0x4800, 0x4000, 0x4000, 0x4800, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4000, 0x4800, 0x9800, 0x4000,
+    0x4000, 0xA800, 0x9800, 0x8800, 0x8800, 0x8000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x5000, 0x5000, 0x5800, 0x5800,
+    0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2800, 0x2800, 0xB800, 0xF800, 0xF800, 0xF800, 0xF000,
+    0xE000, 0xD000, 0xC800, 0xD000, 0xC800, 0xC800, 0xC800, 0xC000, 0xB000, 0x8800, 0x2000, 0x8000, 0xA800, 0x4800, 0x2000, 0xF800,
+    0x2800, 0x2800, 0x2000, 0x2000, 0x2800, 0x7000, 0x9800, 0x9800, 0x9800, 0x9800, 0xA000, 0xA000, 0xA000, 0xA000, 0xA000, 0xA000,
+    0xA000, 0xA000, 0x8800, 0x2800, 0x2800, 0x5000, 0x9000, 0x9000, 0x7800, 0x3800, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x4000, 0x5000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3800, 0x3800, 0x3800, 0xA800, 0xB800, 0xB800, 0xB800, 0x6800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000,
+    0x4000, 0x4000, 0x4000, 0x4800, 0x4000, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x9800, 0x4000,
+    0x4000, 0xB000, 0x7000, 0xA800, 0x6800, 0x8000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5800, 0x5800,
+    0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0xB000, 0xF800, 0xF800, 0xF800, 0xB800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x3800, 0xA000, 0xC800, 0xC000, 0xB800, 0xB000, 0x6800, 0x4000, 0x5000, 0x3000, 0x2000, 0xF800,
+    0x2000, 0x2800, 0x2800, 0x2000, 0x2800, 0x7000, 0x9800, 0x9800, 0x9800, 0x7000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x2800, 0x5000, 0x6800, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3800, 0x3800, 0x3800, 0xA800, 0xB800, 0xB800, 0xB800, 0x6800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000,
+    0x4000, 0x4000, 0x4000, 0x3800, 0x4000, 0x5800, 0x4000, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x6000, 0x4000,
+    0x4000, 0x6000, 0x4000, 0x5800, 0x4800, 0x5000, 0x4000, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5800,
+    0x2000, 0x2000, 0x2000, 0x4800, 0x3000, 0x2800, 0x2000, 0x2800, 0x2800, 0x2000, 0x2800, 0xA800, 0xF000, 0xF800, 0xF800, 0xB800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0xA800, 0xC000, 0xB800, 0xB000, 0xA000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800,
+    0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x7000, 0x9800, 0x9800, 0x9800, 0x7800, 0x2800, 0x2000, 0x3000, 0x4000, 0x2800, 0x2000,
+    0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3800, 0x4800, 0x2800, 0x3000, 0x2800, 0x2800, 0x3000,
+    0x3000, 0x2800, 0x2800, 0x2800, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3800, 0x5800, 0x3800, 0x3800, 0xB000, 0xB800, 0xC000, 0xC000, 0x6800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000,
+    0x4000, 0x4000, 0x4000, 0x3800, 0x4000, 0x5800, 0x4800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800, 0x4800, 0x4000,
+    0x4800, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5800,
+    0x2000, 0x2000, 0x2000, 0x5800, 0x4800, 0x2000, 0x2000, 0x2800, 0x2800, 0x2000, 0x2800, 0xA000, 0xE800, 0xF800, 0xF800, 0xB800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x8800, 0xC000, 0xB800, 0xB800, 0xB800, 0x3000, 0x2000, 0x5800, 0xB000, 0xA000,
+    0x9800, 0x8800, 0x2800, 0x2800, 0x2800, 0x7000, 0x9000, 0x9800, 0x9800, 0x7800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000,
+    0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x8800, 0xA000, 0xA000, 0xA000, 0x7000, 0x6000, 0x2800, 0x6000, 0x8800, 0x8800, 0x9000,
+    0x5800, 0x4000, 0x6000, 0x9000, 0x9000, 0x9800, 0x8800, 0x6000, 0x3000, 0x3000, 0x3000, 0x2800, 0x3000, 0x3000, 0x3000, 0x6000,
+    0xA000, 0xC800, 0xC800, 0xD000, 0x8800, 0x3800, 0xB000, 0xC000, 0xC000, 0xC000, 0x6800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000,
+    0x7000, 0x9000, 0xB800, 0xB800, 0xB800, 0xA000, 0x8000, 0x3800, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0xB000, 0xB800, 0xA800,
+    0xA000, 0x4800, 0x6800, 0x9000, 0x9800, 0x8000, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5800,
+    0x2000, 0x2000, 0x2800, 0x4800, 0x5800, 0x2000, 0x4000, 0x3800, 0x2000, 0x2800, 0x2800, 0x9800, 0xE000, 0xE800, 0xF000, 0xB800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x4800, 0xB800, 0xB800, 0xB000, 0xB000, 0x4000, 0x2000, 0x6000, 0xB800, 0xB000,
+    0xA000, 0x8800, 0x2000, 0x2800, 0x2800, 0x7800, 0x9800, 0xA000, 0xA000, 0x7800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x9000, 0xA800, 0xA800, 0xA000, 0x7800, 0x5000, 0x2800, 0x6000, 0x9000, 0x9000, 0x9000,
+    0x7800, 0x9000, 0x9000, 0x9000, 0x9000, 0x9000, 0x9800, 0x9800, 0x6800, 0x3000, 0x3000, 0x4000, 0x3000, 0x3000, 0x7000, 0xC000,
+    0xC000, 0xC800, 0xC800, 0xC800, 0xD000, 0xC000, 0xC000, 0xC000, 0xC000, 0xC000, 0x7000, 0x4000, 0x4000, 0x4000, 0x4800, 0xA800,
+    0xC000, 0xC000, 0xC000, 0xC000, 0xB800, 0xB800, 0xB800, 0xA800, 0x5000, 0x4000, 0x4000, 0x4800, 0x4800, 0xB000, 0xB800, 0xA800,
+    0xA000, 0x7000, 0xA000, 0xA000, 0xA000, 0x8800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x5800,
+    0x2000, 0x2800, 0x2000, 0x3800, 0x7000, 0x2000, 0x3000, 0x3000, 0x2800, 0x2800, 0x2800, 0x9800, 0xD000, 0xD800, 0xE000, 0xB000,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x5000, 0xB800, 0xB800, 0xB000, 0xB000, 0x3000, 0x2000, 0x6000, 0xC800, 0xC000,
+    0xB000, 0x9000, 0x2800, 0x2800, 0x4000, 0x8800, 0xA000, 0xA000, 0xA000, 0x7800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x9000, 0xA800, 0xA800, 0xA800, 0x8800, 0x4000, 0x2800, 0x6800, 0x9000, 0x9800, 0x9800,
+    0xA000, 0xA000, 0x9800, 0x9000, 0x9000, 0x9000, 0x9800, 0xA000, 0xA000, 0x4000, 0x3000, 0x4000, 0x4000, 0x5800, 0xB800, 0xB800,
+    0xC000, 0xC000, 0xC800, 0xC800, 0xC800, 0xD000, 0xC800, 0xC000, 0xC000, 0xC000, 0x6800, 0x4000, 0x4000, 0x4000, 0xC800, 0xD000,
+    0xC800, 0xC800, 0xC000, 0xC000, 0xB800, 0xB800, 0xB800, 0xB800, 0xA800, 0x4800, 0x4000, 0x4000, 0x4800, 0xA800, 0xB800, 0xA800,
+    0xA800, 0xA000, 0xA000, 0xA000, 0xA800, 0x9800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000,
+    0x2800, 0x2800, 0x2000, 0x2800, 0x7800, 0x3000, 0x2000, 0x2000, 0x2800, 0x2000, 0x2800, 0x9800, 0xD000, 0xD000, 0xD800, 0xA800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2800, 0x8800, 0xA800, 0xB000, 0xB800, 0xA800, 0x2800, 0x2000, 0x6000, 0xD000, 0xC800,
+    0xB800, 0xA000, 0x2800, 0x5800, 0x7800, 0x8000, 0xA000, 0xA800, 0xA800, 0x8000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x9000, 0xA800, 0xA800, 0xA800, 0x9000, 0x3000, 0x2800, 0x6800, 0xA000, 0xA000, 0xA000,
+    0xA000, 0x7800, 0x2800, 0x2800, 0x5000, 0x9000, 0x9800, 0x9800, 0xA000, 0x7000, 0x4000, 0x6800, 0x6000, 0x9800, 0xB000, 0xB800,
+    0xB800, 0xA800, 0x8000, 0x5800, 0x5000, 0xA800, 0xC800, 0xC000, 0xC000, 0xC000, 0x6800, 0x4000, 0x4000, 0xA000, 0xE800, 0xD800,
+    0xD000, 0xC000, 0x7800, 0x3800, 0x4800, 0xA000, 0xC000, 0xC000, 0xC000, 0x8000, 0x4000, 0x4000, 0x4000, 0xA800, 0xB800, 0xA800,
+    0xA800, 0xA000, 0x7000, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x6000, 0x4800, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x9000, 0xC000, 0xC800, 0xD000, 0xA800,
+    0x2000, 0x2800, 0x2800, 0x2000, 0x2000, 0x8000, 0xA800, 0xA000, 0xA800, 0xB000, 0x8800, 0x5000, 0x2800, 0x6000, 0xC800, 0xC800,
+    0xC000, 0xA800, 0x4800, 0x6000, 0x3000, 0x7800, 0xA800, 0xB000, 0xB800, 0xB800, 0xB800, 0xC000, 0xC000, 0xC000, 0xC000, 0xC000,
+    0xC000, 0x9800, 0x2800, 0x2800, 0x2800, 0x9800, 0xB000, 0xA800, 0xA800, 0x8000, 0x2800, 0x2800, 0x7000, 0xA800, 0xA800, 0xA800,
+    0x8800, 0x2800, 0x2800, 0x2800, 0x3000, 0x7000, 0xA000, 0xA000, 0xA000, 0x8000, 0x5000, 0x9000, 0x5800, 0xA800, 0xA800, 0xB000,
+    0xB800, 0x4800, 0x7800, 0x4800, 0x3800, 0x4000, 0xB800, 0xC000, 0xC000, 0xC800, 0x6800, 0x4000, 0x4000, 0xE800, 0xF000, 0xE000,
+    0xD000, 0x8000, 0x3800, 0x3800, 0x3800, 0x4800, 0xB800, 0xC000, 0xC000, 0xB800, 0x4000, 0x4000, 0x4000, 0xA800, 0xB000, 0xA800,
+    0xA800, 0x6800, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x5800, 0x5000, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x5800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x4000, 0x6800, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x8000, 0xA800, 0xB800, 0xC000, 0xD000,
+    0xF000, 0xF800, 0xF800, 0xE800, 0xD000, 0xB800, 0xA800, 0xA000, 0xA000, 0x9000, 0x2000, 0x2800, 0x2800, 0x6000, 0xC000, 0xC000,
+    0xC000, 0xB000, 0x2800, 0x2800, 0x2800, 0x8000, 0xA800, 0xB800, 0xC000, 0xC800, 0xC800, 0xC800, 0xC800, 0xC800, 0xC800, 0xC800,
+    0xC800, 0xA000, 0x2800, 0x2800, 0x2800, 0x9800, 0xB800, 0xB000, 0xB000, 0x7800, 0x2800, 0x2800, 0x7000, 0xA800, 0xB000, 0xB000,
+    0x8800, 0x2800, 0x2800, 0x2800, 0x2800, 0x6800, 0xA800, 0xA800, 0xA800, 0x9000, 0x3000, 0x2800, 0x6000, 0xA800, 0xA800, 0xA800,
+    0x9800, 0x3000, 0x8800, 0x3800, 0x3000, 0x3800, 0xB000, 0xC000, 0xC000, 0xC000, 0x7000, 0x4000, 0x7000, 0xF000, 0xF000, 0xE000,
+    0xD000, 0x4800, 0x3800, 0x3800, 0x3800, 0x4000, 0xA000, 0xC000, 0xC000, 0xC000, 0x6000, 0x4000, 0x4000, 0xA800, 0xB000, 0xB000,
+    0xB000, 0x5800, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x4800, 0x4800, 0x4800, 0x4800, 0x5800, 0x5800, 0x4800, 0x5000, 0x5800,
+    0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x7800, 0x3000, 0x2000, 0x2000, 0x2000, 0x2000, 0x7000, 0x9000, 0xA000, 0xB000, 0xC800,
+    0xE000, 0xF000, 0xF000, 0xE000, 0xD000, 0xC000, 0xB000, 0xA000, 0x7800, 0x3000, 0x2000, 0x2000, 0x2000, 0x5800, 0xC000, 0xB800,
+    0xB800, 0xA800, 0x2000, 0x2800, 0x2800, 0x8000, 0xA800, 0xB800, 0xC000, 0xC800, 0xD000, 0xD000, 0xC800, 0xD000, 0xD800, 0xE000,
+    0xD800, 0xA800, 0x2800, 0x2800, 0x2800, 0xA000, 0xB800, 0xB800, 0xB800, 0x6800, 0x2000, 0x2000, 0x7000, 0xB000, 0xB800, 0xB800,
+    0x8800, 0x2800, 0x2800, 0x3000, 0x3800, 0x6800, 0xA800, 0xB000, 0xB000, 0x9000, 0x3000, 0x2800, 0x7000, 0xA800, 0xA800, 0xA800,
+    0x8000, 0x3800, 0x8000, 0x3000, 0x3000, 0x3800, 0xB000, 0xB800, 0xB800, 0xB800, 0x6800, 0x3800, 0x8800, 0xE800, 0xE800, 0xE000,
+    0xC000, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x9800, 0xC800, 0xC000, 0xC000, 0x7000, 0x4000, 0x4000, 0xA800, 0xB800, 0xB800,
+    0xB800, 0x5800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x6000, 0x5800, 0x5000, 0x5000, 0x5000,
+    0x2000, 0x2000, 0x2000, 0x2800, 0x2000, 0x5000, 0x5800, 0x2000, 0x2000, 0x2000, 0x2000, 0x6800, 0x9000, 0x9800, 0xA800, 0xC000,
+    0xD000, 0xD800, 0xE000, 0xD800, 0xD000, 0xC000, 0x7800, 0x5800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x5800, 0xC000, 0xB800,
+    0xB800, 0xA800, 0x2000, 0x2000, 0x2000, 0x7800, 0xA800, 0xB800, 0xC000, 0x9800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000,
+    0x2000, 0x2800, 0x2000, 0x2000, 0x2800, 0xA800, 0xC000, 0xC000, 0xC000, 0x7000, 0x2000, 0x2000, 0x7800, 0xB800, 0xB800, 0xB800,
+    0x8800, 0x2800, 0x2800, 0x3000, 0x3800, 0x6800, 0xA000, 0xA800, 0xB800, 0x9000, 0x3000, 0x3000, 0x7000, 0xA800, 0xA800, 0xA800,
+    0x7000, 0x5000, 0x6800, 0x3000, 0x3000, 0x3000, 0xB000, 0xC000, 0xB800, 0xC000, 0x6800, 0x3800, 0x9000, 0xE000, 0xE000, 0xE000,
+    0xD800, 0xD000, 0xD000, 0xD800, 0xD800, 0xD800, 0xD800, 0xD000, 0xC800, 0xC000, 0x8000, 0x4000, 0x4000, 0xA800, 0xC000, 0xC000,
+    0xC000, 0x5800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x4800, 0x4800, 0x6800, 0x6800, 0x5000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x7800, 0x3000, 0x2800, 0x2000, 0x2000, 0x7000, 0x9800, 0x9800, 0xA000, 0x8800,
+    0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x5800, 0xC000, 0xB800,
+    0xB000, 0xA000, 0x2000, 0x2000, 0x2000, 0x8000, 0xB000, 0xB800, 0xC000, 0x9000, 0x2800, 0x2800, 0x2000, 0x2800, 0x2800, 0x2000,
+    0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0xB000, 0xD000, 0xD000, 0xC800, 0x7000, 0x1800, 0x2000, 0x7800, 0xC000, 0xC000, 0xC000,
+    0x9000, 0x2800, 0x2800, 0x2800, 0x2800, 0x6800, 0xA000, 0xA000, 0xA800, 0x8800, 0x3000, 0x3000, 0x7000, 0xA000, 0xA000, 0xA000,
+    0x7000, 0x6000, 0x5800, 0x3000, 0x3000, 0x3000, 0xB000, 0xC000, 0xC000, 0xC000, 0x6800, 0x3800, 0x8800, 0xD800, 0xD800, 0xD800,
+    0xD000, 0xD000, 0xD000, 0xD800, 0xD800, 0xE000, 0xE000, 0xE000, 0xD800, 0xD000, 0x8000, 0x4000, 0x4000, 0xB000, 0xC000, 0xC000,
+    0xC800, 0x5800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5800, 0x5800, 0x5000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x5000, 0x6000, 0x2000, 0x2000, 0x2000, 0x7800, 0xA000, 0xA000, 0xA000, 0x8000,
+    0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x5800, 0xB800, 0xB000,
+    0xA800, 0xA000, 0x2800, 0x2800, 0x2800, 0x8000, 0xB000, 0xB000, 0xB800, 0x9000, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2000,
+    0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0xB000, 0xD800, 0xE000, 0xE800, 0x7800, 0x2800, 0x2000, 0x8000, 0xC000, 0xC000, 0xC000,
+    0x9000, 0x2800, 0x2800, 0x2800, 0x2800, 0x7000, 0xA800, 0xA000, 0xA000, 0x8800, 0x3000, 0x3000, 0x7000, 0xA000, 0xA000, 0xA800,
+    0x8000, 0x7800, 0x4000, 0x3000, 0x3000, 0x3000, 0xB000, 0xC000, 0xC000, 0xC800, 0x6800, 0x3800, 0x8800, 0xD000, 0xD000, 0xD000,
+    0xD000, 0xD000, 0xD000, 0xD800, 0xD800, 0xE000, 0xE000, 0xE000, 0xE000, 0xD800, 0x8800, 0x3800, 0x4000, 0xB800, 0xC000, 0xC800,
+    0xC800, 0x5800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x7000, 0x3800, 0x2000, 0x2000, 0x7800, 0x9800, 0x9800, 0xA000, 0x8000,
+    0x2800, 0x2000, 0x2800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x5000, 0xB000, 0xB000,
+    0xA800, 0x9800, 0x2000, 0x2000, 0x2800, 0x8000, 0xA800, 0xA800, 0xB000, 0x8800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2000,
+    0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0xB800, 0xE000, 0xF000, 0xF000, 0x9800, 0x3800, 0x2000, 0x8000, 0xC800, 0xC800, 0xC800,
+    0x9800, 0x2800, 0x2800, 0x2800, 0x2800, 0x7000, 0xA800, 0xA000, 0xA000, 0x8800, 0x3000, 0x3000, 0x6000, 0xA800, 0xA800, 0xA800,
+    0x9800, 0x8000, 0x3000, 0x3000, 0x3000, 0x3000, 0xB000, 0xC000, 0xC000, 0xC800, 0x6800, 0x3800, 0x6800, 0xC800, 0xC800, 0xC800,
+    0xB800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x4000, 0x4000, 0x3800, 0x3800, 0x3800, 0x3800, 0xC000, 0xC800, 0xC800,
+    0xC000, 0x5800, 0x4000, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x3800, 0x7000, 0x2800, 0x2800, 0x7000, 0x9000, 0x9000, 0x9000, 0x7800,
+    0x2800, 0x2800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x5800, 0xB000, 0xB800,
+    0xB000, 0x9800, 0x2000, 0x2000, 0x2800, 0x8000, 0xA800, 0xA800, 0xA800, 0x8000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000,
+    0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0xC000, 0xE000, 0xF000, 0xF000, 0x9000, 0x2000, 0x2000, 0x8800, 0xD000, 0xD000, 0xC800,
+    0x9800, 0x3000, 0x2800, 0x2800, 0x2800, 0x7000, 0xA800, 0xA000, 0xA000, 0x8800, 0x3000, 0x3000, 0x3800, 0xB000, 0xB000, 0xB000,
+    0xB000, 0x7000, 0x3000, 0x3000, 0x3000, 0x4000, 0xB800, 0xC000, 0xC000, 0xC800, 0x6800, 0x3000, 0x3800, 0xC000, 0xC800, 0xC800,
+    0xC800, 0x6800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x5800, 0x6800, 0x3800, 0x3800, 0x3800, 0x3800, 0xC000, 0xC800, 0xC000,
+    0xC000, 0x5800, 0x4000, 0x4800, 0x4800, 0x4800, 0x4000, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000, 0x5000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x5800, 0x6000, 0x2800, 0x6800, 0x9000, 0x9000, 0x9000, 0x7000,
+    0x2800, 0x2800, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x5800, 0xB000, 0xB000,
+    0xB800, 0xA000, 0x2000, 0x2000, 0x2800, 0x7800, 0xA000, 0xA000, 0xA000, 0x7800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000,
+    0x2000, 0x2800, 0x2800, 0x2800, 0x6000, 0xB800, 0xE000, 0xF000, 0xF800, 0x8800, 0x2000, 0x2000, 0x8800, 0xD000, 0xD000, 0xC800,
+    0xA000, 0x3800, 0x2800, 0x2800, 0x2800, 0x7000, 0xA800, 0xA000, 0xA000, 0x8800, 0x3000, 0x3000, 0x3000, 0x9800, 0xB800, 0xC000,
+    0xB800, 0xA800, 0x5000, 0x3000, 0x4800, 0x9800, 0xC000, 0xC000, 0xC000, 0xC000, 0x6800, 0x3000, 0x3000, 0x8800, 0xC800, 0xD000,
+    0xD000, 0xD000, 0x9000, 0x3800, 0x3800, 0x3800, 0x9000, 0xD000, 0xD000, 0x6800, 0x3800, 0x3800, 0x3800, 0xC000, 0xC800, 0xC000,
+    0xC000, 0x5000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000, 0x5800, 0x5800, 0x5000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x6800, 0x5000, 0x6000, 0x8800, 0x9000, 0x9000, 0x7000,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2800, 0x2800, 0x5000, 0xA800, 0xB000,
+    0xB800, 0xA000, 0x2000, 0x2000, 0x2000, 0x7800, 0xA000, 0xA000, 0xA000, 0x7800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000,
+    0x2000, 0x2800, 0x2800, 0x5000, 0x7000, 0xB800, 0xE800, 0xF800, 0xF800, 0x8800, 0x2000, 0x2800, 0x8800, 0xD000, 0xD000, 0xC800,
+    0x9800, 0x2800, 0x2800, 0x2800, 0x2800, 0x7000, 0xB000, 0xA800, 0xA000, 0x8800, 0x3000, 0x3000, 0x3000, 0x5000, 0xC000, 0xC000,
+    0xC000, 0xB800, 0xB800, 0xC000, 0xC000, 0xC000, 0xC000, 0xC000, 0xC000, 0xC000, 0x6000, 0x3000, 0x3000, 0x3000, 0xA800, 0xD000,
+    0xD000, 0xD800, 0xD800, 0xE000, 0xE000, 0xE000, 0xE000, 0xD800, 0xD800, 0xC800, 0x4800, 0x3800, 0x3800, 0xC000, 0xC800, 0xC000,
+    0xC000, 0x5800, 0x3800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x5000, 0x5000, 0x5000, 0x5000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x7000, 0x7000, 0x8800, 0x8800, 0x8800, 0x6800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x5000, 0xA000, 0xB000,
+    0xB800, 0xA800, 0x2000, 0x2000, 0x2000, 0x8000, 0xA000, 0xA800, 0xA000, 0x7800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x2000, 0x4800, 0x7000, 0x3000, 0xB800, 0xF000, 0xF800, 0xF800, 0x9000, 0x2800, 0x2800, 0x9000, 0xD800, 0xD000, 0xD000,
+    0x9800, 0x2800, 0x2800, 0x2800, 0x2800, 0x7000, 0xB000, 0xA800, 0xA000, 0x8800, 0x3000, 0x3000, 0x3000, 0x3000, 0x7800, 0xC800,
+    0xC000, 0xC000, 0xC000, 0xC000, 0xC000, 0xB800, 0xB000, 0xC000, 0xC000, 0xC000, 0x6000, 0x3000, 0x3000, 0x3000, 0x3000, 0xA800,
+    0xD000, 0xD800, 0xE000, 0xE000, 0xE800, 0xE800, 0xE000, 0xE000, 0xC800, 0x6800, 0x3800, 0x3800, 0x3800, 0xB800, 0xC800, 0xC000,
+    0xC000, 0x6000, 0x3800, 0x3800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4800, 0x4800, 0x5000, 0x5000,
+    0x2000, 0x2000, 0x2000, 0x2800, 0x2000, 0x2000, 0x2000, 0x2800, 0x2000, 0x2000, 0x3000, 0x8000, 0x8800, 0x8800, 0x8800, 0x6800,
+    0x2800, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x5000, 0xA000, 0xB000,
+    0xB800, 0xA800, 0x2000, 0x2800, 0x2800, 0x8000, 0xA800, 0xA800, 0xA800, 0x8000, 0x2800, 0x2000, 0x2000, 0x2000, 0x2800, 0x3000,
+    0x2800, 0x4800, 0x7000, 0x3000, 0x2000, 0xB800, 0xF000, 0xF800, 0xF800, 0x9000, 0x2800, 0x2800, 0x9800, 0xE000, 0xE000, 0xD800,
+    0xA000, 0x2800, 0x2800, 0x2800, 0x2800, 0x7000, 0xB800, 0xB000, 0xA800, 0x9000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x9000,
+    0x9800, 0xC000, 0xC000, 0xC000, 0x8800, 0x5000, 0x8000, 0xC000, 0xC000, 0xC000, 0x6000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x6800, 0x9800, 0xE000, 0xE000, 0xE800, 0xE800, 0xB800, 0x8800, 0x3800, 0x4000, 0x3800, 0x3800, 0x3800, 0xB800, 0xC000, 0xC000,
+    0xC000, 0x5000, 0x3800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4800, 0x5000, 0x5000, 0x5000,
+    0x2800, 0x2000, 0x2800, 0x2800, 0x2000, 0x2000, 0x2800, 0x2000, 0x2000, 0x2000, 0x2000, 0x3000, 0x7000, 0x5000, 0x2800, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000,
+    0x2800, 0x2800, 0x2000, 0x2800, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800,
+    0x5000, 0x7000, 0x6000, 0x5800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x2800, 0x3000, 0x3000, 0x2800, 0x4800, 0x7800,
+    0x3000, 0x3000, 0x3000, 0x3800, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3800, 0x3000, 0x3800, 0x5800, 0x6000, 0x5800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800,
+    0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4800, 0x4000, 0x4800, 0x5000, 0x5000,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x6800, 0x6000, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2800, 0x2000, 0x2000,
+    0x2000, 0x2800, 0x2800, 0x2000, 0x5000, 0x4000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x6000,
+    0x6800, 0x2800, 0x3800, 0x3800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x3000, 0x2800, 0x2800, 0x2800, 0x3000, 0x3000, 0x7000, 0x5000,
+    0x2800, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3800, 0x3800, 0x3800, 0x3000, 0x3000, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800,
+    0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x4000, 0x3800, 0x4000, 0x4000, 0x5800, 0x5000, 0x4000, 0x4800, 0x5000, 0x5000,
+    0x2000, 0x2800, 0x2800, 0x2000, 0x2800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x5800, 0x7000,
+    0x4000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x3000, 0x2800, 0x2000, 0x2000,
+    0x2000, 0x2000, 0x2800, 0x2800, 0x4800, 0x4000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x4000, 0x7000, 0x5800,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x2800, 0x2800, 0x2800, 0x3000, 0x3000, 0x4000, 0x8000, 0x3000,
+    0x2800, 0x2800, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3800,
+    0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800,
+    0x3800, 0x4000, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x4000, 0x4000, 0x4000, 0x4800, 0x5000, 0x5000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x4000,
+    0x7000, 0x6000, 0x2800, 0x2000, 0x2800, 0x2800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x3000, 0x3800, 0x2800, 0x2000, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x6000, 0x7000, 0x4000, 0x2000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
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+    0x1800, 0x2000, 0x4000, 0x6000, 0x5800, 0x4800, 0x4800, 0x3800, 0x2800, 0x2800, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000,
+    0x2800, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x1800, 0x1800, 0x3000, 0x3800, 0x3000, 0x3000, 0x2800, 0x1800, 0x1800, 0x2000, 0x1800,
+    0x2000, 0x2800, 0x1800, 0x2000, 0x2000, 0x2000, 0x3000, 0x2800, 0x1800, 0x2800, 0x2800, 0x2800, 0x3800, 0x3800, 0x3800, 0x3800,
+    0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x2000, 0x2000, 0x1800, 0x2000, 0x1800, 0x2000, 0x2000, 0x2000, 0x1800, 0x1800,
+    0x1800, 0x2000, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x2000, 0x2000, 0x1800, 0x1800, 0x2000, 0x2000, 0x1800, 0x1800, 0x1800,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2000,
+    0x2800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000,
+    0x2000, 0x2800, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x1800, 0x2000, 0x2800, 0x2800, 0x3000, 0x3000, 0x2800, 0x1800, 0x1800, 0x1800, 0x1800,
+    0x2000, 0x2800, 0x1800, 0x1800, 0x1800, 0x1800, 0x3000, 0x2800, 0x2000, 0x1800, 0x1800, 0x1800, 0x3000, 0x3800, 0x3800, 0x4000,
+    0x1800, 0x1800, 0x2000, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x1800, 0x1800,
+    0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x2000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800,
+    0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2000, 0x2800, 0x2000, 0x2000, 0x2000,
+    0x2000, 0x2000, 0x5000, 0x6000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x1800, 0x2000, 0x3000, 0x3000, 0x3000, 0x3000, 0x2800, 0x1800, 0x2000, 0x2800, 0x1800,
+    0x2000, 0x2800, 0x1800, 0x2800, 0x2800, 0x1800, 0x2800, 0x3000, 0x3000, 0x3000, 0x2800, 0x2000, 0x3000, 0x3800, 0x3800, 0x3800,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x1800, 0x1800, 0x1800, 0x1800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x1800, 0x1800,
+    0x1800, 0x1800, 0x2000, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x2000,
+    0x1800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2000, 0x2000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000,
+    0x2000, 0x2000, 0x6000, 0x7000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x4800, 0x4800, 0x2800, 0x3000, 0x2800, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x1800, 0x2000, 0x3000, 0x3000, 0x3000, 0x3000, 0x2000, 0x1000, 0x2800, 0x3000, 0x1800,
+    0x2000, 0x2000, 0x1800, 0x1800, 0x1800, 0x1800, 0x2800, 0x2000, 0x1800, 0x1800, 0x2000, 0x3000, 0x3800, 0x3800, 0x3800, 0x3800,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x1800, 0x1800, 0x1800, 0x1800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000,
+    0x2000, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x2000, 0x2000, 0x1800, 0x1800, 0x1800, 0x1800,
+    0x1800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000,
+    0x2000, 0x2800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000,
+    0x2000, 0x2800, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3800, 0x4000, 0x2800, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x1800, 0x2000, 0x3000, 0x3000, 0x3000, 0x2800, 0x2800, 0x2000, 0x2800, 0x3000, 0x2000,
+    0x2800, 0x2800, 0x2000, 0x2000, 0x2800, 0x2800, 0x3000, 0x2800, 0x2800, 0x2800, 0x3000, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800,
+    0x1800, 0x2000, 0x2000, 0x3000, 0x2800, 0x1800, 0x2000, 0x1800, 0x1800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000,
+    0x2000, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x2800, 0x3800, 0x1800, 0x1800, 0x1800, 0x1800,
+    0x1800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000,
+    0x2000, 0x2000, 0x2800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2000, 0x2000, 0x2000, 0x2800, 0x2000, 0x2000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x1800, 0x1800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3800, 0x3800, 0x3000, 0x3000, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800,
+    0x2000, 0x2000, 0x2000, 0x3000, 0x2000, 0x1800, 0x2000, 0x1800, 0x1800, 0x1800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000,
+    0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x2000,
+    0x1800, 0x1800, 0x2000, 0x2800, 0x2800, 0x1800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x3000, 0x3000, 0x2000, 0x2000,
+    0x2000, 0x2800, 0x2800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2000, 0x2000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000,
+    0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3000, 0x3000, 0x3000, 0x3000, 0x2800, 0x2800,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x2000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2800, 0x3800, 0x3800,
+    0x2000, 0x2000, 0x1800, 0x1800, 0x1800, 0x2000, 0x2000, 0x2000, 0x2000, 0x1800, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x1800,
+    0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x1800, 0x2000,
+    0x2000, 0x1800, 0x1800, 0x2000, 0x2000, 0x1800, 0x1800, 0x1800, 0x2000, 0x2000, 0x2000, 0x2000, 0x4800, 0x4000, 0x2000, 0x2000,
+    0x2800, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2000, 0x2000,
+    0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000, 0x2000,
+    0x2000, 0x2000, 0x2000, 0x2800, 0x2800, 0x2800, 0x2800, 0x2800, 0x3800, 0x4800, 0x2800, 0x2800, 0x3000, 0x2800, 0x2800, 0x3000,
+    0x2800, 0x2800, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x2800, 0x2800, 0x3000, 0x3000, 0x3000,
+    0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3000, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800, 0x3800,
+};
diff --git a/nixos/python-env.nix b/nixos/python-env.nix
new file mode 100644
index 000000000..8433fc864
--- /dev/null
+++ b/nixos/python-env.nix
@@ -0,0 +1,38 @@
+{ config, lib, pkgs, ... }:
+let
+  pyPkgs = import ./pkgs/python-packages.nix { inherit pkgs lib; };
+  env = pyPkgs.pifinderEnv;
+in {
+  # libcamera overlay — enable Python bindings for picamera2
+  nixpkgs.overlays = [(final: prev: {
+    libcamera = prev.libcamera.overrideAttrs (old: {
+      mesonFlags = (old.mesonFlags or []) ++ [
+        "-Dpycamera=enabled"
+      ];
+      buildInputs = (old.buildInputs or []) ++ [
+        final.python313
+        final.python313.pkgs.pybind11
+      ];
+    });
+  })];
+
+  environment.systemPackages = [
+    env
+    pkgs.gobject-introspection
+    pkgs.networkmanager
+    pkgs.libcamera
+    pkgs.gpsd
+  ];
+
+  # Ensure GI_TYPELIB_PATH includes NetworkManager typelib
+  environment.sessionVariables.GI_TYPELIB_PATH = lib.makeSearchPath "lib/girepository-1.0" [
+    pkgs.networkmanager
+    pkgs.glib
+  ];
+
+  # Add libcamera Python bindings to PYTHONPATH (for picamera2)
+  environment.sessionVariables.PYTHONPATH = "${pkgs.libcamera}/lib/python3.13/site-packages";
+
+  # Export the Python environment for use by services.nix
+  _module.args.pifinderPythonEnv = env;
+}
diff --git a/nixos/services.nix b/nixos/services.nix
new file mode 100644
index 000000000..b8f65126d
--- /dev/null
+++ b/nixos/services.nix
@@ -0,0 +1,587 @@
+{ config, lib, pkgs, pifinderPythonEnv, pifinderGitRev, ... }:
+let
+  cfg = config.pifinder;
+  cedar-detect = import ./pkgs/cedar-detect.nix { inherit pkgs; };
+  pifinder-src = import ./pkgs/pifinder-src.nix { inherit pkgs; gitRev = pifinderGitRev; };
+  boot-splash = import ./pkgs/boot-splash.nix { inherit pkgs; };
+  pifinder-switch-camera = pkgs.writeShellScriptBin "pifinder-switch-camera" ''
+    CAM="$1"
+    PERSIST="/var/lib/pifinder/camera-type"
+    mkdir -p /var/lib/pifinder
+
+    SPEC="/run/current-system/specialisation/$CAM"
+    if [ "$CAM" = "${cfg.cameraType}" ]; then
+      /run/current-system/bin/switch-to-configuration boot
+    elif [ -d "$SPEC" ]; then
+      "$SPEC/bin/switch-to-configuration" boot
+    else
+      echo "Unknown camera: $CAM" >&2; exit 1
+    fi
+    echo "$CAM" > "$PERSIST"
+  '';
+in {
+  options.pifinder = {
+    devMode = lib.mkOption {
+      type = lib.types.bool;
+      default = false;
+      description = "Enable development mode (NFS netboot support, etc.)";
+    };
+  };
+
+  config = {
+  # ---------------------------------------------------------------------------
+  # Camera switch wrapper (used by pifinder UI via sudo)
+  # ---------------------------------------------------------------------------
+  environment.systemPackages = with pkgs; [
+    pifinder-switch-camera
+
+    # Diagnostic tools for SSH troubleshooting
+    htop
+    vim
+    tcpdump
+    iftop
+    lsof
+    strace
+    file
+    dnsutils        # dig, nslookup
+    curl
+    usbutils        # lsusb
+    pciutils        # lspci
+    i2c-tools       # i2cdetect (sensor debugging)
+    iotop
+  ];
+
+
+
+  # ---------------------------------------------------------------------------
+  # Cachix binary substituter — Pi downloads pre-built paths, never compiles
+  # ---------------------------------------------------------------------------
+  nix.settings = {
+    experimental-features = [ "nix-command" "flakes" ];
+    substituters = [
+      "https://cache.nixos.org"
+      "https://pifinder.cachix.org"
+    ];
+    trusted-public-keys = [
+      "cache.nixos.org-1:6NCHdD59X431o0gWypbMrAURkbJ16ZPMQFGspcDShjY="
+      "pifinder.cachix.org-1:ALuxYs8tMU34zwSTWjenI2wpJA+AclmW6H5vyTgnTjc="
+    ];
+  };
+
+  # ---------------------------------------------------------------------------
+  # SD card optimizations
+  # ---------------------------------------------------------------------------
+
+  # Keep 2 generations max in bootloader
+  boot.loader.generic-extlinux-compatible.configurationLimit = 2;
+
+  nix.gc = {
+    automatic = true;
+    dates = "weekly";
+    options = "--delete-older-than 3d";
+  };
+  # Disable store optimization on NFS (hard links cause issues)
+  nix.settings.auto-optimise-store = !cfg.devMode;
+
+  boot.tmp.useTmpfs = true;
+  boot.tmp.tmpfsSize = "200M";
+
+  services.journald.extraConfig = ''
+    Storage=volatile
+    RuntimeMaxUse=50M
+  '';
+
+  zramSwap = {
+    enable = true;
+    memoryPercent = 50;
+  };
+
+  fileSystems."/" = lib.mkDefault {
+    device = "/dev/disk/by-label/NIXOS_SD";
+    fsType = "ext4";
+    options = [ "noatime" "nodiratime" ];
+  };
+
+  # ---------------------------------------------------------------------------
+  # Tmpfiles — runtime directory for upgrade ref file
+  # ---------------------------------------------------------------------------
+  systemd.tmpfiles.rules = [
+    "d /run/pifinder 0755 pifinder users -"
+  ];
+
+  # ---------------------------------------------------------------------------
+  # PWM permissions setup for keypad backlight
+  # ---------------------------------------------------------------------------
+  systemd.services.pwm-permissions = {
+    description = "Set PWM sysfs permissions for pifinder";
+    wantedBy = [ "multi-user.target" ];
+    serviceConfig = {
+      Type = "oneshot";
+      RemainAfterExit = true;
+    };
+    script = ''
+      # Export PWM channel 1 (GPIO 13) if not already exported
+      if [ ! -d /sys/class/pwm/pwmchip0/pwm1 ]; then
+        echo 1 > /sys/class/pwm/pwmchip0/export || true
+        sleep 0.5
+      fi
+      # sysfs doesn't support chgrp, so make files world-writable
+      chmod 0666 /sys/class/pwm/pwmchip0/export /sys/class/pwm/pwmchip0/unexport
+      if [ -d /sys/class/pwm/pwmchip0/pwm1 ]; then
+        chmod 0666 /sys/class/pwm/pwmchip0/pwm1/{enable,period,duty_cycle,polarity}
+      fi
+    '';
+  };
+
+  # ---------------------------------------------------------------------------
+  # Nix DB registration (first boot after migration)
+  # ---------------------------------------------------------------------------
+  # The migration tarball includes /nix-path-registration with store path data.
+  # Load it into the Nix DB so nix-store and nixos-rebuild work correctly.
+  systemd.services.nix-path-registration = {
+    description = "Load Nix store path registration from migration";
+    after = [ "local-fs.target" ];
+    before = [ "nix-daemon.service" ];
+    wantedBy = [ "multi-user.target" ];
+    unitConfig.ConditionPathExists = "/nix-path-registration";
+    serviceConfig = {
+      Type = "oneshot";
+      RemainAfterExit = true;
+    };
+    path = with pkgs; [ nix coreutils ];
+    script = ''
+      nix-store --load-db < /nix-path-registration
+      rm /nix-path-registration
+    '';
+  };
+
+  # ---------------------------------------------------------------------------
+  # PiFinder source + data directory setup
+  # ---------------------------------------------------------------------------
+  system.activationScripts.pifinder-home = lib.stringAfter [ "users" ] ''
+    # Create writable data directory
+    mkdir -p /home/pifinder/PiFinder_data
+    chown pifinder:users /home/pifinder/PiFinder_data
+
+    # Symlink immutable source tree from Nix store
+    # Database is opened read-only, so no need for writable copy
+    PFHOME=/home/pifinder/PiFinder
+
+    # Remove existing directory (not symlink) to allow symlink creation
+    if [ -e "$PFHOME" ] && [ ! -L "$PFHOME" ]; then
+      rm -rf "$PFHOME"
+    fi
+
+    # Create symlink to immutable Nix store path
+    ln -sfT ${pifinder-src} "$PFHOME"
+  '';
+
+  # ---------------------------------------------------------------------------
+  # Sudoers — pifinder user can start upgrade and restart services
+  # ---------------------------------------------------------------------------
+  # Polkit rules for pifinder user (D-Bus hostname changes, NetworkManager)
+  security.polkit.extraConfig = ''
+    polkit.addRule(function(action, subject) {
+      if (subject.user == "pifinder") {
+        // Allow hostname changes via systemd-hostnamed
+        if (action.id == "org.freedesktop.hostname1.set-static-hostname" ||
+            action.id == "org.freedesktop.hostname1.set-hostname") {
+          return polkit.Result.YES;
+        }
+        // Allow NetworkManager control
+        if (action.id.indexOf("org.freedesktop.NetworkManager") == 0) {
+          return polkit.Result.YES;
+        }
+        // Allow reboot/shutdown via D-Bus (logind)
+        if (action.id == "org.freedesktop.login1.reboot" ||
+            action.id == "org.freedesktop.login1.reboot-multiple-sessions" ||
+            action.id == "org.freedesktop.login1.power-off" ||
+            action.id == "org.freedesktop.login1.power-off-multiple-sessions") {
+          return polkit.Result.YES;
+        }
+      }
+    });
+  '';
+
+  security.sudo.extraRules = [{
+    users = [ "pifinder" ];
+    commands = [
+      { command = "/run/current-system/sw/bin/systemctl start --no-block pifinder-upgrade.service"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/systemctl start pifinder-upgrade.service"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/systemctl reset-failed pifinder-upgrade.service"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/systemctl restart pifinder.service"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/systemctl stop pifinder.service"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/systemctl start pifinder.service"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/systemctl restart avahi-daemon.service"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/avahi-set-host-name *"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/shutdown *"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/chpasswd"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/dmesg"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/hostnamectl *"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/hostname *"; options = [ "NOPASSWD" ]; }
+      { command = "/run/current-system/sw/bin/pifinder-switch-camera *"; options = [ "NOPASSWD" ]; }
+    ];
+  }];
+
+  # ---------------------------------------------------------------------------
+  # Cedar Detect star detection gRPC server
+  # ---------------------------------------------------------------------------
+  systemd.services.cedar-detect = {
+    description = "Cedar Detect Star Detection Server";
+    after = [ "basic.target" ];
+    wantedBy = [ "multi-user.target" ];
+    serviceConfig = {
+      Type = "idle";
+      User = "pifinder";
+      ExecStart = "${cedar-detect}/bin/cedar-detect-server --port 50551";
+      Restart = "on-failure";
+      RestartSec = 5;
+    };
+  };
+
+  # ---------------------------------------------------------------------------
+  # Early boot splash — show static welcome image, pifinder overwrites when ready
+  # ---------------------------------------------------------------------------
+  systemd.services.boot-splash = {
+    description = "Early boot splash screen";
+    wantedBy = [ "sysinit.target" ];
+    after = [ "systemd-modules-load.service" ];
+    wants = [ "systemd-modules-load.service" ];
+    unitConfig.DefaultDependencies = false;
+    serviceConfig = {
+      Type = "oneshot";
+      ExecStart = pkgs.writeShellScript "boot-splash-wait" ''
+        for i in $(seq 1 40); do
+          [ -e /dev/spidev0.0 ] && exec ${boot-splash}/bin/boot-splash --static
+          sleep 0.25
+        done
+        echo "SPI device never appeared" >&2
+        exit 1
+      '';
+    };
+  };
+
+  # ---------------------------------------------------------------------------
+  # Main PiFinder application
+  # ---------------------------------------------------------------------------
+  systemd.services.pifinder = {
+    description = "PiFinder";
+    after = [ "basic.target" "cedar-detect.service" "gpsd.socket" ];
+    wants = [ "cedar-detect.service" "gpsd.socket" ];
+    wantedBy = [ "multi-user.target" ];
+    path = let
+      # Runtime paths not in the nix store — symlinks resolve at boot, not build time
+      wrapperBins = pkgs.runCommand "wrapper-bins" {} ''
+        mkdir -p $out
+        ln -s /run/wrappers/bin $out/bin
+      '';
+      systemBins = pkgs.runCommand "system-bins" {} ''
+        mkdir -p $out
+        ln -s /run/current-system/sw/bin $out/bin
+      '';
+    in [ wrapperBins systemBins pkgs.gpsd ];
+    environment = {
+      PIFINDER_HOME = "/home/pifinder/PiFinder";
+      PIFINDER_DATA = "/home/pifinder/PiFinder_data";
+      GI_TYPELIB_PATH = lib.makeSearchPath "lib/girepository-1.0" [
+        pkgs.networkmanager
+        pkgs.glib.out  # Use .out to get the main package with typelibs, not glib-bin
+        pkgs.gobject-introspection
+      ];
+      # libcamera Python bindings for picamera2
+      PYTHONPATH = "${pkgs.libcamera}/lib/python3.13/site-packages";
+      # libcamera IPA modules path
+      LIBCAMERA_IPA_MODULE_PATH = "${pkgs.libcamera}/lib/libcamera";
+    };
+    serviceConfig = {
+      Type = "simple";
+      User = "pifinder";
+      Group = "users";
+      WorkingDirectory = "/home/pifinder/PiFinder/python";
+      ExecStart = "${pifinderPythonEnv}/bin/python -m PiFinder.main";
+      # Allow binding to privileged ports (80 for web UI)
+      AmbientCapabilities = "CAP_NET_BIND_SERVICE";
+      Restart = "on-failure";
+      RestartSec = 5;
+    };
+  };
+
+  # ---------------------------------------------------------------------------
+  # PiFinder NixOS Upgrade
+  # ---------------------------------------------------------------------------
+  # Downloads from binary caches, sets profile, updates bootloader, reboots.
+  # No live switch-to-configuration — avoids killing running services.
+  # The pifinder-watchdog handles rollback if the new generation fails to boot.
+  systemd.services.pifinder-upgrade = {
+    description = "PiFinder NixOS Upgrade";
+    serviceConfig = {
+      Type = "oneshot";
+      RemainAfterExit = true;
+      TimeoutStartSec = "10min";
+    };
+    path = with pkgs; [ nix systemd coreutils ];
+    script = ''
+      set -euo pipefail
+      STORE_PATH=$(cat /run/pifinder/upgrade-ref 2>/dev/null || true)
+      if [ -z "$STORE_PATH" ] || [[ "$STORE_PATH" != /nix/store/* ]]; then
+        echo "ERROR: Invalid store path: $STORE_PATH"
+        exit 1
+      fi
+
+      STATUS_FILE=/run/pifinder/upgrade-status
+
+      # Pre-flight: check disk space (need at least 500MB)
+      AVAIL=$(df --output=avail /nix/store | tail -1)
+      if [ "$AVAIL" -lt 524288 ]; then
+        echo "ERROR: Less than 500MB free on /nix/store"
+        echo "failed" > "$STATUS_FILE"
+        exit 1
+      fi
+
+      echo "Upgrading to $STORE_PATH"
+
+      # Count paths to download for progress reporting
+      DRY_RUN=$(nix build "$STORE_PATH" --max-jobs 0 --dry-run 2>&1 || true)
+      PATHS_FILE=$(mktemp)
+      echo "$DRY_RUN" | grep '^\s*/nix/store/' | sed 's/^\s*//' > "$PATHS_FILE" || true
+      TOTAL=$(wc -l < "$PATHS_FILE")
+
+      echo "downloading 0/$TOTAL" > "$STATUS_FILE"
+
+      # Download with progress monitoring
+      nix build "$STORE_PATH" --max-jobs 0 &
+      BUILD_PID=$!
+
+      while kill -0 "$BUILD_PID" 2>/dev/null; do
+        DONE=0
+        while IFS= read -r p; do
+          [ -n "$p" ] && [ -e "$p" ] && DONE=$((DONE + 1))
+        done < "$PATHS_FILE"
+        echo "downloading $DONE/$TOTAL" > "$STATUS_FILE"
+        sleep 2
+      done
+
+      if ! wait "$BUILD_PID"; then
+        echo "failed" > "$STATUS_FILE"
+        rm -f "$PATHS_FILE"
+        exit 1
+      fi
+      rm -f "$PATHS_FILE"
+      echo "downloading $TOTAL/$TOTAL" > "$STATUS_FILE"
+
+      echo "activating" > "$STATUS_FILE"
+
+      nix-env -p /nix/var/nix/profiles/system --set "$STORE_PATH"
+
+      # Restore camera specialisation if not default
+      CAM=$(cat /var/lib/pifinder/camera-type 2>/dev/null || echo "${cfg.cameraType}")
+      if [ "$CAM" != "${cfg.cameraType}" ]; then
+        SPEC="$STORE_PATH/specialisation/$CAM"
+        if [ -d "$SPEC" ]; then
+          echo "Setting boot to camera specialisation: $CAM"
+          "$SPEC/bin/switch-to-configuration" boot
+        else
+          "$STORE_PATH/bin/switch-to-configuration" boot
+        fi
+      else
+        "$STORE_PATH/bin/switch-to-configuration" boot
+      fi
+
+      echo "rebooting" > "$STATUS_FILE"
+
+      # Cleanup old generations before reboot
+      nix-env --delete-generations +2 -p /nix/var/nix/profiles/system || true
+      nix-collect-garbage || true
+
+      echo "Rebooting into new generation..."
+      systemctl reboot
+    '';
+  };
+
+  # ---------------------------------------------------------------------------
+  # PiFinder Boot Health Watchdog
+  # ---------------------------------------------------------------------------
+  systemd.services.pifinder-watchdog = {
+    description = "PiFinder Boot Health Watchdog";
+    after = [ "multi-user.target" "pifinder.service" ];
+    wantedBy = [ "multi-user.target" ];
+    serviceConfig = {
+      Type = "oneshot";
+      RemainAfterExit = true;
+    };
+    path = with pkgs; [ nix systemd coreutils ];
+    script = ''
+      set -euo pipefail
+      REBOOT_MARKER="/var/tmp/pifinder-watchdog-rebooted"
+
+      if [ -f "$REBOOT_MARKER" ]; then
+        echo "Watchdog already rebooted once. Not retrying."
+        rm -f "$REBOOT_MARKER"
+        exit 0
+      fi
+
+      echo "Watchdog: waiting up to 120s for pifinder.service..."
+      for i in $(seq 1 24); do
+        if systemctl is-active --quiet pifinder.service; then
+          # Verify it stays running (not crash-looping)
+          UPTIME=$(systemctl show pifinder.service --property=ExecMainStartTimestamp --value)
+          START_EPOCH=$(date -d "$UPTIME" +%s 2>/dev/null || echo 0)
+          NOW_EPOCH=$(date +%s)
+          RUNNING_FOR=$((NOW_EPOCH - START_EPOCH))
+          if [ "$RUNNING_FOR" -ge 15 ]; then
+            echo "pifinder.service healthy (running ''${RUNNING_FOR}s)"
+            exit 0
+          fi
+        fi
+        sleep 5
+      done
+
+      echo "ERROR: pifinder.service failed. Rolling back..."
+      touch "$REBOOT_MARKER"
+      PREV_GEN=$(ls -d /nix/var/nix/profiles/system-*-link 2>/dev/null | sort -t- -k2 -n | tail -2 | head -1)
+      if [ -n "$PREV_GEN" ]; then
+        # Reset profile so the rolled-back generation becomes the current one
+        nix-env -p /nix/var/nix/profiles/system --set "$(readlink -f "$PREV_GEN")"
+        "$PREV_GEN/bin/switch-to-configuration" switch || true
+      fi
+      systemctl reboot
+    '';
+  };
+
+  # ---------------------------------------------------------------------------
+  # GPSD for GPS receiver - full USB hotplug support
+  # ---------------------------------------------------------------------------
+  # Don't use services.gpsd module - it doesn't support hotplug.
+  # Instead, use gpsd's own systemd units with socket activation.
+
+  # Install gpsd's udev rules (25-gpsd.rules) for USB GPS auto-detection
+  # Includes u-blox 5/6/7/8/9 and many other GPS receivers
+  services.udev.packages = [ pkgs.gpsd ];
+
+  # Install gpsd's systemd units (gpsd.service, gpsd.socket, gpsdctl@.service)
+  systemd.packages = [ pkgs.gpsd ];
+
+  # Enable socket activation - gpsd starts when something connects to port 2947
+  systemd.sockets.gpsd = {
+    wantedBy = [ "sockets.target" ];
+  };
+
+  # Configure USBAUTO for gpsdctl (triggered by udev when USB GPS plugs in)
+  environment.etc."default/gpsd".text = ''
+    USBAUTO="true"
+    GPSD_SOCKET="/var/run/gpsd.sock"
+  '';
+
+  # Ensure gpsd user/group exist (normally created by services.gpsd module)
+  users.users.gpsd = {
+    isSystemUser = true;
+    group = "gpsd";
+    description = "GPSD daemon user";
+  };
+  users.groups.gpsd = {};
+
+  # Add UART GPS on boot (ttyAMA3 from uart3 overlay, not auto-detected by udev)
+  # This runs after gpsd.socket is ready, adding the UART device to gpsd
+  systemd.services.gpsd-add-uart = {
+    description = "Add UART GPS to gpsd";
+    after = [ "gpsd.socket" "dev-ttyAMA3.device" ];
+    requires = [ "gpsd.socket" ];
+    wantedBy = [ "multi-user.target" ];
+    # BindsTo ensures this stops if ttyAMA3 disappears (though it shouldn't)
+    bindsTo = [ "dev-ttyAMA3.device" ];
+    serviceConfig = {
+      Type = "oneshot";
+      RemainAfterExit = true;
+      ExecStart = "${pkgs.gpsd}/sbin/gpsdctl add /dev/ttyAMA3";
+      ExecStop = "${pkgs.gpsd}/sbin/gpsdctl remove /dev/ttyAMA3";
+    };
+  };
+
+  # ---------------------------------------------------------------------------
+  # PAM service for PiFinder web UI password verification
+  # ---------------------------------------------------------------------------
+  security.pam.services.pifinder = {
+    # Auth-only: no account/session management (avoids setuid and pam_lastlog2 errors)
+    allowNullPassword = false;
+    unixAuth = true;
+    setLoginUid = false;
+    updateWtmp = false;
+  };
+
+  # ---------------------------------------------------------------------------
+  # Samba for file sharing (observation data, backups)
+  # ---------------------------------------------------------------------------
+  system.stateVersion = "24.11";
+
+  # ---------------------------------------------------------------------------
+  # SSH access
+  # ---------------------------------------------------------------------------
+  services.openssh = {
+    enable = true;
+    settings = {
+      PasswordAuthentication = true;
+      PermitRootLogin = "yes";
+    };
+  };
+
+  # ---------------------------------------------------------------------------
+  # Avahi/mDNS for hostname discovery (pifinder.local)
+  # ---------------------------------------------------------------------------
+  services.avahi = {
+    enable = true;
+    nssmdns4 = true;
+    publish = {
+      enable = true;
+      addresses = true;
+      domain = true;
+      workstation = true;
+    };
+  };
+
+  # Clean stale PID file so avahi restarts cleanly during switch-to-configuration
+  systemd.services.avahi-daemon.serviceConfig.ExecStartPre =
+    "${pkgs.coreutils}/bin/rm -f /run/avahi-daemon/pid";
+
+  # Apply user-chosen hostname from PiFinder_data (survives NixOS rebuilds)
+  systemd.services.pifinder-hostname = {
+    description = "Apply PiFinder custom hostname";
+    after = [ "avahi-daemon.service" ];
+    wants = [ "avahi-daemon.service" ];
+    wantedBy = [ "multi-user.target" ];
+    serviceConfig = {
+      Type = "oneshot";
+      RemainAfterExit = true;
+      ExecStart = pkgs.writeShellScript "apply-hostname" ''
+        f=/home/pifinder/PiFinder_data/hostname
+        [ -f "$f" ] || exit 0
+        name=$(cat "$f")
+        [ -n "$name" ] || exit 0
+        /run/current-system/sw/bin/hostname "$name"
+        /run/current-system/sw/bin/avahi-set-host-name "$name" || \
+          /run/current-system/sw/bin/systemctl restart avahi-daemon.service
+      '';
+    };
+  };
+
+  # Don't block boot waiting for network — NM still works, just async
+  systemd.services.NetworkManager-wait-online.enable = false;
+
+  services.samba = {
+    enable = true;
+    openFirewall = true;
+    settings = {
+      global = {
+        workgroup = "WORKGROUP";
+        security = "user";
+        "map to guest" = "never";
+      };
+      PiFinder_data = {
+        path = "/home/pifinder/PiFinder_data";
+        browseable = "yes";
+        "read only" = "no";
+        "valid users" = "pifinder";
+      };
+    };
+  };
+  }; # config
+}
diff --git a/pifinder-build.json b/pifinder-build.json
new file mode 100644
index 000000000..5c8fb0e08
--- /dev/null
+++ b/pifinder-build.json
@@ -0,0 +1,4 @@
+{
+  "store_path": "/nix/store/v3xq11spf624a8f4i7jby2fwyamq5kz0-nixos-system-pifinder-25.11.20260209.2db38e0",
+  "version": "deepchart-nixos-b1e1e11"
+}
diff --git a/python/DEPENDENCIES.md b/python/DEPENDENCIES.md
new file mode 100644
index 000000000..4cd998f32
--- /dev/null
+++ b/python/DEPENDENCIES.md
@@ -0,0 +1,105 @@
+> **Auto-generated** from the Nix development shell on 2026-02-13.
+> Do not edit manually — regenerate with:
+> ```
+> nix develop --command ./scripts/generate-dependencies-md.sh
+> ```
+
+> **Note:** These dependencies are managed by Nix (`nixos/pkgs/python-packages.nix`).
+> The versions listed here reflect the nixpkgs pin used by the flake and are
+> **not necessarily installable via pip**. Some packages require system libraries
+> or hardware (SPI, I2C, GPIO) only available on the Raspberry Pi.
+
+# Python Dependencies
+
+Python 3.13.11
+
+## Runtime
+
+| Package | Version |
+|---------|---------|
+| aiofiles | 24.1.0 |
+| attrs | 25.3.0 |
+| av | 16.0.1 |
+| bottle | 0.13.4 |
+| cbor2 | 5.7.0 |
+| certifi | 2025.7.14 |
+| cffi | 2.0.0 |
+| charset-normalizer | 3.4.3 |
+| cheroot | 10.0.1 |
+| dataclasses-json | 0.6.7 |
+| dbus-python | 1.4.0 |
+| Deprecated | 1.2.18 |
+| evdev | 1.9.2 |
+| flatbuffers | 25.9.23 |
+| gpsdclient | 1.3.2 |
+| grpcio | 1.76.0 |
+| h3 | 4.3.1 |
+| idna | 3.11 |
+| jaraco.functools | 4.2.1 |
+| joblib | 1.5.1 |
+| jplephem | 2.23 |
+| json5 | 0.12.0 |
+| jsonpath-ng | 1.7.0 |
+| jsonschema | 4.25.0 |
+| jsonschema-specifications | 2025.4.1 |
+| libarchive-c | 5.3 |
+| luma.core | 2.4.2 |
+| luma.lcd | 2.11.0 |
+| luma.oled | 3.13.0 |
+| lz4 | 4.4.4 |
+| marshmallow | 3.26.2 |
+| more-itertools | 10.7.0 |
+| numpy | 2.3.4 |
+| pandas | 2.3.1 |
+| pillow | 12.1.0 |
+| ply | 3.11 |
+| protobuf | 6.33.1 |
+| psutil | 7.1.2 |
+| pycairo | 1.28.0 |
+| pycparser | 2.23 |
+| pydeepskylog | 1.6 |
+| pyftdi | 0.57.1 |
+| Pygments | 2.19.2 |
+| PyGObject | 3.54.5 |
+| PyJWT | 2.10.1 |
+| pyserial | 3.5 |
+| python-dateutil | 2.9.0.post0 |
+| python-libinput | 0.3.0a0 |
+| python-pam | 2.0.2 |
+| pytz | 2025.2 |
+| pyusb | 1.3.1 |
+| referencing | 0.36.2 |
+| requests | 2.32.5 |
+| rpds-py | 0.25.0 |
+| scikit-learn | 1.7.1 |
+| scipy | 1.16.3 |
+| sgp4 | 2.25 |
+| sh | 1.14.3 |
+| six | 1.17.0 |
+| skyfield | 1.53 |
+| smbus2 | 0.5.0 |
+| spidev | 3.8 |
+| threadpoolctl | 3.6.0 |
+| timezonefinder | 8.1.0 |
+| tqdm | 4.67.1 |
+| typing_extensions | 4.15.0 |
+| typing_inspect | 0.9.0 |
+| tzdata | 2025.2 |
+| urllib3 | 2.5.0 |
+| wrapt | 1.17.2 |
+
+## Development only
+
+| Package | Version |
+|---------|---------|
+| iniconfig | 2.1.0 |
+| luma.emulator | 1.5.0 |
+| mypy | 1.17.1 |
+| mypy_extensions | 1.1.0 |
+| pathspec | 0.12.1 |
+| pluggy | 1.6.0 |
+| pygame | 2.6.1 |
+| PyHotKey | 1.5.2 |
+| pynput | 1.8.1 |
+| pytest | 8.4.2 |
+| python-xlib | 0.33 |
diff --git a/python/PiFinder/audit_images.py b/python/PiFinder/audit_images.py
index ef37fdb70..1e67742ea 100644
--- a/python/PiFinder/audit_images.py
+++ b/python/PiFinder/audit_images.py
@@ -6,11 +6,12 @@
 images from AWS
 """
 
-import requests
 import sqlite3
+
+import requests
 from tqdm import tqdm
 
-from PiFinder import cat_images
+from PiFinder.object_images.poss_provider import POSSImageProvider
 
 
 def get_catalog_objects():
@@ -44,8 +45,8 @@ def check_object_image(catalog_object):
         aka_rec = conn.execute(
             f"""
             SELECT common_name from names
-            where catalog = "{catalog_object['catalog']}"
-            and sequence = "{catalog_object['sequence']}"
+            where catalog = "{catalog_object["catalog"]}"
+            and sequence = "{catalog_object["sequence"]}"
             and common_name like "NGC%"
         """
         ).fetchone()
@@ -59,7 +60,7 @@ def check_object_image(catalog_object):
             if aka_sequence:
                 catalog_object = {"catalog": "NGC", "sequence": aka_sequence}
 
-    object_image_path = cat_images.resolve_image_name(catalog_object, "POSS")
+    object_image_path = POSSImageProvider()._resolve_image_name(catalog_object, "POSS")
     # POSS
     image_name = object_image_path.split("/")[-1]
     seq_ones = image_name.split("_")[0][-1]
diff --git a/python/PiFinder/auto_exposure.py b/python/PiFinder/auto_exposure.py
index ea6d05afc..6c45084ba 100644
--- a/python/PiFinder/auto_exposure.py
+++ b/python/PiFinder/auto_exposure.py
@@ -121,10 +121,10 @@ def __init__(
         self._repeat_count = 0
 
         # Sweep pattern: exposure values in microseconds
-        # Uses doubling pattern (2x each step)
+        # Start at 400ms (reasonable middle), sweep up, then try shorter exposures
         # Note: This is intentionally NOT using generate_exposure_sweep() because
-        # it uses a specific doubling pattern
-        self._exposures = [25000, 50000, 100000, 200000, 400000, 800000, 1000000]
+        # it uses a specific pattern optimized for recovery
+        self._exposures = [400000, 800000, 1000000, 200000, 100000, 50000, 25000]
         self._repeats_per_exposure = 2  # Try each exposure 2 times
 
         logger.info(
@@ -534,7 +534,7 @@ def handle(
             self._sweep_results = []
             logger.debug(
                 f"Histogram handler activated: starting {self._sweep_steps}-step histogram sweep "
-                f"from {self._sweep_exposures[0]/1000:.1f}ms to {self._sweep_exposures[-1]/1000:.1f}ms"
+                f"from {self._sweep_exposures[0] / 1000:.1f}ms to {self._sweep_exposures[-1] / 1000:.1f}ms"
             )
             return self._sweep_exposures[0]
 
@@ -548,7 +548,7 @@ def handle(
             self._sweep_results.append((sweep_exposure, viable, metrics))
 
             logger.debug(
-                f"Histogram analysis for {sweep_exposure/1000:.1f}ms: "
+                f"Histogram analysis for {sweep_exposure / 1000:.1f}ms: "
                 f"viable={'YES' if viable else 'NO'}, "
                 f"mean={metrics['mean']:.1f}, std={metrics['std']:.1f}, sat={metrics['saturation_pct']:.1f}%"
             )
@@ -556,8 +556,8 @@ def handle(
             # Track viable exposures but continue sweep to find best option
             if viable:
                 logger.debug(
-                    f"Histogram handler: found viable exposure {sweep_exposure/1000:.1f}ms "
-                    f"(step {self._sweep_index+1}/{self._sweep_steps}), continuing sweep"
+                    f"Histogram handler: found viable exposure {sweep_exposure / 1000:.1f}ms "
+                    f"(step {self._sweep_index + 1}/{self._sweep_steps}), continuing sweep"
                 )
 
         # If we've completed the sweep, settle on target exposure
@@ -574,14 +574,14 @@ def handle(
                         # Use highest viable exposure for best star detection
                         self._target_exposure = max(viable_exposures)
                         logger.debug(
-                            f"Histogram handler: settling on highest viable exposure {self._target_exposure/1000:.1f}ms"
+                            f"Histogram handler: settling on highest viable exposure {self._target_exposure / 1000:.1f}ms"
                         )
                     else:
                         # No viable exposures - use highest from sweep
                         highest_exp = self._sweep_results[-1][0]
                         self._target_exposure = highest_exp
                         logger.debug(
-                            f"Histogram handler: no viable exposure found, using highest {highest_exp/1000:.1f}ms"
+                            f"Histogram handler: no viable exposure found, using highest {highest_exp / 1000:.1f}ms"
                         )
                 else:
                     # Fallback to middle exposure
@@ -589,7 +589,7 @@ def handle(
                     middle_exp = self._sweep_exposures[middle_idx]
                     self._target_exposure = middle_exp
                     logger.debug(
-                        f"Histogram handler: no analysis data, using middle {middle_exp/1000:.1f}ms"
+                        f"Histogram handler: no analysis data, using middle {middle_exp / 1000:.1f}ms"
                     )
 
             # Hold at target
@@ -602,7 +602,7 @@ def handle(
         if self._sweep_index < len(self._sweep_exposures):
             next_exp = self._sweep_exposures[self._sweep_index]
             logger.debug(
-                f"Histogram handler: sweep step {self._sweep_index+1}/{self._sweep_steps} → {next_exp/1000:.1f}ms"
+                f"Histogram handler: sweep step {self._sweep_index + 1}/{self._sweep_steps} → {next_exp / 1000:.1f}ms"
             )
             return next_exp
         else:
@@ -619,6 +619,183 @@ def reset(self) -> None:
         logger.debug("HistogramZeroStarHandler reset")
 
 
+class ExposureSNRController:
+    """
+    SNR-based auto exposure for SQM measurements.
+
+    Targets a minimum background SNR and exposure time instead of star count.
+    This provides more stable, longer exposures that are better for accurate
+    SQM measurements compared to the histogram-based approach.
+
+    Strategy:
+    - Target specific background level above noise floor
+    - Derive thresholds from camera profile (bit depth, bias offset)
+    - Slower adjustments for stability
+    """
+
+    def __init__(
+        self,
+        min_exposure: int = 10000,  # 10ms minimum
+        max_exposure: int = 1000000,  # 1.0s maximum
+        target_background: int = 30,  # Target background level in ADU
+        min_background: int = 15,  # Minimum acceptable background
+        max_background: int = 100,  # Maximum before saturating
+        adjustment_factor: float = 1.3,  # Gentle adjustments (30% steps)
+    ):
+        """
+        Initialize SNR-based auto exposure.
+
+        Args:
+            min_exposure: Minimum exposure in microseconds (default 10ms)
+            max_exposure: Maximum exposure in microseconds (default 1000ms)
+            target_background: Target median background level in ADU
+            min_background: Minimum acceptable background (increase if below)
+            max_background: Maximum acceptable background (decrease if above)
+            adjustment_factor: Multiplicative adjustment step (default 1.3 = 30%)
+        """
+        self.min_exposure = min_exposure
+        self.max_exposure = max_exposure
+        self.target_background = target_background
+        self.min_background = min_background
+        self.max_background = max_background
+        self.adjustment_factor = adjustment_factor
+
+        logger.info(
+            f"AutoExposure SNR: target_bg={target_background}, "
+            f"range=[{min_background}, {max_background}] ADU, "
+            f"exp_range=[{min_exposure / 1000:.0f}, {max_exposure / 1000:.0f}]ms, "
+            f"adjustment={adjustment_factor}x"
+        )
+
+    @classmethod
+    def from_camera_profile(
+        cls,
+        camera_type: str,
+        min_exposure: int = 10000,
+        max_exposure: int = 1000000,
+        adjustment_factor: float = 1.3,
+    ) -> "ExposureSNRController":
+        """
+        Create controller with thresholds derived from camera profile.
+
+        Calculates min/target/max background based on bit depth and bias offset.
+
+        Args:
+            camera_type: Camera type (e.g., "imx296_processed", "imx462_processed")
+            min_exposure: Minimum exposure in microseconds
+            max_exposure: Maximum exposure in microseconds
+            adjustment_factor: Multiplicative adjustment step
+
+        Returns:
+            ExposureSNRController configured for the camera
+        """
+        from PiFinder.sqm.camera_profiles import get_camera_profile
+
+        profile = get_camera_profile(camera_type)
+
+        # Derive thresholds from camera specs
+        max_adu = (2**profile.bit_depth) - 1
+        bias = profile.bias_offset
+
+        # min_background: bias + margin (2x bias or bias + 8, whichever larger)
+        min_background = int(max(bias * 2, bias + 8))
+
+        # max_background: ~40% of full range (avoid saturation/nonlinearity)
+        max_background = int(max_adu * 0.4)
+
+        # target_background: just above min (lower = shorter exposure = more linear response)
+        target_background = min_background + 2
+
+        logger.info(
+            f"SNR controller from {camera_type}: "
+            f"bit_depth={profile.bit_depth}, bias={bias:.0f}, "
+            f"thresholds=[{min_background}, {target_background}, {max_background}]"
+        )
+
+        return cls(
+            min_exposure=min_exposure,
+            max_exposure=max_exposure,
+            target_background=target_background,
+            min_background=min_background,
+            max_background=max_background,
+            adjustment_factor=adjustment_factor,
+        )
+
+    def update(
+        self,
+        current_exposure: int,
+        image: Image.Image,
+        noise_floor: Optional[float] = None,
+        **kwargs,  # Ignore other params (matched_stars, etc.)
+    ) -> Optional[int]:
+        """
+        Update exposure based on background level.
+
+        Args:
+            current_exposure: Current exposure in microseconds
+            image: Current image for analysis
+            noise_floor: Adaptive noise floor from SQM calculator (if available)
+            **kwargs: Ignored (for compatibility with PID interface)
+
+        Returns:
+            New exposure in microseconds, or None if no change needed
+        """
+        # Use adaptive noise floor if available, otherwise fall back to static config
+        # Need margin above noise floor so background_corrected isn't near zero
+        if noise_floor is not None:
+            min_bg = noise_floor + 2
+        else:
+            min_bg = self.min_background
+
+        # Analyze image
+        if image.mode != "L":
+            image = image.convert("L")
+        img_array = np.asarray(image, dtype=np.float32)
+
+        # Use 10th percentile as background estimate (dark pixels)
+        background = float(np.percentile(img_array, 10))
+
+        logger.debug(
+            f"SNR AE: bg={background:.1f}, min={min_bg:.1f} ADU, exp={current_exposure / 1000:.0f}ms"
+        )
+
+        # Determine adjustment
+        new_exposure = None
+
+        if background < min_bg:
+            # Too dark - increase exposure
+            new_exposure = int(current_exposure * self.adjustment_factor)
+            logger.info(
+                f"SNR AE: Background too low ({background:.1f} < {min_bg:.1f}), "
+                f"increasing exposure {current_exposure / 1000:.0f}ms → {new_exposure / 1000:.0f}ms"
+            )
+        elif background > self.max_background:
+            # Too bright - decrease exposure
+            new_exposure = int(current_exposure / self.adjustment_factor)
+            logger.info(
+                f"SNR AE: Background too high ({background:.1f} > {self.max_background}), "
+                f"decreasing exposure {current_exposure / 1000:.0f}ms → {new_exposure / 1000:.0f}ms"
+            )
+        else:
+            # Background is in acceptable range
+            logger.debug(f"SNR AE: OK (bg={background:.1f} ADU)")
+            return None
+
+        # Clamp to limits
+        new_exposure = max(self.min_exposure, min(self.max_exposure, new_exposure))
+        return new_exposure
+
+    def get_status(self) -> dict:
+        return {
+            "mode": "SNR",
+            "target_background": self.target_background,
+            "min_background": self.min_background,
+            "max_background": self.max_background,
+            "min_exposure": self.min_exposure,
+            "max_exposure": self.max_exposure,
+        }
+
+
 class ExposurePIDController:
     """
     PID controller for automatic camera exposure adjustment.
@@ -664,6 +841,7 @@ def __init__(
         self._integral = 0.0
         self._last_error: Optional[float] = None
         self._zero_star_count = 0
+        self._nonzero_star_count = 0  # Hysteresis: consecutive non-zero solves
         self._last_adjustment_time = 0.0
         self._zero_star_handler = zero_star_handler or SweepZeroStarHandler(
             min_exposure=min_exposure, max_exposure=max_exposure
@@ -680,6 +858,7 @@ def reset(self) -> None:
         self._integral = 0.0
         self._last_error = None
         self._zero_star_count = 0
+        self._nonzero_star_count = 0
         self._last_adjustment_time = 0.0
         self._zero_star_handler.reset()
         logger.debug("PID controller reset")
@@ -725,6 +904,18 @@ def _update_pid(self, matched_stars: int, current_exposure: int) -> Optional[int
         # Select gains: conservative when decreasing, aggressive when increasing
         kp, ki, kd = self.gains_decrease if error < 0 else self.gains_increase
 
+        # Reset integral when error changes sign to prevent accumulated integral
+        # from crashing exposure when conditions change suddenly
+        # (e.g., going from too many stars to too few stars)
+        if self._last_error is not None:
+            if (error > 0 and self._last_error < 0) or (
+                error < 0 and self._last_error > 0
+            ):
+                logger.debug(
+                    f"PID: Error sign changed ({self._last_error:.0f} → {error:.0f}), resetting integral"
+                )
+                self._integral = 0.0
+
         # PID calculation
         p_term = kp * error
 
diff --git a/python/PiFinder/camera_debug.py b/python/PiFinder/camera_debug.py
index 5ae1c6ed1..d1222a3dc 100644
--- a/python/PiFinder/camera_debug.py
+++ b/python/PiFinder/camera_debug.py
@@ -49,7 +49,7 @@ def setup_debug_images(self) -> None:
         self.images = list(zip(range(1, len(images) + 1), images))
         self.image_cycle = cycle(self.images)
         self.last_image_time: float = time.time()
-        self.current_image_num, self.last_image = self.images[0]
+        self.current_image_num, self.last_image = self.images[1]  # Use darker sky image
 
     def initialize(self) -> None:
         self._camera_started = True
@@ -63,13 +63,15 @@ def stop_camera(self) -> None:
     def capture(self) -> Image.Image:
         sleep_time = self.exposure_time / 1000000
         time.sleep(sleep_time)
+        # FOR TESTING: Keep using the same image (first image - solves, brighter sky)
+        # Comment out image cycling to maintain consistent roll/orientation
         # Change images every 10 seconds
-        elapsed = time.time() - self.last_image_time
-        if elapsed > 10:
-            self.current_image_num, self.last_image = next(self.image_cycle)
-            logger.debug(
-                f"Debug camera switched to test image #{self.current_image_num}"
-            )
+        # elapsed = time.time() - self.last_image_time
+        # if elapsed > 10:
+        #     self.current_image_num, self.last_image = next(self.image_cycle)
+        #     logger.debug(
+        #         f"Debug camera switched to test image #{self.current_image_num}"
+        #     )
         return self.last_image
 
     def capture_bias(self):
diff --git a/python/PiFinder/camera_interface.py b/python/PiFinder/camera_interface.py
index 009fc6579..c88f18300 100644
--- a/python/PiFinder/camera_interface.py
+++ b/python/PiFinder/camera_interface.py
@@ -13,6 +13,7 @@
 import logging
 import os
 import queue
+import threading
 import time
 from typing import Tuple, Optional
 
@@ -21,12 +22,14 @@
 from PiFinder import state_utils, utils
 from PiFinder.auto_exposure import (
     ExposurePIDController,
+    ExposureSNRController,
     SweepZeroStarHandler,
     ExponentialSweepZeroStarHandler,
     ResetZeroStarHandler,
     HistogramZeroStarHandler,
     generate_exposure_sweep,
 )
+from PiFinder.sqm.camera_profiles import detect_camera_type
 
 logger = logging.getLogger("Camera.Interface")
 
@@ -35,10 +38,16 @@ class CameraInterface:
     """The CameraInterface interface."""
 
     _camera_started = False
+    _debug = False
     _save_next_to = None  # Filename to save next capture to (None = don't save)
     _auto_exposure_enabled = False
+    _auto_exposure_mode = "pid"  # "pid" or "snr"
     _auto_exposure_pid: Optional[ExposurePIDController] = None
+    _auto_exposure_snr: Optional[ExposureSNRController] = None
     _last_solve_time: Optional[float] = None
+    _command_queue: Optional[queue.Queue] = None
+    _console_queue: Optional[queue.Queue] = None
+    _cfg = None
 
     def initialize(self) -> None:
         pass
@@ -75,12 +84,302 @@ def start_camera(self) -> None:
     def stop_camera(self) -> None:
         pass
 
+    def _capture_with_timeout(self, timeout=10) -> Optional[Image.Image]:
+        """Attempt capture with timeout.
+
+        Returns the captured image, or None if capture hung (V4L2 stuck).
+        Uses a daemon thread so a hung capture doesn't block shutdown.
+        """
+        result = [None]
+        exc = [None]
+
+        def _do_capture():
+            try:
+                result[0] = self.capture()
+            except Exception as e:
+                exc[0] = e
+
+        t = threading.Thread(target=_do_capture, daemon=True)
+        t.start()
+        t.join(timeout)
+
+        if t.is_alive():
+            return None
+        if exc[0]:
+            raise exc[0]
+        return result[0]
+
+    def _process_pending_commands(self):
+        """Drain and process all pending commands from the queue.
+
+        Called at the top of each camera loop iteration so commands are
+        handled even when capture() blocks on V4L2 hardware.
+        """
+        while True:
+            try:
+                command = self._command_queue.get_nowait()
+            except queue.Empty:
+                break
+
+            try:
+                if command == "debug":
+                    self._debug = not self._debug
+
+                elif command.startswith("set_exp"):
+                    exp_value = command.split(":")[1]
+                    if exp_value == "auto":
+                        self._auto_exposure_enabled = True
+                        self._last_solve_time = None
+                        if self._auto_exposure_pid is None:
+                            self._auto_exposure_pid = ExposurePIDController()
+                        else:
+                            self._auto_exposure_pid.reset()
+                        self._console_queue.put("CAM: Auto-Exposure Enabled")
+                        logger.info("Auto-exposure mode enabled")
+                    else:
+                        self._auto_exposure_enabled = False
+                        self.exposure_time = int(exp_value)
+                        self.set_camera_config(self.exposure_time, self.gain)
+                        self._cfg.set_option("camera_exp", self.exposure_time)
+                        self._console_queue.put("CAM: Exp=" + str(self.exposure_time))
+                        logger.info(f"Manual exposure set: {self.exposure_time}µs")
+
+                elif command.startswith("set_gain"):
+                    old_gain = self.gain
+                    self.gain = int(command.split(":")[1])
+                    self.exposure_time, self.gain = self.set_camera_config(
+                        self.exposure_time, self.gain
+                    )
+                    self._console_queue.put("CAM: Gain=" + str(self.gain))
+                    logger.info(f"Gain changed: {old_gain}x → {self.gain}x")
+
+                elif command.startswith("set_ae_handler"):
+                    handler_type = command.split(":")[1]
+                    if self._auto_exposure_pid is not None:
+                        new_handler = None
+                        if handler_type == "sweep":
+                            new_handler = SweepZeroStarHandler(
+                                min_exposure=self._auto_exposure_pid.min_exposure,
+                                max_exposure=self._auto_exposure_pid.max_exposure,
+                            )
+                        elif handler_type == "exponential":
+                            new_handler = ExponentialSweepZeroStarHandler(
+                                min_exposure=self._auto_exposure_pid.min_exposure,
+                                max_exposure=self._auto_exposure_pid.max_exposure,
+                            )
+                        elif handler_type == "reset":
+                            new_handler = ResetZeroStarHandler(reset_exposure=400000)
+                        elif handler_type == "histogram":
+                            new_handler = HistogramZeroStarHandler(
+                                min_exposure=self._auto_exposure_pid.min_exposure,
+                                max_exposure=self._auto_exposure_pid.max_exposure,
+                            )
+                        else:
+                            logger.warning(
+                                f"Unknown zero-star handler type: {handler_type}"
+                            )
+
+                        if new_handler is not None:
+                            self._auto_exposure_pid._zero_star_handler = new_handler
+                            self._console_queue.put(f"CAM: AE Handler={handler_type}")
+                            logger.info(
+                                f"Auto-exposure zero-star handler changed to: {handler_type}"
+                            )
+                    else:
+                        logger.warning(
+                            "Cannot set AE handler: auto-exposure not initialized"
+                        )
+
+                elif command.startswith("set_ae_mode"):
+                    mode = command.split(":")[1]
+                    if mode in ["pid", "snr"]:
+                        self._auto_exposure_mode = mode
+                        self._console_queue.put(f"CAM: AE Mode={mode.upper()}")
+                        logger.info(f"Auto-exposure mode changed to: {mode.upper()}")
+                    else:
+                        logger.warning(
+                            f"Unknown auto-exposure mode: {mode} (valid: pid, snr)"
+                        )
+
+                elif command == "exp_up" or command == "exp_dn":
+                    self._auto_exposure_enabled = False
+                    if command == "exp_up":
+                        self.exposure_time = int(self.exposure_time * 1.25)
+                    else:
+                        self.exposure_time = int(self.exposure_time * 0.75)
+                    self.set_camera_config(self.exposure_time, self.gain)
+                    self._console_queue.put("CAM: Exp=" + str(self.exposure_time))
+
+                elif command == "exp_save":
+                    self._auto_exposure_enabled = False
+                    self._cfg.set_option("camera_exp", self.exposure_time)
+                    self._cfg.set_option("camera_gain", int(self.gain))
+                    self._console_queue.put(f"CAM: Exp Saved ({self.exposure_time}µs)")
+                    logger.info(
+                        f"Exposure saved and auto-exposure disabled: {self.exposure_time}µs"
+                    )
+
+                elif command.startswith("save"):
+                    self._save_next_to = command.split(":")[1]
+                    self._console_queue.put("CAM: Save flag set")
+
+                elif command.startswith("capture") and command != "capture_exp_sweep":
+                    captured_image = self.capture()
+                    self._camera_image.paste(captured_image)
+
+                    if self._save_next_to:
+                        filename = f"{utils.data_dir}/captures/{self._save_next_to}"
+                        if not filename.endswith(".png"):
+                            filename += ".png"
+                        self.capture_file(filename)
+
+                        raw_filename = filename.replace(".png", ".tiff")
+                        if not raw_filename.endswith(".tiff"):
+                            raw_filename += ".tiff"
+                        self.capture_raw_file(raw_filename)
+
+                        self._console_queue.put("CAM: Captured + Saved")
+                        self._save_next_to = None
+                    else:
+                        self._console_queue.put("CAM: Captured")
+
+                elif command.startswith("capture_exp_sweep"):
+                    self._run_exposure_sweep(command)
+
+                elif command.startswith("stop"):
+                    self.stop_camera()
+                    self._console_queue.put("CAM: Stopped camera")
+
+                elif command.startswith("start"):
+                    self.start_camera()
+                    self._console_queue.put("CAM: Started camera")
+
+            except ValueError as e:
+                logger.error(f"Error processing camera command '{command}': {str(e)}")
+
+    def _run_exposure_sweep(self, command):
+        """Capture exposure sweep for SQM testing."""
+        reference_sqm = None
+        if ":" in command:
+            try:
+                reference_sqm = float(command.split(":")[1])
+                logger.info(f"Reference SQM: {reference_sqm:.2f}")
+            except (ValueError, IndexError):
+                logger.warning("Invalid reference SQM in command")
+
+        logger.info("Starting exposure sweep capture (100 image pairs)")
+        self._console_queue.put("CAM: Starting sweep...")
+
+        original_exposure = self.exposure_time
+        original_gain = self.gain
+        original_ae_enabled = self._auto_exposure_enabled
+
+        self._auto_exposure_enabled = False
+
+        min_exp = 25000
+        max_exp = 1000000
+        num_images = 20
+
+        sweep_exposures = generate_exposure_sweep(min_exp, max_exp, num_images)
+
+        gps_time = self.shared_state.datetime()
+        if gps_time:
+            timestamp = gps_time.strftime("%Y%m%d_%H%M%S")
+        else:
+            timestamp = datetime.datetime.now().strftime("%Y%m%d_%H%M%S")
+            logger.warning(
+                "GPS time not available, using Pi system time for sweep directory name"
+            )
+
+        from pathlib import Path
+
+        sweep_dir = Path(f"{utils.data_dir}/captures/sweep_{timestamp}")
+        sweep_dir.mkdir(parents=True, exist_ok=True)
+
+        logger.info(f"Saving sweep to: {sweep_dir}")
+        self._console_queue.put("CAM: Starting sweep...")
+
+        for i, exp_us in enumerate(sweep_exposures, 1):
+            self._console_queue.put(f"CAM: Sweep {i}/{num_images}")
+
+            self.exposure_time = exp_us
+            self.set_camera_config(self.exposure_time, self.gain)
+
+            logger.debug(f"Flushing camera buffer for {exp_us}µs exposure")
+            _ = self.capture()
+            _ = self.capture()
+
+            exp_ms = exp_us / 1000
+
+            processed_filename = sweep_dir / f"img_{i:03d}_{exp_ms:.2f}ms_processed.png"
+            processed_img = self.capture()
+            processed_img.save(str(processed_filename))
+
+            raw_filename = sweep_dir / f"img_{i:03d}_{exp_ms:.2f}ms_raw.tiff"
+            self.capture_raw_file(str(raw_filename))
+
+            logger.debug(
+                f"Captured sweep images {i}/{num_images}: {exp_ms:.2f}ms (PNG+TIFF)"
+            )
+
+        self.exposure_time = original_exposure
+        self.gain = original_gain
+        self._auto_exposure_enabled = original_ae_enabled
+        self.set_camera_config(self.exposure_time, self.gain)
+
+        try:
+            from PiFinder.sqm.save_sweep_metadata import save_sweep_metadata
+
+            gps_datetime = self.shared_state.datetime()
+            location = self.shared_state.location()
+
+            solve_state = self.shared_state.solution()
+            ra_deg = None
+            dec_deg = None
+            altitude_deg = None
+            azimuth_deg = None
+
+            if solve_state is not None:
+                ra_deg = solve_state.get("RA")
+                dec_deg = solve_state.get("Dec")
+                altitude_deg = solve_state.get("Alt")
+                azimuth_deg = solve_state.get("Az")
+
+            save_sweep_metadata(
+                sweep_dir=sweep_dir,
+                observer_lat=location.lat,
+                observer_lon=location.lon,
+                observer_altitude_m=location.altitude,
+                gps_datetime=gps_datetime.isoformat() if gps_datetime else None,
+                reference_sqm=reference_sqm,
+                ra_deg=ra_deg,
+                dec_deg=dec_deg,
+                altitude_deg=altitude_deg,
+                azimuth_deg=azimuth_deg,
+                notes=f"Exposure sweep: {num_images} images, {min_exp / 1000:.1f}-{max_exp / 1000:.1f}ms",
+            )
+            logger.info(
+                f"Successfully saved sweep metadata to {sweep_dir}/sweep_metadata.json"
+            )
+        except Exception as e:
+            logger.error(f"Failed to save sweep metadata: {e}", exc_info=True)
+
+        self._console_queue.put("CAM: Sweep done!")
+        logger.info(
+            f"Exposure sweep completed: {num_images} image pairs in {sweep_dir}"
+        )
+
     def get_image_loop(
         self, shared_state, camera_image, command_queue, console_queue, cfg
     ):
         try:
-            # Store shared_state for access by capture() methods
+            # Store refs for access by _process_pending_commands and helpers
             self.shared_state = shared_state
+            self._camera_image = camera_image
+            self._command_queue = command_queue
+            self._console_queue = console_queue
+            self._cfg = cfg
+            self._debug = False
 
             # Store camera type in shared state for SQM calibration
             camera_type_str = self.get_cam_type()  # e.g., "PI imx296", "PI hq"
@@ -90,8 +389,6 @@ def get_image_loop(
                 shared_state.set_camera_type(camera_type)
                 logger.info(f"Camera type set to: {camera_type}")
 
-            debug = False
-
             # Check if auto-exposure was previously enabled in config
             config_exp = cfg.get_option("camera_exp")
             if config_exp == "auto":
@@ -114,13 +411,20 @@ def get_image_loop(
                 root_dir, "test_images", "pifinder_debug_02.png"
             )
 
-            # 60 half-second cycles
+            # 60 half-second cycles (30 seconds between captures in sleep mode)
             sleep_delay = 60
+            was_sleeping = False
             while True:
+                self._process_pending_commands()
+
                 sleeping = state_utils.sleep_for_framerate(
                     shared_state, limit_framerate=False
                 )
                 if sleeping:
+                    # Log transition to sleep mode
+                    if not was_sleeping:
+                        logger.info("Camera entering low-power sleep mode")
+                        was_sleeping = True
                     # Even in sleep mode, we want to take photos every
                     # so often to update positions
                     sleep_delay -= 1
@@ -128,12 +432,22 @@ def get_image_loop(
                         continue
                     else:
                         sleep_delay = 60
+                        logger.debug("Sleep mode: waking for periodic capture")
+                elif was_sleeping:
+                    logger.info("Camera exiting low-power sleep mode")
+                    was_sleeping = False
 
                 imu_start = shared_state.imu()
                 image_start_time = time.time()
                 if self._camera_started:
-                    if not debug:
-                        base_image = self.capture()
+                    if not self._debug:
+                        base_image = self._capture_with_timeout()
+                        if base_image is None:
+                            logger.warning(
+                                "Camera capture timed out — switching to test mode"
+                            )
+                            self._debug = True
+                            continue
                         base_image = base_image.convert("L")
 
                         rotate_amount = 0
@@ -213,11 +527,42 @@ def get_image_loop(
                                     f"RMSE: {rmse_str}, Current exposure: {self.exposure_time}µs"
                                 )
 
-                                # Call PID update (now handles zero stars with recovery mode)
-                                # Pass base_image for histogram analysis in zero-star handler
-                                new_exposure = self._auto_exposure_pid.update(
-                                    matched_stars, self.exposure_time, base_image
-                                )
+                                # Call auto-exposure update based on current mode
+                                if self._auto_exposure_mode == "snr":
+                                    # SNR mode: use background-based controller (for SQM measurements)
+                                    if self._auto_exposure_snr is None:
+                                        # Use camera profile to derive thresholds
+                                        try:
+                                            cam_type = detect_camera_type(
+                                                self.get_cam_type()
+                                            )
+                                            cam_type = f"{cam_type}_processed"
+                                            self._auto_exposure_snr = ExposureSNRController.from_camera_profile(
+                                                cam_type
+                                            )
+                                        except ValueError as e:
+                                            # Unknown camera, use defaults
+                                            logger.warning(
+                                                f"Camera detection failed: {e}, using default SNR thresholds"
+                                            )
+                                            self._auto_exposure_snr = (
+                                                ExposureSNRController()
+                                            )
+                                    # Get adaptive noise floor from shared state
+                                    adaptive_noise_floor = (
+                                        self.shared_state.noise_floor()
+                                    )
+                                    new_exposure = self._auto_exposure_snr.update(
+                                        self.exposure_time,
+                                        base_image,
+                                        noise_floor=adaptive_noise_floor,
+                                    )
+                                else:
+                                    # PID mode: use star-count based controller (default)
+                                    # Pass base_image for histogram analysis in zero-star handler
+                                    new_exposure = self._auto_exposure_pid.update(
+                                        matched_stars, self.exposure_time, base_image
+                                    )
 
                                 if (
                                     new_exposure is not None
@@ -239,354 +584,6 @@ def get_image_loop(
                                     )
                                 self._last_solve_time = solve_attempt_time
 
-                # Loop over any pending commands
-                # There may be more than one!
-                command = True
-                while command:
-                    try:
-                        command = command_queue.get(block=True, timeout=0.1)
-                    except queue.Empty:
-                        command = ""
-                        continue
-                    except Exception as e:
-                        logger.error(f"CameraInterface: Command error: {e}")
-
-                    try:
-                        if command == "debug":
-                            if debug:
-                                debug = False
-                            else:
-                                debug = True
-
-                        if command.startswith("set_exp"):
-                            exp_value = command.split(":")[1]
-                            if exp_value == "auto":
-                                # Enable auto-exposure mode
-                                self._auto_exposure_enabled = True
-                                self._last_solve_time = None  # Reset solve tracking
-                                if self._auto_exposure_pid is None:
-                                    self._auto_exposure_pid = ExposurePIDController()
-                                else:
-                                    self._auto_exposure_pid.reset()
-                                console_queue.put("CAM: Auto-Exposure Enabled")
-                                logger.info("Auto-exposure mode enabled")
-                            else:
-                                # Disable auto-exposure and set manual exposure
-                                self._auto_exposure_enabled = False
-                                self.exposure_time = int(exp_value)
-                                self.set_camera_config(self.exposure_time, self.gain)
-                                # Update config to reflect manual exposure value
-                                cfg.set_option("camera_exp", self.exposure_time)
-                                console_queue.put("CAM: Exp=" + str(self.exposure_time))
-                                logger.info(
-                                    f"Manual exposure set: {self.exposure_time}µs"
-                                )
-
-                        if command.startswith("set_gain"):
-                            old_gain = self.gain
-                            self.gain = int(command.split(":")[1])
-                            self.exposure_time, self.gain = self.set_camera_config(
-                                self.exposure_time, self.gain
-                            )
-                            console_queue.put("CAM: Gain=" + str(self.gain))
-                            logger.info(f"Gain changed: {old_gain}x → {self.gain}x")
-
-                        if command.startswith("set_ae_handler"):
-                            handler_type = command.split(":")[1]
-                            if self._auto_exposure_pid is not None:
-                                new_handler = None
-                                if handler_type == "sweep":
-                                    new_handler = SweepZeroStarHandler(
-                                        min_exposure=self._auto_exposure_pid.min_exposure,
-                                        max_exposure=self._auto_exposure_pid.max_exposure,
-                                    )
-                                elif handler_type == "exponential":
-                                    new_handler = ExponentialSweepZeroStarHandler(
-                                        min_exposure=self._auto_exposure_pid.min_exposure,
-                                        max_exposure=self._auto_exposure_pid.max_exposure,
-                                    )
-                                elif handler_type == "reset":
-                                    new_handler = ResetZeroStarHandler(
-                                        reset_exposure=400000  # 0.4s
-                                    )
-                                elif handler_type == "histogram":
-                                    new_handler = HistogramZeroStarHandler(
-                                        min_exposure=self._auto_exposure_pid.min_exposure,
-                                        max_exposure=self._auto_exposure_pid.max_exposure,
-                                    )
-                                else:
-                                    logger.warning(
-                                        f"Unknown zero-star handler type: {handler_type}"
-                                    )
-
-                                if new_handler is not None:
-                                    self._auto_exposure_pid._zero_star_handler = (
-                                        new_handler
-                                    )
-                                    console_queue.put(f"CAM: AE Handler={handler_type}")
-                                    logger.info(
-                                        f"Auto-exposure zero-star handler changed to: {handler_type}"
-                                    )
-                            else:
-                                logger.warning(
-                                    "Cannot set AE handler: auto-exposure not initialized"
-                                )
-
-                        if command == "exp_up" or command == "exp_dn":
-                            # Manual exposure adjustments disable auto-exposure
-                            self._auto_exposure_enabled = False
-                            if command == "exp_up":
-                                self.exposure_time = int(self.exposure_time * 1.25)
-                            else:
-                                self.exposure_time = int(self.exposure_time * 0.75)
-                            self.set_camera_config(self.exposure_time, self.gain)
-                            console_queue.put("CAM: Exp=" + str(self.exposure_time))
-                        if command == "exp_save":
-                            # Saving exposure disables auto-exposure and locks to current value
-                            self._auto_exposure_enabled = False
-                            cfg.set_option("camera_exp", self.exposure_time)
-                            cfg.set_option("camera_gain", int(self.gain))
-                            console_queue.put(
-                                f"CAM: Exp Saved ({self.exposure_time}µs)"
-                            )
-                            logger.info(
-                                f"Exposure saved and auto-exposure disabled: {self.exposure_time}µs"
-                            )
-
-                        if command.startswith("save"):
-                            # Set flag to save next capture to this file
-                            self._save_next_to = command.split(":")[1]
-                            console_queue.put("CAM: Save flag set")
-
-                        if (
-                            command.startswith("capture")
-                            and command != "capture_exp_sweep"
-                        ):
-                            # Capture single frame and update shared state
-                            # This is used by SQM calibration for precise exposure control
-                            captured_image = self.capture()
-                            camera_image.paste(captured_image)
-
-                            # If save flag is set, save to disk
-                            if self._save_next_to:
-                                # Build full path
-                                filename = (
-                                    f"{utils.data_dir}/captures/{self._save_next_to}"
-                                )
-                                if not filename.endswith(".png"):
-                                    filename += ".png"
-                                self.capture_file(filename)
-
-                                # Also save raw as TIFF
-                                raw_filename = filename.replace(".png", ".tiff")
-                                if not raw_filename.endswith(".tiff"):
-                                    raw_filename += ".tiff"
-                                self.capture_raw_file(raw_filename)
-
-                                console_queue.put("CAM: Captured + Saved")
-                                self._save_next_to = None  # Clear flag
-                            else:
-                                console_queue.put("CAM: Captured")
-
-                        if command.startswith("capture_exp_sweep"):
-                            # Capture exposure sweep - save both RAW and processed images
-                            # at different exposures for SQM testing
-                            # RAW: 16-bit TIFF to preserve full sensor bit depth
-                            # Processed: 8-bit PNG from normal camera.capture() pipeline
-
-                            # Parse reference SQM if provided
-                            reference_sqm = None
-                            if ":" in command:
-                                try:
-                                    reference_sqm = float(command.split(":")[1])
-                                    logger.info(f"Reference SQM: {reference_sqm:.2f}")
-                                except (ValueError, IndexError):
-                                    logger.warning("Invalid reference SQM in command")
-
-                            logger.info(
-                                "Starting exposure sweep capture (100 image pairs)"
-                            )
-                            console_queue.put("CAM: Starting sweep...")
-
-                            # Save current settings
-                            original_exposure = self.exposure_time
-                            original_gain = self.gain
-                            original_ae_enabled = self._auto_exposure_enabled
-
-                            # Disable auto-exposure during sweep
-                            self._auto_exposure_enabled = False
-
-                            # Generate 100 exposure values with logarithmic spacing
-                            # from 25ms (25000µs) to 1s (1000000µs)
-                            min_exp = 25000  # 25ms
-                            max_exp = 1000000  # 1s
-                            num_images = 100
-
-                            # Generate logarithmic sweep using shared utility
-                            sweep_exposures = generate_exposure_sweep(
-                                min_exp, max_exp, num_images
-                            )
-
-                            # Generate timestamp for this sweep session using GPS time
-                            gps_time = shared_state.datetime()
-                            if gps_time:
-                                timestamp = gps_time.strftime("%Y%m%d_%H%M%S")
-                            else:
-                                # Fallback to Pi time if GPS not available
-                                timestamp = datetime.datetime.now().strftime(
-                                    "%Y%m%d_%H%M%S"
-                                )
-                                logger.warning(
-                                    "GPS time not available, using Pi system time for sweep directory name"
-                                )
-
-                            # Create sweep directory
-                            from pathlib import Path
-
-                            sweep_dir = Path(
-                                f"{utils.data_dir}/captures/sweep_{timestamp}"
-                            )
-                            sweep_dir.mkdir(parents=True, exist_ok=True)
-
-                            logger.info(f"Saving sweep to: {sweep_dir}")
-                            console_queue.put("CAM: Starting sweep...")
-
-                            for i, exp_us in enumerate(sweep_exposures, 1):
-                                # Update progress at start of each capture
-                                console_queue.put(f"CAM: Sweep {i}/{num_images}")
-
-                                # Set exposure
-                                self.exposure_time = exp_us
-                                self.set_camera_config(self.exposure_time, self.gain)
-
-                                # Flush camera buffer - discard pre-buffered frames with old exposure
-                                # Picamera2 maintains a frame queue, need to flush frames captured
-                                # before the new exposure setting was applied
-                                logger.debug(
-                                    f"Flushing camera buffer for {exp_us}µs exposure"
-                                )
-                                _ = self.capture()  # Discard buffered frame 1
-                                _ = self.capture()  # Discard buffered frame 2
-
-                                # Now capture both processed and RAW images with correct exposure
-                                exp_ms = exp_us / 1000
-
-                                # Save processed 8-bit PNG (same as production capture() method)
-                                processed_filename = (
-                                    sweep_dir
-                                    / f"img_{i:03d}_{exp_ms:.2f}ms_processed.png"
-                                )
-                                processed_img = (
-                                    self.capture()
-                                )  # Returns 8-bit PIL Image
-                                processed_img.save(str(processed_filename))
-
-                                # Save RAW TIFF (16-bit, from camera.capture_raw_file())
-                                raw_filename = (
-                                    sweep_dir / f"img_{i:03d}_{exp_ms:.2f}ms_raw.tiff"
-                                )
-                                self.capture_raw_file(str(raw_filename))
-
-                                logger.debug(
-                                    f"Captured sweep images {i}/{num_images}: {exp_ms:.2f}ms (PNG+TIFF)"
-                                )
-
-                            # Restore original settings
-                            self.exposure_time = original_exposure
-                            self.gain = original_gain
-                            self._auto_exposure_enabled = original_ae_enabled
-                            self.set_camera_config(self.exposure_time, self.gain)
-
-                            # Save sweep metadata (GPS time, location, altitude)
-                            logger.info("Starting sweep metadata save...")
-                            try:
-                                from PiFinder.sqm.save_sweep_metadata import (
-                                    save_sweep_metadata,
-                                )
-
-                                # Get GPS datetime (not Pi time)
-                                gps_datetime = shared_state.datetime()
-                                logger.debug(f"GPS datetime: {gps_datetime}")
-
-                                # Get observer location
-                                location = shared_state.location()
-                                logger.debug(
-                                    f"Location: lat={location.lat}, lon={location.lon}, alt={location.altitude}"
-                                )
-
-                                # Get current solve with RA/Dec/Alt/Az
-                                solve_state = shared_state.solution()
-                                ra_deg = None
-                                dec_deg = None
-                                altitude_deg = None
-                                azimuth_deg = None
-
-                                if solve_state is not None:
-                                    ra_deg = solve_state.get("RA")
-                                    dec_deg = solve_state.get("Dec")
-                                    altitude_deg = solve_state.get("Alt")
-                                    azimuth_deg = solve_state.get("Az")
-                                    logger.debug(
-                                        f"Solve: RA={ra_deg}, Dec={dec_deg}, Alt={altitude_deg}, Az={azimuth_deg}"
-                                    )
-
-                                # Save metadata
-                                logger.info(
-                                    f"Calling save_sweep_metadata for {sweep_dir}"
-                                )
-                                save_sweep_metadata(
-                                    sweep_dir=sweep_dir,
-                                    observer_lat=location.lat,
-                                    observer_lon=location.lon,
-                                    observer_altitude_m=location.altitude,
-                                    gps_datetime=gps_datetime.isoformat()
-                                    if gps_datetime
-                                    else None,
-                                    reference_sqm=reference_sqm,
-                                    ra_deg=ra_deg,
-                                    dec_deg=dec_deg,
-                                    altitude_deg=altitude_deg,
-                                    azimuth_deg=azimuth_deg,
-                                    notes=f"Exposure sweep: {num_images} images, {min_exp/1000:.1f}-{max_exp/1000:.1f}ms",
-                                )
-                                logger.info(
-                                    f"Successfully saved sweep metadata to {sweep_dir}/sweep_metadata.json"
-                                )
-                            except Exception as e:
-                                logger.error(
-                                    f"Failed to save sweep metadata: {e}", exc_info=True
-                                )
-
-                            console_queue.put("CAM: Sweep done!")
-                            logger.info(
-                                f"Exposure sweep completed: {num_images} image pairs in {sweep_dir}"
-                            )
-
-                        if command.startswith("stop"):
-                            self.stop_camera()
-                            console_queue.put("CAM: Stopped camera")
-                        if command.startswith("start"):
-                            self.start_camera()
-                            console_queue.put("CAM: Started camera")
-                    except ValueError as e:
-                        logger.error(
-                            f"Error processing camera command '{command}': {str(e)}"
-                        )
-                        console_queue.put(
-                            f"CAM ERROR: Invalid command format - {str(e)}"
-                        )
-                    except AttributeError as e:
-                        logger.error(
-                            f"Camera component not initialized for command '{command}': {str(e)}"
-                        )
-                        console_queue.put("CAM ERROR: Camera not properly initialized")
-                    except Exception as e:
-                        logger.error(
-                            f"Unexpected error processing camera command '{command}': {str(e)}"
-                        )
-                        console_queue.put(f"CAM ERROR: {str(e)}")
-            logger.info(
-                f"CameraInterface: Camera loop exited with command: '{command}'"
-            )
+            logger.info("CameraInterface: Camera loop exited")
         except (BrokenPipeError, EOFError, FileNotFoundError):
             logger.exception("Error in Camera Loop")
diff --git a/python/PiFinder/cat_images.py b/python/PiFinder/cat_images.py
deleted file mode 100644
index ae4a9b967..000000000
--- a/python/PiFinder/cat_images.py
+++ /dev/null
@@ -1,210 +0,0 @@
-#!/usr/bin/python
-# -*- coding:utf-8 -*-
-"""
-This module is used at runtime
-to handle catalog image loading
-"""
-
-import os
-from PIL import Image, ImageChops, ImageDraw
-from PiFinder import image_util
-from PiFinder import utils
-import PiFinder.ui.ui_utils as ui_utils
-import logging
-
-BASE_IMAGE_PATH = f"{utils.data_dir}/catalog_images"
-CATALOG_PATH = f"{utils.astro_data_dir}/pifinder_objects.db"
-
-
-logger = logging.getLogger("Catalog.Images")
-
-
-def get_display_image(
-    catalog_object,
-    eyepiece_text,
-    fov,
-    roll,
-    display_class,
-    burn_in=True,
-    magnification=None,
-):
-    """
-    Returns a 128x128 image buffer for
-    the catalog object/source
-    Resizing/cropping as needed to achieve FOV
-    in degrees
-        fov: 1-.125
-    roll:
-        degrees
-    """
-
-    object_image_path = resolve_image_name(catalog_object, source="POSS")
-    logger.debug("object_image_path = %s", object_image_path)
-    if not os.path.exists(object_image_path):
-        return_image = Image.new("RGB", display_class.resolution)
-        ri_draw = ImageDraw.Draw(return_image)
-        if burn_in:
-            ri_draw.text(
-                (30, 50),
-                _("No Image"),
-                font=display_class.fonts.large.font,
-                fill=display_class.colors.get(128),
-            )
-    else:
-        return_image = Image.open(object_image_path)
-
-        # rotate for roll / newtonian orientation
-        image_rotate = 180
-        if roll is not None:
-            image_rotate += roll
-
-        return_image = return_image.rotate(image_rotate)
-
-        # FOV
-        fov_size = int(1024 * fov / 2)
-        return_image = return_image.crop(
-            (
-                512 - fov_size,
-                512 - fov_size,
-                512 + fov_size,
-                512 + fov_size,
-            )
-        )
-        return_image = return_image.resize(
-            (display_class.fov_res, display_class.fov_res), Image.LANCZOS
-        )
-
-        # RED
-        return_image = image_util.make_red(return_image, display_class.colors)
-
-        if burn_in:
-            # circle
-            _circle_dim = Image.new(
-                "RGB",
-                (display_class.fov_res, display_class.fov_res),
-                display_class.colors.get(127),
-            )
-            _circle_draw = ImageDraw.Draw(_circle_dim)
-            _circle_draw.ellipse(
-                [2, 2, display_class.fov_res - 2, display_class.fov_res - 2],
-                fill=display_class.colors.get(255),
-            )
-            return_image = ImageChops.multiply(return_image, _circle_dim)
-
-            ri_draw = ImageDraw.Draw(return_image)
-            ri_draw.ellipse(
-                [2, 2, display_class.fov_res - 2, display_class.fov_res - 2],
-                outline=display_class.colors.get(64),
-                width=1,
-            )
-
-        # Pad out image if needed
-        if display_class.fov_res != display_class.resX:
-            pad_image = Image.new("RGB", display_class.resolution)
-            pad_image.paste(
-                return_image,
-                (
-                    int((display_class.resX - display_class.fov_res) / 2),
-                    0,
-                ),
-            )
-            return_image = pad_image
-            ri_draw = ImageDraw.Draw(return_image)
-        if display_class.fov_res != display_class.resY:
-            pad_image = Image.new("RGB", display_class.resolution)
-            pad_image.paste(
-                return_image,
-                (
-                    0,
-                    int((display_class.resY - display_class.fov_res) / 2),
-                ),
-            )
-            return_image = pad_image
-            ri_draw = ImageDraw.Draw(return_image)
-
-    if burn_in:
-        # Top text - FOV on left, magnification on right
-        ui_utils.shadow_outline_text(
-            ri_draw,
-            (1, display_class.titlebar_height - 1),
-            f"{fov:0.2f}°",
-            font=display_class.fonts.base,
-            align="left",
-            fill=display_class.colors.get(254),
-            shadow_color=display_class.colors.get(0),
-            outline=2,
-        )
-
-        magnification_text = (
-            f"{magnification:.0f}x" if magnification and magnification > 0 else "?x"
-        )
-        ui_utils.shadow_outline_text(
-            ri_draw,
-            (
-                display_class.resX - (display_class.fonts.base.width * 4),
-                display_class.titlebar_height - 1,
-            ),
-            magnification_text,
-            font=display_class.fonts.base,
-            align="right",
-            fill=display_class.colors.get(254),
-            shadow_color=display_class.colors.get(0),
-            outline=2,
-        )
-
-        # Bottom text - only eyepiece information
-        ui_utils.shadow_outline_text(
-            ri_draw,
-            (1, display_class.resY - (display_class.fonts.base.height * 1.1)),
-            eyepiece_text,
-            font=display_class.fonts.base,
-            align="left",
-            fill=display_class.colors.get(128),
-            shadow_color=display_class.colors.get(0),
-            outline=2,
-        )
-
-    return return_image
-
-
-def resolve_image_name(catalog_object, source):
-    """
-    returns the image path for this object
-    """
-
-    def create_image_path(image_name):
-        last_char = str(image_name)[-1]
-        image = f"{BASE_IMAGE_PATH}/{last_char}/{image_name}_{source}.jpg"
-        exists = os.path.exists(image)
-        return exists, image
-
-    # Try primary name
-    image_name = f"{catalog_object.catalog_code}{catalog_object.sequence}"
-    ok, image = create_image_path(image_name)
-
-    if ok:
-        catalog_object.image_name = image
-        return image
-
-    # Try alternatives
-    for name in catalog_object.names:
-        alt_image_name = f"{''.join(name.split())}"
-        ok, image = create_image_path(alt_image_name)
-        if ok:
-            catalog_object.image_name = image
-            return image
-
-    return ""
-
-
-def create_catalog_image_dirs():
-    """
-    Checks for and creates catalog_image dirs
-    """
-    if not os.path.exists(BASE_IMAGE_PATH):
-        os.makedirs(BASE_IMAGE_PATH)
-
-    for i in range(0, 10):
-        _image_dir = f"{BASE_IMAGE_PATH}/{i}"
-        if not os.path.exists(_image_dir):
-            os.makedirs(_image_dir)
diff --git a/python/PiFinder/catalog_base.py b/python/PiFinder/catalog_base.py
index 6f07f3f47..12ad7d2ea 100644
--- a/python/PiFinder/catalog_base.py
+++ b/python/PiFinder/catalog_base.py
@@ -171,7 +171,7 @@ def assign_virtual_object_ids(catalog, low_id: int) -> int:
 class TimerMixin:
     """Provides timer functionality via composition"""
 
-    def __init__(self):
+    def __init__(self) -> None:
         self.timer: Optional[threading.Timer] = None
         self.is_running: bool = False
         self.time_delay_seconds: Union[int, Callable[[], int]] = (
diff --git a/python/PiFinder/catalog_imports/catalog_import_utils.py b/python/PiFinder/catalog_imports/catalog_import_utils.py
index 279169df3..50fce5d12 100644
--- a/python/PiFinder/catalog_imports/catalog_import_utils.py
+++ b/python/PiFinder/catalog_imports/catalog_import_utils.py
@@ -213,7 +213,8 @@ def insert_catalog_max_sequence(catalog_name):
     if result:
         query = f"""
             update catalogs set max_sequence = {
-            dict(result)['MAX(sequence)']} where catalog_code = '{catalog_name}'
+            dict(result)["MAX(sequence)"]
+        } where catalog_code = '{catalog_name}'
             """
         db_c.execute(query)
         conn.commit()
@@ -322,7 +323,7 @@ def resolve_object_images():
                     ORDER BY {priority_case_sql}
                 ) as priority_rank
             FROM catalog_objects co
-            WHERE co.catalog_code IN ({','.join(['?'] * len(catalog_priority))})
+            WHERE co.catalog_code IN ({",".join(["?"] * len(catalog_priority))})
         )
         SELECT 
             o.id as object_id,
diff --git a/python/PiFinder/catalog_imports/main.py b/python/PiFinder/catalog_imports/main.py
index c09a04931..7b6ce300f 100644
--- a/python/PiFinder/catalog_imports/main.py
+++ b/python/PiFinder/catalog_imports/main.py
@@ -120,6 +120,14 @@ def main():
     resolve_object_images()
     print_database()
 
+    # Finalize database for read-only deployment (NixOS)
+    logging.info("Finalizing database for read-only deployment...")
+    conn, _ = objects_db.get_conn_cursor()
+    conn.execute("PRAGMA journal_mode = DELETE")  # Required for read-only FS
+    conn.execute("VACUUM")  # Compact database
+    conn.commit()
+    logging.info("Database finalization complete")
+
 
 if __name__ == "__main__":
     main()
diff --git a/python/PiFinder/catalog_imports/specialized_loaders.py b/python/PiFinder/catalog_imports/specialized_loaders.py
index 5e29e7703..303d5df02 100644
--- a/python/PiFinder/catalog_imports/specialized_loaders.py
+++ b/python/PiFinder/catalog_imports/specialized_loaders.py
@@ -602,7 +602,7 @@ def expand(name):
             for additional in parts[1:]:
                 if additional.isdigit():
                     # If the additional part is a number, add it directly
-                    expanded_list.append(f"{base_part[:-len(additional)]}{additional}")
+                    expanded_list.append(f"{base_part[: -len(additional)]}{additional}")
                 else:
                     expanded_list.append(additional)
         else:
diff --git a/python/PiFinder/catalog_imports/wds_loader.py b/python/PiFinder/catalog_imports/wds_loader.py
index 96d798630..58d0b9e61 100644
--- a/python/PiFinder/catalog_imports/wds_loader.py
+++ b/python/PiFinder/catalog_imports/wds_loader.py
@@ -263,7 +263,7 @@ def handle_multiples(key, values) -> dict:
             coord_2000 = entry["Coordinates_2000"]
             coord_arcsec = entry["Coordinates_Arcsec"]
             logging.error(
-                f"Empty or invalid RA/DEC detected for WDS object at line {i+1}"
+                f"Empty or invalid RA/DEC detected for WDS object at line {i + 1}"
             )
             logging.error(f"  Coordinates_2000: '{coord_2000}'")
             logging.error(f"  Coordinates_Arcsec: '{coord_arcsec}'")
@@ -273,7 +273,7 @@ def handle_multiples(key, values) -> dict:
             )
             logging.error(f"  Final RA: {entry['ra']}, DEC: {entry['dec']}")
             raise ValueError(
-                f"Invalid RA/DEC coordinates for WDS object at line {i+1}: RA={entry['ra']}, DEC={entry['dec']}"
+                f"Invalid RA/DEC coordinates for WDS object at line {i + 1}: RA={entry['ra']}, DEC={entry['dec']}"
             )
 
     # make a dictionary of WDS objects to group duplicates
diff --git a/python/PiFinder/catalogs.py b/python/PiFinder/catalogs.py
index e8a527e35..e335cbe1b 100644
--- a/python/PiFinder/catalogs.py
+++ b/python/PiFinder/catalogs.py
@@ -478,6 +478,12 @@ def is_loading(self) -> bool:
             and self._background_loader._thread.is_alive()
         )
 
+    def start_background_loading(self):
+        """Start deferred catalog loading in background thread.
+        Call after event loop is ready to avoid SD I/O contention during startup."""
+        if hasattr(self, "_background_loader") and self._background_loader is not None:
+            self._background_loader.start()
+
     def __repr__(self):
         return f"Catalogs(\n{pformat(self.get_catalogs(only_selected=False))})"
 
@@ -624,21 +630,18 @@ class CatalogBackgroundLoader:
 
     def __init__(
         self,
-        deferred_catalog_objects: List[Dict],
-        objects: Dict[int, Dict],
-        common_names: Names,
-        obs_db: ObservationsDatabase,
+        deferred_catalog_objects: List[Dict] = None,
+        objects: Dict[int, Dict] = None,
+        common_names: Names = None,
+        obs_db: ObservationsDatabase = None,
         on_progress: Optional[callable] = None,
         on_complete: Optional[callable] = None,
+        priority_codes: tuple = None,
     ):
         """
-        Args:
-            deferred_catalog_objects: List of catalog_object dicts to load
-            objects: Object data dict by ID
-            common_names: Names lookup instance
-            obs_db: Observations database instance
-            on_progress: Callback(loaded_count, total_count, catalog_code)
-            on_complete: Callback(loaded_objects: List[CompositeObject])
+        Two modes:
+        1. Pre-loaded data: pass deferred_catalog_objects, objects, common_names
+        2. Self-loading: pass priority_codes (loader queries DB in background thread)
         """
         self._deferred_data = deferred_catalog_objects
         self._objects = objects
@@ -646,6 +649,7 @@ def __init__(
         self._obs_db = obs_db
         self._on_progress = on_progress
         self._on_complete = on_complete
+        self._priority_codes = priority_codes
 
         self._loaded_objects: List[CompositeObject] = []
         self._lock = threading.Lock()
@@ -653,8 +657,8 @@ def __init__(
         self._stop_flag = threading.Event()
 
         # Performance tuning - load in batches with CPU yielding
-        self.batch_size = 100  # Objects per batch before yielding CPU
-        self.yield_time = 0.05  # Seconds to sleep between batches (50ms)
+        self.batch_size = 25  # Objects per batch before yielding CPU
+        self.yield_time = 0.1  # Seconds to sleep between batches (100ms)
 
     def start(self) -> None:
         """Start background loading in daemon thread"""
@@ -681,6 +685,23 @@ def get_loaded_objects(self) -> List[CompositeObject]:
     def _load_deferred_objects(self) -> None:
         """Background worker - loads objects in batches with CPU yielding"""
         try:
+            if self._deferred_data is None and self._priority_codes is not None:
+                # Self-loading mode: query DB for deferred catalog data
+                start = time.time()
+                db = ObjectsDatabase()
+                all_catalog_objects = [dict(row) for row in db.get_catalog_objects()]
+                self._deferred_data = [
+                    co
+                    for co in all_catalog_objects
+                    if co["catalog_code"] not in self._priority_codes
+                ]
+                self._objects = {row["id"]: dict(row) for row in db.get_objects()}
+                self._names = Names()
+                logger.info(
+                    f"Background loader data load took {time.time() - start:.2f}s "
+                    f"for {len(self._deferred_data)} deferred objects"
+                )
+
             total = len(self._deferred_data)
             batch = []
             current_catalog = None
@@ -778,15 +799,24 @@ def build(self, shared_state, ui_queue=None) -> Catalogs:
         db: Database = ObjectsDatabase()
         obs_db: Database = ObservationsDatabase()
 
-        # list of dicts, one dict for each entry in the catalog_objects table
-        catalog_objects: List[Dict] = [dict(row) for row in db.get_catalog_objects()]
-        objects = db.get_objects()
-        common_names = Names()
+        priority_codes = ("NGC", "IC", "M")
+
+        # Fast path: single JOIN query for priority catalog data
+        start = time.time()
+        priority_rows = db.get_priority_catalog_joined(priority_codes)
+        priority_names = db.get_priority_names(priority_codes)
         catalogs_info = db.get_catalogs_dict()
-        objects = {row["id"]: dict(row) for row in objects}
+        logger.info(f"Priority data queries took {time.time() - start:.2f}s")
 
-        composite_objects: List[CompositeObject] = self._build_composite(
-            catalog_objects, objects, common_names, obs_db, ui_queue
+        # Build priority CompositeObjects directly from joined rows
+        start = time.time()
+        composite_objects = []
+        for row in priority_rows:
+            obj = self._create_composite_from_row(row, priority_names, obs_db)
+            composite_objects.append(obj)
+        logger.info(
+            f"Priority object construction took {time.time() - start:.2f}s "
+            f"for {len(composite_objects)} objects"
         )
 
         # This is used for caching catalog dicts
@@ -794,15 +824,25 @@ def build(self, shared_state, ui_queue=None) -> Catalogs:
         self.catalog_dicts = {}
         logger.debug("Loaded %i objects from database", len(composite_objects))
 
+        start = time.time()
         all_catalogs: Catalogs = self._get_catalogs(composite_objects, catalogs_info)
+        logger.info(f"_get_catalogs took {time.time() - start:.2f}s")
 
         # Store catalogs reference for background loader completion
         self._pending_catalogs_ref = all_catalogs
 
-        # Pass background loader reference to Catalogs instance so it can check loading status
-        # This is set in _build_composite() if there are deferred objects
-        if hasattr(self, "_background_loader") and self._background_loader is not None:
-            all_catalogs._background_loader = self._background_loader
+        # Create background loader for deferred catalogs (not started yet —
+        # call catalogs.start_background_loading() after event loop starts
+        # to avoid SD I/O contention during menu init)
+        loader = CatalogBackgroundLoader(
+            priority_codes=priority_codes,
+            obs_db=obs_db,
+            on_progress=self._on_loader_progress,
+            on_complete=lambda objs: self._on_loader_complete(objs, ui_queue),
+        )
+        self._background_loader = loader
+        all_catalogs._background_loader = self._background_loader
+
         # Initialize planet catalog with whatever date we have for now
         # This will be re-initialized on activation of Catalog ui module
         # if we have GPS lock
@@ -812,59 +852,52 @@ def build(self, shared_state, ui_queue=None) -> Catalogs:
         )
         all_catalogs.add(planet_catalog)
 
-        # Import CometCatalog locally to avoid circular import
-        from PiFinder.comet_catalog import CometCatalog
+        # Defer CometCatalog creation to background thread (3-4s init with
+        # network check + ephemeris calculation not needed at startup)
+        def _init_comet_catalog():
+            try:
+                from PiFinder.comet_catalog import CometCatalog
+
+                start = time.time()
+                comet_catalog: Catalog = CometCatalog(
+                    datetime.datetime.now().replace(tzinfo=pytz.timezone("UTC")),
+                    shared_state=shared_state,
+                )
+                all_catalogs.add(comet_catalog)
+                logger.info(f"CometCatalog init took {time.time() - start:.2f}s")
+            except Exception as e:
+                logger.error(f"CometCatalog init failed: {e}")
 
-        comet_catalog: Catalog = CometCatalog(
-            datetime.datetime.now().replace(tzinfo=pytz.timezone("UTC")),
-            shared_state=shared_state,
-        )
-        all_catalogs.add(comet_catalog)
+        threading.Thread(
+            target=_init_comet_catalog, daemon=True, name="CometCatalogInit"
+        ).start()
 
         assert self.check_catalogs_sequences(all_catalogs) is True
         return all_catalogs
 
-    def check_catalogs_sequences(self, catalogs: Catalogs):
-        for catalog in catalogs.get_catalogs(only_selected=False):
-            result = catalog.check_sequences()
-            if not result:
-                logger.error("Duplicate sequence catalog %s!", catalog.catalog_code)
-                return False
-            return True
-
-    def _create_full_composite_object(
-        self,
-        catalog_obj: Dict,
-        objects: Dict[int, Dict],
-        common_names: Names,
-        obs_db: ObservationsDatabase,
-    ) -> CompositeObject:
-        """Create a composite object with all details populated"""
-        object_id = catalog_obj["object_id"]
-        obj_data = objects[object_id]
-
-        # Create composite object with all details
-        composite_data = {
-            "id": catalog_obj["id"],
-            "object_id": object_id,
-            "ra": obj_data["ra"],
-            "dec": obj_data["dec"],
-            "obj_type": obj_data["obj_type"],
-            "catalog_code": catalog_obj["catalog_code"],
-            "sequence": catalog_obj["sequence"],
-            "description": catalog_obj.get("description", ""),
-            "const": obj_data.get("const", ""),
-            "size": obj_data.get("size", ""),
-            "surface_brightness": obj_data.get("surface_brightness", None),
-        }
+    def _create_composite_from_row(self, row, names_dict, obs_db):
+        """Build CompositeObject directly from a joined query row."""
+        object_id = row["object_id"]
+
+        composite_instance = CompositeObject(
+            id=row["id"],
+            object_id=object_id,
+            ra=row["ra"],
+            dec=row["dec"],
+            obj_type=row["obj_type"],
+            catalog_code=row["catalog_code"],
+            sequence=row["sequence"],
+            description=row["description"] or "",
+            const=row["const"] or "",
+            size=row["size"] or "",
+            surface_brightness=row["surface_brightness"],
+        )
 
-        composite_instance = CompositeObject.from_dict(composite_data)
-        composite_instance.names = common_names.id_to_names.get(object_id, [])
+        composite_instance.names = names_dict.get(object_id, [])
         composite_instance.logged = obs_db.check_logged(composite_instance)
 
-        # Parse magnitude
         try:
-            mag = MagnitudeObject.from_json(obj_data.get("mag", ""))
+            mag = MagnitudeObject.from_json(row["mag"] or "")
             composite_instance.mag = mag
             composite_instance.mag_str = mag.calc_two_mag_representation()
         except Exception:
@@ -874,63 +907,17 @@ def _create_full_composite_object(
         composite_instance._details_loaded = True
         return composite_instance
 
-    def _build_composite(
-        self,
-        catalog_objects: List[Dict],
-        objects: Dict[int, Dict],
-        common_names: Names,
-        obs_db: ObservationsDatabase,
-        ui_queue=None,
-    ) -> List[CompositeObject]:
-        """
-        Build composite objects with priority loading.
-        Popular catalogs (M, NGC, IC) are loaded immediately.
-        Other catalogs (WDS, etc.) are loaded in background.
-        """
-        # Separate high-priority catalogs from low-priority ones
-        priority_catalogs = {"NGC", "IC", "M"}  # Most popular catalogs
-
-        priority_objects = []
-        deferred_objects = []
-
-        for catalog_obj in catalog_objects:
-            if catalog_obj["catalog_code"] in priority_catalogs:
-                priority_objects.append(catalog_obj)
-            else:
-                deferred_objects.append(catalog_obj)
-
-        # Load priority catalogs synchronously (fast - ~13K objects)
-        composite_objects = []
-        for catalog_obj in priority_objects:
-            obj = self._create_full_composite_object(
-                catalog_obj, objects, common_names, obs_db
-            )
-            composite_objects.append(obj)
-
-        # Store reference for background loader completion callback
-        self._pending_catalogs_ref = None
-
-        # Start background loader for deferred objects
-        if deferred_objects:
-            loader = CatalogBackgroundLoader(
-                deferred_catalog_objects=deferred_objects,
-                objects=objects,
-                common_names=common_names,
-                obs_db=obs_db,
-                on_progress=self._on_loader_progress,
-                on_complete=lambda objs: self._on_loader_complete(objs, ui_queue),
-            )
-            loader.start()
-
-            # Store loader reference for potential stop/test access
-            self._background_loader = loader
-
-        return composite_objects
+    def check_catalogs_sequences(self, catalogs: Catalogs):
+        for catalog in catalogs.get_catalogs(only_selected=False):
+            result = catalog.check_sequences()
+            if not result:
+                logger.error("Duplicate sequence catalog %s!", catalog.catalog_code)
+                return False
+            return True
 
     def _on_loader_progress(self, loaded: int, total: int, catalog: str) -> None:
         """Progress callback - log every 10K objects"""
-        if loaded % 10000 == 0 or loaded == total:
-            logger.info(f"Background loading: {loaded}/{total} ({catalog})")
+        pass  # Muted to reduce log noise
 
     def _on_loader_complete(
         self, loaded_objects: List[CompositeObject], ui_queue
diff --git a/python/PiFinder/comets.py b/python/PiFinder/comets.py
index 9430094ff..f4ebec466 100644
--- a/python/PiFinder/comets.py
+++ b/python/PiFinder/comets.py
@@ -8,6 +8,7 @@
 import os
 import logging
 import math
+import time
 
 logger = logging.getLogger("Comets")
 
@@ -212,8 +213,9 @@ def calc_comets(
                 if result:
                     comet_dict[result["name"]] = result
 
-            # Report progress
+            # Yield CPU to UI thread every comet
             processed += 1
+            time.sleep(0.05)
             if progress_callback and total_comets > 0:
                 progress = int((processed / total_comets) * 100)
                 progress_callback(progress)
diff --git a/python/PiFinder/db/objects_db.py b/python/PiFinder/db/objects_db.py
index b52057f41..5156cfa9b 100644
--- a/python/PiFinder/db/objects_db.py
+++ b/python/PiFinder/db/objects_db.py
@@ -11,23 +11,7 @@ class ObjectsDatabase(Database):
     def __init__(self, db_path=utils.pifinder_db):
         conn, cursor = self.get_database(db_path)
         super().__init__(conn, cursor, db_path)
-
-        # Performance optimizations for Pi/SD card environments
-        logging.info("Applying database performance optimizations...")
-        self.cursor.execute("PRAGMA foreign_keys = ON;")
-        self.cursor.execute("PRAGMA mmap_size = 268435456;")  # 256MB memory mapping
-        self.cursor.execute("PRAGMA cache_size = -64000;")  # 64MB cache (negative = KB)
-        self.cursor.execute("PRAGMA temp_store = MEMORY;")  # Keep temporary data in RAM
-        self.cursor.execute(
-            "PRAGMA journal_mode = WAL;"
-        )  # Write-ahead logging for better concurrency
-        self.cursor.execute(
-            "PRAGMA synchronous = NORMAL;"
-        )  # Balanced safety/performance
-        logging.info("Database optimizations applied")
-
-        self.conn.commit()
-        self.bulk_mode = False  # Flag to disable commits during bulk operations
+        self.bulk_mode = False
 
     def create_tables(self):
         # Create objects table
@@ -318,6 +302,53 @@ def get_catalog_objects(self):
         )
         return results
 
+    def get_priority_catalog_joined(self, priority_codes=("NGC", "IC", "M")):
+        """Combined JOIN query: catalog_objects + objects for priority catalogs only."""
+        start_time = time.time()
+        placeholders = ",".join("?" * len(priority_codes))
+        self.cursor.execute(
+            f"""
+            SELECT co.id, co.object_id, co.catalog_code, co.sequence, co.description,
+                   o.ra, o.dec, o.obj_type, o.const, o.size, o.mag, o.surface_brightness
+            FROM catalog_objects co
+            JOIN objects o ON co.object_id = o.id
+            WHERE co.catalog_code IN ({placeholders})
+            """,
+            priority_codes,
+        )
+        rows = self.cursor.fetchall()
+        elapsed = time.time() - start_time
+        logging.info(
+            f"get_priority_catalog_joined took {elapsed:.2f}s, returned {len(rows)} rows"
+        )
+        return rows
+
+    def get_priority_names(self, priority_codes=("NGC", "IC", "M")):
+        """Get names only for objects in priority catalogs (much smaller than full names table)."""
+        start_time = time.time()
+        placeholders = ",".join("?" * len(priority_codes))
+        self.cursor.execute(
+            f"""
+            SELECT n.object_id, n.common_name FROM names n
+            WHERE n.object_id IN (
+                SELECT DISTINCT co.object_id FROM catalog_objects co
+                WHERE co.catalog_code IN ({placeholders})
+            )
+            """,
+            priority_codes,
+        )
+        results = self.cursor.fetchall()
+        name_dict = defaultdict(list)
+        for object_id, common_name in results:
+            name_dict[object_id].append(common_name.strip())
+        for object_id in name_dict:
+            name_dict[object_id] = list(set(name_dict[object_id]))
+        elapsed = time.time() - start_time
+        logging.info(
+            f"get_priority_names took {elapsed:.2f}s, {len(results)} rows for {len(name_dict)} objects"
+        )
+        return name_dict
+
     # ---- IMAGES_OBJECTS methods ----
     def insert_image_object(self, object_id, image_name):
         self.cursor.execute(
diff --git a/python/PiFinder/displays.py b/python/PiFinder/displays.py
index 9b53551b4..e41020e1e 100644
--- a/python/PiFinder/displays.py
+++ b/python/PiFinder/displays.py
@@ -1,4 +1,5 @@
 import functools
+import logging
 from collections import namedtuple
 
 import numpy as np
@@ -10,7 +11,9 @@
 from luma.lcd.device import st7789
 
 from PiFinder.ui.fonts import Fonts
+from PiFinder.keyboard_interface import KeyboardInterface
 
+logger = logging.getLogger("Display")
 
 ColorMask = namedtuple("ColorMask", ["mask", "mode"])
 RED_RGB: ColorMask = ColorMask(np.array([1, 0, 0]), "RGB")
@@ -64,14 +67,91 @@ def __init__(self):
     def set_brightness(self, brightness: int) -> None:
         return None
 
+    def set_keyboard_queue(self, q) -> None:
+        pass
+
+
+# Pygame key → PiFinder keycode mapping (mirrors keyboard_local.py)
+_PYGAME_KEY_MAP: dict[int, int] = {}
+
+
+def _build_key_map(pg) -> dict[int, int]:
+    if _PYGAME_KEY_MAP:
+        return _PYGAME_KEY_MAP
+    KI = KeyboardInterface
+    m = {
+        pg.K_LEFT: KI.LEFT,
+        pg.K_UP: KI.UP,
+        pg.K_DOWN: KI.DOWN,
+        pg.K_RIGHT: KI.RIGHT,
+        pg.K_q: KI.PLUS,
+        pg.K_a: KI.MINUS,
+        pg.K_z: KI.SQUARE,
+        pg.K_w: KI.ALT_PLUS,
+        pg.K_s: KI.ALT_MINUS,
+        pg.K_d: KI.ALT_LEFT,
+        pg.K_r: KI.ALT_UP,
+        pg.K_f: KI.ALT_DOWN,
+        pg.K_g: KI.ALT_RIGHT,
+        pg.K_e: KI.ALT_0,
+        pg.K_j: KI.LNG_LEFT,
+        pg.K_i: KI.LNG_UP,
+        pg.K_k: KI.LNG_DOWN,
+        pg.K_l: KI.LNG_RIGHT,
+        pg.K_m: KI.LNG_SQUARE,
+        pg.K_0: 0,
+        pg.K_1: 1,
+        pg.K_2: 2,
+        pg.K_3: 3,
+        pg.K_4: 4,
+        pg.K_5: 5,
+        pg.K_6: 6,
+        pg.K_7: 7,
+        pg.K_8: 8,
+        pg.K_9: 9,
+    }
+    _PYGAME_KEY_MAP.update(m)
+    return _PYGAME_KEY_MAP
+
+
+def _patch_pygame_keyboard(display_obj):
+    """Replace luma's _abort on the pygame device to capture keyboard events."""
+    device = display_obj.device
+    pg = device._pygame
+    key_map = _build_key_map(pg)
+
+    def _abort_with_keys():
+        for event in pg.event.get():
+            if event.type == pg.QUIT:
+                return True
+            if event.type == pg.KEYDOWN:
+                if event.key == pg.K_ESCAPE:
+                    return True
+                q = display_obj._keyboard_queue
+                if q is not None:
+                    keycode = key_map.get(event.key)
+                    if keycode is not None:
+                        q.put(keycode)
+        return False
+
+    device._abort = _abort_with_keys
+
 
 class DisplayPygame_128(DisplayBase):
     resolution = (128, 128)
 
     def __init__(self):
         from luma.emulator.device import pygame
+        import pygame as pg
+        from pathlib import Path
 
-        # init display  (SPI hardware)
+        # Set window icon to welcome splash screen before creating display
+        icon_path = Path(__file__).parent.parent.parent / "images" / "welcome.png"
+        if icon_path.exists():
+            icon = pg.image.load(str(icon_path))
+            pg.display.set_icon(icon)
+
+        self._keyboard_queue = None
         pygame = pygame(
             width=128,
             height=128,
@@ -82,16 +162,28 @@ def __init__(self):
             frame_rate=60,
         )
         self.device = pygame
+        _patch_pygame_keyboard(self)
         super().__init__()
 
+    def set_keyboard_queue(self, q) -> None:
+        self._keyboard_queue = q
+
 
 class DisplayPygame_320(DisplayBase):
     resolution = (320, 240)
 
     def __init__(self):
         from luma.emulator.device import pygame
+        import pygame as pg
+        from pathlib import Path
 
-        # init display  (SPI hardware)
+        # Set window icon to welcome splash screen before creating display
+        icon_path = Path(__file__).parent.parent.parent / "images" / "welcome.png"
+        if icon_path.exists():
+            icon = pg.image.load(str(icon_path))
+            pg.display.set_icon(icon)
+
+        self._keyboard_queue = None
         pygame = pygame(
             width=320,
             height=240,
@@ -100,8 +192,12 @@ def __init__(self):
             frame_rate=60,
         )
         self.device = pygame
+        _patch_pygame_keyboard(self)
         super().__init__()
 
+    def set_keyboard_queue(self, q) -> None:
+        self._keyboard_queue = q
+
 
 class DisplaySSD1351(DisplayBase):
     resolution = (128, 128)
diff --git a/python/PiFinder/get_images.py b/python/PiFinder/get_images.py
index 8bedfec7b..f3012873e 100644
--- a/python/PiFinder/get_images.py
+++ b/python/PiFinder/get_images.py
@@ -5,14 +5,18 @@
 images from AWS
 """
 
-import requests
 import os
-from tqdm import tqdm
 from concurrent.futures import ThreadPoolExecutor, as_completed
 from typing import List, Tuple
 
-from PiFinder import cat_images
+import requests
+from tqdm import tqdm
+
 from PiFinder.db.objects_db import ObjectsDatabase
+from PiFinder.object_images.poss_provider import (
+    BASE_IMAGE_PATH,
+    create_catalog_image_dirs,
+)
 
 
 def check_missing_images() -> List[str]:
@@ -34,9 +38,7 @@ def check_missing_images() -> List[str]:
     missing_images = []
     for image_name in tqdm(image_names, desc="Checking existing images"):
         # Check if POSS image exists (primary check)
-        poss_path = (
-            f"{cat_images.BASE_IMAGE_PATH}/{image_name[-1]}/{image_name}_POSS.jpg"
-        )
+        poss_path = f"{BASE_IMAGE_PATH}/{image_name[-1]}/{image_name}_POSS.jpg"
         if not os.path.exists(poss_path):
             missing_images.append(image_name)
 
@@ -79,7 +81,7 @@ def fetch_images_for_object(
 
     # Download POSS image
     poss_filename = f"{image_name}_POSS.jpg"
-    poss_path = f"{cat_images.BASE_IMAGE_PATH}/{seq_ones}/{poss_filename}"
+    poss_path = f"{BASE_IMAGE_PATH}/{seq_ones}/{poss_filename}"
     poss_url = f"https://ddbeeedxfpnp0.cloudfront.net/catalog_images/{seq_ones}/{poss_filename}"
 
     poss_success, poss_error = download_image_from_url(session, poss_url, poss_path)
@@ -88,7 +90,7 @@ def fetch_images_for_object(
 
     # Download SDSS image
     sdss_filename = f"{image_name}_SDSS.jpg"
-    sdss_path = f"{cat_images.BASE_IMAGE_PATH}/{seq_ones}/{sdss_filename}"
+    sdss_path = f"{BASE_IMAGE_PATH}/{seq_ones}/{sdss_filename}"
     sdss_url = f"https://ddbeeedxfpnp0.cloudfront.net/catalog_images/{seq_ones}/{sdss_filename}"
 
     sdss_success, sdss_error = download_image_from_url(session, sdss_url, sdss_path)
@@ -154,7 +156,7 @@ def main():
     """
     Main function to check for and download missing catalog images.
     """
-    cat_images.create_catalog_image_dirs()
+    create_catalog_image_dirs()
 
     print("Checking for missing images...")
     missing_images = check_missing_images()
diff --git a/python/PiFinder/gps_gpsd.py b/python/PiFinder/gps_gpsd.py
index 12f29c7fb..96df6c435 100644
--- a/python/PiFinder/gps_gpsd.py
+++ b/python/PiFinder/gps_gpsd.py
@@ -4,7 +4,6 @@
 This module is for GPS related functions
 """
 
-import asyncio
 from PiFinder.multiproclogging import MultiprocLogging
 from gpsdclient import GPSDClient
 import logging
@@ -43,66 +42,8 @@ def is_tpv_accurate(tpv_dict):
         return False
 
 
-async def aiter_wrapper(sync_iter):
-    """Wrap a synchronous iterable into an asynchronous one."""
-    for item in sync_iter:
-        yield item
-        await asyncio.sleep(0)  # Yield control to the event loop
-
-
-async def process_sky_messages(client, gps_queue):
-    sky_stream = client.dict_stream(filter=["SKY"])
-    global error_2d, error_3d
-    async for result in aiter_wrapper(sky_stream):
-        logger.debug("GPS: SKY: %s", result)
-        if result["class"] == "SKY":
-            error_2d = result.get("hdop", 999)
-            error_3d = result.get("pdop", 999)
-        if result["class"] == "SKY" and "nSat" in result:
-            sats_seen = result["nSat"]
-            sats_used = result["uSat"]
-            num_sats = (sats_seen, sats_used)
-            msg = ("satellites", num_sats)
-            logger.debug("Number of sats seen: %i", sats_seen)
-            gps_queue.put(msg)
-        await asyncio.sleep(0)  # Yield control to the event loop
-
-
-async def process_reading_messages(client, gps_queue, console_queue, gps_locked):
-    global error_in_m
-    tpv_stream = client.dict_stream(convert_datetime=True, filter=["TPV"])
-    async for result in aiter_wrapper(tpv_stream):
-        if is_tpv_accurate(result):
-            # if True:
-            logger.debug("last reading is %s", result)
-            if result.get("lat") and result.get("lon") and result.get("altHAE"):
-                if not gps_locked:
-                    gps_locked = True
-                    console_queue.put("GPS: Locked")
-                    logger.debug("GPS locked")
-                msg = (
-                    "fix",
-                    {
-                        "lat": result.get("lat"),
-                        "lon": result.get("lon"),
-                        "altitude": result.get("altHAE"),
-                        "source": "GPS",
-                        "lock": True,
-                        "lock_type": result.get("mode", 0),
-                        "error_in_m": error_in_m,
-                    },
-                )
-                logger.debug("GPS fix: %s", msg)
-                gps_queue.put(msg)
-
-            if result.get("time"):
-                msg = ("time", result.get("time"))
-                logger.debug("Setting time to %s", result.get("time"))
-                gps_queue.put(msg)
-        await asyncio.sleep(0)  # Yield control to the event loop
-
-
-async def gps_main(gps_queue, console_queue, log_queue):
+def gps_main(gps_queue, console_queue, log_queue):
+    global error_2d, error_3d, error_in_m
     MultiprocLogging.configurer(log_queue)
     logger.info("Using GPSD GPS code")
     gps_locked = False
@@ -110,24 +51,57 @@ async def gps_main(gps_queue, console_queue, log_queue):
     while True:
         try:
             with GPSDClient(host="127.0.0.1") as client:
-                while True:
-                    logger.debug("GPS waking")
-
-                    # Run both functions concurrently
-                    await asyncio.gather(
-                        process_sky_messages(client, gps_queue),
-                        process_reading_messages(
-                            client, gps_queue, console_queue, gps_locked
-                        ),
-                    )
-
-                    logger.debug("GPS sleeping now for 7s")
-                    await asyncio.sleep(7)
+                for result in client.dict_stream(
+                    convert_datetime=True, filter=["TPV", "SKY"]
+                ):
+                    if result["class"] == "TPV" and is_tpv_accurate(result):
+                        logger.debug("last reading is %s", result)
+                        if (
+                            result.get("lat")
+                            and result.get("lon")
+                            and result.get("altHAE")
+                        ):
+                            if not gps_locked:
+                                gps_locked = True
+                                console_queue.put("GPS: Locked")
+                                logger.debug("GPS locked")
+                            msg = (
+                                "fix",
+                                {
+                                    "lat": result.get("lat"),
+                                    "lon": result.get("lon"),
+                                    "altitude": result.get("altHAE"),
+                                    "source": "GPS",
+                                    "lock": True,
+                                    "lock_type": result.get("mode", 0),
+                                    "error_in_m": error_in_m,
+                                },
+                            )
+                            logger.debug("GPS fix: %s", msg)
+                            gps_queue.put(msg)
+
+                        if result.get("time"):
+                            msg = ("time", result.get("time"))
+                            logger.debug("Setting time to %s", result.get("time"))
+                            gps_queue.put(msg)
+
+                    if result["class"] == "SKY":
+                        logger.debug("GPS: SKY: %s", result)
+                        print("GPS: SKY: %s", result)
+                        if result["class"] == "SKY":
+                            error_2d = result.get("hdop", 999)
+                            error_3d = result.get("pdop", 999)
+                        if result["class"] == "SKY" and "nSat" in result:
+                            sats_seen = result["nSat"]
+                            sats_used = result["uSat"]
+                            num_sats = (sats_seen, sats_used)
+                            msg = ("satellites", num_sats)
+                            logger.debug("Number of sats seen: %i", sats_seen)
+                            gps_queue.put(msg)
         except Exception as e:
             logger.error(f"Error in GPS monitor: {e}")
-            await asyncio.sleep(5)  # Wait before attempting to reconnect
 
 
 # To run the GPS monitor
 def gps_monitor(gps_queue, console_queue, log_queue):
-    asyncio.run(gps_main(gps_queue, console_queue, log_queue))
+    gps_main(gps_queue, console_queue, log_queue)
diff --git a/python/PiFinder/gps_ubx_parser.py b/python/PiFinder/gps_ubx_parser.py
index 5627b1af6..36bdb3847 100644
--- a/python/PiFinder/gps_ubx_parser.py
+++ b/python/PiFinder/gps_ubx_parser.py
@@ -159,7 +159,7 @@ async def connect(cls, log_queue, host="127.0.0.1", port=2947, max_attempts=5):
     async def from_file(cls, file_path: str):
         """Create a UBXParser instance from a file."""
         f = await aiofiles.open(file_path, "rb")
-        return cls(log_queue=None, reader=f, file_path=file_path)  # type:ignore[arg-type]
+        return cls(log_queue=None, reader=f, file_path=file_path)
 
     async def close(self):
         """Clean up resources and close the connection."""
diff --git a/python/PiFinder/image_util.py b/python/PiFinder/image_util.py
index 7580c3e01..83815f93f 100644
--- a/python/PiFinder/image_util.py
+++ b/python/PiFinder/image_util.py
@@ -10,7 +10,6 @@
 
 from PIL import Image, ImageChops
 import numpy as np
-import scipy.ndimage
 
 
 def make_red(in_image, colors):
@@ -37,6 +36,8 @@ def gamma_correct(in_value, gamma):
 
 
 def subtract_background(image, percent=1):
+    import scipy.ndimage
+
     image = np.asarray(image, dtype=np.float32)
     if image.ndim == 3:
         assert image.shape[2] in (1, 3), "Colour image must have 1 or 3 colour channels"
diff --git a/python/PiFinder/imu_pi.py b/python/PiFinder/imu_pi.py
index e1d7744ad..4e475cbb8 100644
--- a/python/PiFinder/imu_pi.py
+++ b/python/PiFinder/imu_pi.py
@@ -11,8 +11,6 @@
 import adafruit_bno055
 import logging
 
-from scipy.spatial.transform import Rotation
-
 from PiFinder import config
 
 logger = logging.getLogger("IMU.pi")
@@ -81,6 +79,8 @@ def __init__(self):
         )
 
     def quat_to_euler(self, quat):
+        from scipy.spatial.transform import Rotation
+
         if quat[0] + quat[1] + quat[2] + quat[3] == 0:
             return 0, 0, 0
         rot = Rotation.from_quat(quat)
diff --git a/python/PiFinder/keyboard_local.py b/python/PiFinder/keyboard_local.py
index 3f6028367..6ba3b61fe 100644
--- a/python/PiFinder/keyboard_local.py
+++ b/python/PiFinder/keyboard_local.py
@@ -31,10 +31,16 @@ class KeyboardLocal(KeyboardInterface):
     def __init__(self, q):
         try:
             from PyHotKey import Key, keyboard
+
+            logger.info("PyHotKey imported successfully")
         except ModuleNotFoundError:
             logger.error("pyhotkey not supported on pi hardware")
             return
+        except Exception as e:
+            logger.error(f"Failed to import PyHotKey: {e}", exc_info=True)
+            return
         try:
+            logger.info("Setting up keyboard bindings...")
             self.q = q
             # Configure unmodified keys
             keyboard.set_magickey_on_release(Key.left, self.callback, self.LEFT)
@@ -79,10 +85,11 @@ def __init__(self, q):
             keyboard.set_magickey_on_release("i", self.callback, self.LNG_UP)
             keyboard.set_magickey_on_release("k", self.callback, self.LNG_DOWN)
             keyboard.set_magickey_on_release("l", self.callback, self.LNG_RIGHT)
+            logger.info("Keyboard bindings set up successfully")
         except Exception as e:
-            logger.error("KeyboardLocal.__init__: {}".format(e))
+            logger.error("KeyboardLocal.__init__ failed: {}".format(e), exc_info=True)
         # keyboard.logger = True
-        logger.debug("KeyboardLocal.__init__")
+        logger.info("KeyboardLocal.__init__ complete")
 
     def callback(self, key):
         self.q.put(key)
@@ -90,9 +97,79 @@ def callback(self, key):
 
 def run_keyboard(q, shared_state, log_queue, bloom_remap=False):
     MultiprocLogging.configurer(log_queue)
-    KeyboardLocal(q)
 
-    while True:
-        # the KeyboardLocal class has callbacks to handle
-        # keypresses.  We just need to not terminate here
-        time.sleep(1)
+    logger.info("Keyboard process starting...")
+
+    # Try pynput directly first (more reliable on macOS)
+    try:
+        from pynput import keyboard as pynput_keyboard  # type: ignore[import-untyped]
+
+        logger.info("Using pynput for keyboard handling")
+
+        # Key mapping
+        key_map = {
+            pynput_keyboard.Key.left: KeyboardInterface.LEFT,
+            pynput_keyboard.Key.up: KeyboardInterface.UP,
+            pynput_keyboard.Key.down: KeyboardInterface.DOWN,
+            pynput_keyboard.Key.right: KeyboardInterface.RIGHT,
+            "q": KeyboardInterface.PLUS,
+            "a": KeyboardInterface.MINUS,
+            "z": KeyboardInterface.SQUARE,
+            "m": KeyboardInterface.LNG_SQUARE,
+            "0": 0,
+            "1": 1,
+            "2": 2,
+            "3": 3,
+            "4": 4,
+            "5": 5,
+            "6": 6,
+            "7": 7,
+            "8": 8,
+            "9": 9,
+            "w": KeyboardInterface.ALT_PLUS,
+            "s": KeyboardInterface.ALT_MINUS,
+            "d": KeyboardInterface.ALT_LEFT,
+            "r": KeyboardInterface.ALT_UP,
+            "f": KeyboardInterface.ALT_DOWN,
+            "g": KeyboardInterface.ALT_RIGHT,
+            "e": KeyboardInterface.ALT_0,
+            "j": KeyboardInterface.LNG_LEFT,
+            "i": KeyboardInterface.LNG_UP,
+            "k": KeyboardInterface.LNG_DOWN,
+            "l": KeyboardInterface.LNG_RIGHT,
+        }
+
+        def on_release(key):
+            try:
+                # Handle special keys
+                if key in key_map:
+                    q.put(key_map[key])
+                    logger.debug(f"Key released: {key} -> {key_map[key]}")
+                # Handle character keys
+                elif hasattr(key, "char") and key.char in key_map:
+                    q.put(key_map[key.char])
+                    logger.debug(f"Key released: {key.char} -> {key_map[key.char]}")
+            except Exception as e:
+                logger.error(f"Error handling key: {e}")
+
+        # Start listener
+        listener = pynput_keyboard.Listener(on_release=on_release)
+        listener.start()
+        logger.info("pynput keyboard listener started")
+
+        while True:
+            time.sleep(1)
+
+    except Exception as e:
+        logger.error(f"pynput failed, falling back to PyHotKey: {e}", exc_info=True)
+
+        # Fallback to PyHotKey
+        try:
+            KeyboardLocal(q)
+            logger.info("KeyboardLocal initialized successfully")
+        except Exception as e2:
+            logger.error(f"Failed to initialize KeyboardLocal: {e2}", exc_info=True)
+            return
+
+        while True:
+            time.sleep(1)
diff --git a/python/PiFinder/keyboard_none.py b/python/PiFinder/keyboard_none.py
index 96d433077..e65efa662 100644
--- a/python/PiFinder/keyboard_none.py
+++ b/python/PiFinder/keyboard_none.py
@@ -20,7 +20,7 @@ def callback(self, key):
         self.q.put(key)
 
 
-def run_keyboard(q, shared_state, log_queue):
+def run_keyboard(q, shared_state, log_queue, bloom_remap=False):
     MultiprocLogging.configurer(log_queue)
     KeyboardNone(q)
 
diff --git a/python/PiFinder/main.py b/python/PiFinder/main.py
index 28ba07de4..3ec2b0e58 100644
--- a/python/PiFinder/main.py
+++ b/python/PiFinder/main.py
@@ -239,53 +239,11 @@ def sleep_screen(self):
         self.display_device.device.show()
 
 
-def start_profiling():
-    """Start profiling for performance analysis"""
-    import cProfile
-
-    profiler = cProfile.Profile()
-    profiler.enable()
-    startup_profile_start = time.time()
-    return profiler, startup_profile_start
-
-
-def stop_profiling(profiler, startup_profile_start):
-    """Stop profiling and save results"""
-    import pstats
-
-    profiler.disable()
-    startup_profile_time = time.time() - startup_profile_start
-    profile_path = utils.data_dir / "startup_profile.prof"
-    profiler.dump_stats(str(profile_path))
-
-    logger = logging.getLogger("Main.Profiling")
-    logger.info(f"=== Startup Profiling Complete ({startup_profile_time:.2f}s) ===")
-    logger.info(f"Profile saved to: {profile_path}")
-    logger.info("To analyze, run:")
-    logger.info(
-        f"  python -c \"import pstats; p = pstats.Stats('{profile_path}'); p.sort_stats('cumulative').print_stats(30)\""
-    )
-
-    summary_path = utils.data_dir / "startup_profile.txt"
-    with open(summary_path, "w") as f:
-        ps = pstats.Stats(profiler, stream=f)
-        f.write(f"=== STARTUP PROFILING ({startup_profile_time:.2f}s) ===\n\n")
-        f.write("Top 30 functions by cumulative time:\n")
-        f.write("=" * 80 + "\n")
-        ps.sort_stats("cumulative").print_stats(30)
-        f.write("\n" + "=" * 80 + "\n")
-        f.write("Top 30 functions by internal time:\n")
-        f.write("=" * 80 + "\n")
-        ps.sort_stats("time").print_stats(30)
-    logger.info(f"Text summary saved to: {summary_path}")
-
-
 def main(
     log_helper: MultiprocLogging,
     script_name=None,
     show_fps=False,
     verbose=False,
-    profile_startup=False,
 ) -> None:
     """
     Get this show on the road!
@@ -302,6 +260,7 @@ def main(
     # init queues
     console_queue: Queue = Queue()
     keyboard_queue: Queue = Queue()
+    display_device.set_keyboard_queue(keyboard_queue)
     gps_queue: Queue = Queue()
     camera_command_queue: Queue = Queue()
     solver_queue: Queue = Queue()
@@ -505,14 +464,10 @@ def main(
         )
         posserver_process.start()
 
-        # Initialize Catalogs
         console.write("   Catalogs")
         logger.info("   Catalogs")
         console.update()
 
-        # Start profiling (uncomment to enable performance analysis)
-        # profiler, startup_profile_start = start_profiling()
-
         # Initialize Catalogs (pass ui_queue for background loading completion signal)
         catalogs: Catalogs = CatalogBuilder().build(shared_state, ui_queue)
 
@@ -520,6 +475,18 @@ def main(
         _new_filter = CatalogFilter(shared_state=shared_state)
         _new_filter.load_from_config(cfg)
         catalogs.set_catalog_filter(_new_filter)
+
+        # Initialize Gaia chart generator in background to avoid first-use delay
+        console.write("   Gaia Charts")
+        console.update()
+        logger.info("   Initializing Gaia chart generator...")
+        from PiFinder.object_images.gaia_chart import get_gaia_chart_generator
+
+        chart_gen = get_gaia_chart_generator(cfg, shared_state)
+        # Trigger background loading so catalog is ready when needed
+        chart_gen.ensure_catalog_loading()
+        logger.info("   Gaia chart background loading started")
+
         console.write("   Menus")
         console.update()
 
@@ -536,18 +503,71 @@ def main(
         # Initialize power manager
         power_manager = PowerManager(cfg, shared_state, display_device)
 
-        # Start main event loop
-        console.write("   Event Loop")
-        logger.info("   Event Loop")
+        # Startup complete — clear welcome backdrop
+        console.write("   Ready")
         console.update()
+        console.finish_startup()
 
-        # Stop profiling (uncomment to analyze startup performance)
-        # stop_profiling(profiler, startup_profile_start)
+        # Start deferred catalog loading now that UI is ready
+        logger.info("   Event Loop")
+        catalogs.start_background_loading()
 
         log_time = True
+
+        # Set up Pygame event handling if using Pygame display
+        pygame_events_enabled = display_hardware in ["pg_128", "pg_320"]
+        if pygame_events_enabled:
+            import pygame
+            from PiFinder.keyboard_interface import KeyboardInterface
+
+            logger.info("Pygame event polling enabled for keyboard input")
+
+            # Key mapping for Pygame
+            pygame_key_map = {
+                pygame.K_LEFT: KeyboardInterface.LEFT,
+                pygame.K_UP: KeyboardInterface.UP,
+                pygame.K_DOWN: KeyboardInterface.DOWN,
+                pygame.K_RIGHT: KeyboardInterface.RIGHT,
+                pygame.K_q: KeyboardInterface.PLUS,
+                pygame.K_a: KeyboardInterface.MINUS,
+                pygame.K_z: KeyboardInterface.SQUARE,
+                pygame.K_m: KeyboardInterface.LNG_SQUARE,
+                pygame.K_0: 0,
+                pygame.K_1: 1,
+                pygame.K_2: 2,
+                pygame.K_3: 3,
+                pygame.K_4: 4,
+                pygame.K_5: 5,
+                pygame.K_6: 6,
+                pygame.K_7: 7,
+                pygame.K_8: 8,
+                pygame.K_9: 9,
+                pygame.K_w: KeyboardInterface.ALT_PLUS,
+                pygame.K_s: KeyboardInterface.ALT_MINUS,
+                pygame.K_d: KeyboardInterface.ALT_LEFT,
+                pygame.K_r: KeyboardInterface.ALT_UP,
+                pygame.K_f: KeyboardInterface.ALT_DOWN,
+                pygame.K_g: KeyboardInterface.ALT_RIGHT,
+                pygame.K_e: KeyboardInterface.ALT_0,
+                pygame.K_j: KeyboardInterface.LNG_LEFT,
+                pygame.K_i: KeyboardInterface.LNG_UP,
+                pygame.K_k: KeyboardInterface.LNG_DOWN,
+                pygame.K_l: KeyboardInterface.LNG_RIGHT,
+            }
+
         # Start of main except handler / loop
         try:
             while True:
+                # Poll Pygame events if using Pygame display
+                if pygame_events_enabled:
+                    for event in pygame.event.get():
+                        if event.type == pygame.KEYDOWN:
+                            if event.key in pygame_key_map:
+                                keyboard_queue.put(pygame_key_map[event.key])
+                        elif event.type == pygame.QUIT:
+                            logger.info("Pygame window closed, exiting...")
+                            raise KeyboardInterrupt
+
                 # Console
                 try:
                     console_msg = console_queue.get(block=False)
@@ -629,6 +649,9 @@ def main(
                 except queue.Empty:
                     pass
 
+                # Gaia catalog loading removed - now lazy-loads on first chart view
+                # (object_images triggers loading when needed)
+
                 # ui queue
                 try:
                     ui_command = ui_queue.get(block=False)
@@ -953,13 +976,6 @@ def main(
         help="Force user interface language (iso2 code). Changes configuration",
         type=str,
     )
-    parser.add_argument(
-        "--profile-startup",
-        help="Profile startup performance (catalog/menu loading)",
-        default=False,
-        action="store_true",
-        required=False,
-    )
     args = parser.parse_args()
     # add the handlers to the logger
     if args.verbose:
@@ -982,8 +998,7 @@ def main(
 
         # verify and sync GPSD baud rate
         try:
-            from PiFinder import sys_utils
-
+            sys_utils = utils.get_sys_utils()
             baud_rate = cfg.get_option(
                 "gps_baud_rate", 9600
             )  # Default to 9600 if not set
@@ -1013,16 +1028,26 @@ def main(
         rlogger.warn("not using camera")
         from PiFinder import camera_none as camera  # type: ignore[no-redef]
 
-    if args.keyboard.lower() == "pi":
-        from PiFinder import keyboard_pi as keyboard
+    # When using Pygame display, use built-in event polling (no keyboard subprocess needed)
+    if display_hardware in ["pg_128", "pg_320"]:
+        from PiFinder import keyboard_none as keyboard
+
+        rlogger.info("using pygame built-in keyboard (no subprocess)")
+    elif args.keyboard.lower() == "pi":
+        from PiFinder import keyboard_pi as keyboard  # type: ignore[no-redef]
 
         rlogger.info("using pi keyboard hat")
     elif args.keyboard.lower() == "local":
-        from PiFinder import keyboard_local as keyboard  # type: ignore[no-redef]
+        if display_hardware.startswith("pg_"):
+            from PiFinder import keyboard_none as keyboard
+
+            rlogger.info("using pygame keyboard (display captures keys)")
+        else:
+            from PiFinder import keyboard_local as keyboard  # type: ignore[no-redef]
 
-        rlogger.info("using local keyboard")
+            rlogger.info("using local keyboard")
     elif args.keyboard.lower() == "none":
-        from PiFinder import keyboard_none as keyboard  # type: ignore[no-redef]
+        from PiFinder import keyboard_none as keyboard
 
         rlogger.warning("using no keyboard")
 
@@ -1033,7 +1058,7 @@ def main(
             config.Config().set_option("language", args.lang)
 
     try:
-        main(log_helper, args.script, args.fps, args.verbose, args.profile_startup)
+        main(log_helper, args.script, args.fps, args.verbose)
     except Exception:
         rlogger.exception("Exception in main(). Aborting program.")
         os._exit(1)
diff --git a/python/PiFinder/multiproclogging.py b/python/PiFinder/multiproclogging.py
index 92d36dccd..2f8bee958 100644
--- a/python/PiFinder/multiproclogging.py
+++ b/python/PiFinder/multiproclogging.py
@@ -10,7 +10,6 @@
 import multiprocessing.queues
 from pathlib import Path
 from multiprocessing import Queue, Process
-import multiprocessing
 from queue import Empty
 from time import sleep
 from typing import TextIO, List, Optional
@@ -83,9 +82,9 @@ def apply_config(self):
 
     def start(self, initial_queue: Optional[Queue] = None):
         assert self._proc is None, "You should only start once!"
-        assert (
-            len(self._queues) >= 1
-        ), "No queues in use. You should have requested at least one queue."
+        assert len(self._queues) >= 1, (
+            "No queues in use. You should have requested at least one queue."
+        )
 
         self._proc = Process(
             target=self._run_sink,
@@ -170,9 +169,9 @@ def configurer(queue: Queue):
         log messages.
         """
         assert queue is not None, "You passed a None to configurer! You cannot do that"
-        assert isinstance(
-            queue, multiprocessing.queues.Queue
-        ), "That's not a Queue! You have to pass a queue"
+        assert isinstance(queue, multiprocessing.queues.Queue), (
+            "That's not a Queue! You have to pass a queue"
+        )
 
         log_conf_file = Path("pifinder_logconf.json")
         with open(log_conf_file, "r") as logconf:
diff --git a/python/PiFinder/nearby.py b/python/PiFinder/nearby.py
index f2ac7448d..d285b1fbc 100644
--- a/python/PiFinder/nearby.py
+++ b/python/PiFinder/nearby.py
@@ -2,7 +2,6 @@
 from typing import List
 import time
 import numpy as np
-from sklearn.neighbors import BallTree
 import logging
 
 logger = logging.getLogger("Catalog.Nearby")
@@ -74,6 +73,8 @@ def calculate_objects_balltree(self, objects: list[CompositeObject]) -> None:
         object_radecs = np.array(
             [[np.deg2rad(x.ra), np.deg2rad(x.dec)] for x in deduplicated_objects]
         )
+        from sklearn.neighbors import BallTree
+
         self._objects = np.array(deduplicated_objects)
         self._objects_balltree = BallTree(
             object_radecs, leaf_size=20, metric="haversine"
diff --git a/python/PiFinder/object_images/__init__.py b/python/PiFinder/object_images/__init__.py
new file mode 100644
index 000000000..690593c5f
--- /dev/null
+++ b/python/PiFinder/object_images/__init__.py
@@ -0,0 +1,71 @@
+#!/usr/bin/python
+# -*- coding:utf-8 -*-
+"""
+Object image providers for catalog objects
+
+Provides POSS survey images and generated Gaia star charts
+"""
+
+from typing import Union, Generator
+from PIL import Image
+from .poss_provider import POSSImageProvider
+from .chart_provider import ChartImageProvider
+from .image_base import ImageProvider
+
+
+def get_display_image(
+    catalog_object,
+    eyepiece_text,
+    fov,
+    roll,
+    display_class,
+    burn_in=True,
+    force_chart=False,
+    **kwargs,
+) -> Union[Image.Image, Generator]:
+    """
+    Get display image for catalog object
+
+    Returns POSS image if available, otherwise generated Gaia chart.
+    Use force_chart=True to prefer chart even if POSS exists.
+
+    Args:
+        catalog_object: The astronomical object to image
+        eyepiece_text: Eyepiece description for overlay
+        fov: Field of view in degrees
+        roll: Rotation angle in degrees
+        display_class: Display configuration object
+        burn_in: Whether to add overlays (FOV, mag, etc.)
+        force_chart: Force Gaia chart even if POSS exists
+        **kwargs: Additional provider-specific parameters
+
+    Returns:
+        PIL.Image for POSS images
+        Generator yielding progressive images for Gaia charts
+    """
+    provider: ImageProvider
+    if force_chart:
+        provider = ChartImageProvider(
+            kwargs.get("config_object"), kwargs.get("shared_state")
+        )
+    else:
+        poss = POSSImageProvider()
+        if poss.can_provide(catalog_object):
+            provider = poss
+        else:
+            provider = ChartImageProvider(
+                kwargs.get("config_object"), kwargs.get("shared_state")
+            )
+
+    return provider.get_image(
+        catalog_object,
+        eyepiece_text,
+        fov,
+        roll,
+        display_class,
+        burn_in=burn_in,
+        **kwargs,
+    )
+
+
+__all__ = ["get_display_image", "POSSImageProvider", "ChartImageProvider"]
diff --git a/python/PiFinder/object_images/chart_provider.py b/python/PiFinder/object_images/chart_provider.py
new file mode 100644
index 000000000..624d90181
--- /dev/null
+++ b/python/PiFinder/object_images/chart_provider.py
@@ -0,0 +1,132 @@
+#!/usr/bin/python
+# -*- coding:utf-8 -*-
+"""
+Gaia chart provider - generates star charts from Gaia catalog
+"""
+
+from pathlib import Path
+from typing import Generator
+from PIL import ImageChops
+from PiFinder import utils
+from .image_base import ImageProvider, ImageType
+import logging
+
+logger = logging.getLogger("PiFinder.ChartProvider")
+
+
+class ChartImageProvider(ImageProvider):
+    """
+    Provides dynamically generated Gaia star charts
+
+    Uses the GaiaChartGenerator to create on-demand star charts
+    from the HEALPix-indexed Gaia star catalog. Returns a generator
+    that yields progressive updates as magnitude bands load.
+    """
+
+    def __init__(self, config_object, shared_state):
+        """
+        Initialize chart provider
+
+        Args:
+            config_object: PiFinder config object
+            shared_state: Shared state object
+        """
+        self.config_object = config_object
+        self.shared_state = shared_state
+        self._chart_generator = None
+
+    def can_provide(self, catalog_object, **kwargs) -> bool:
+        """
+        Check if Gaia chart can be generated
+
+        Returns True if Gaia star catalog exists
+        """
+        gaia_catalog_path = Path(utils.data_dir, "gaia_stars", "metadata.json")
+        return gaia_catalog_path.exists()
+
+    def get_image(
+        self,
+        catalog_object,
+        eyepiece_text,
+        fov,
+        roll,
+        display_class,
+        burn_in=True,
+        magnification=None,
+        config_object=None,
+        shared_state=None,
+        **kwargs,
+    ) -> Generator:
+        """
+        Generate Gaia star chart
+
+        Yields progressive chart updates as magnitude bands load.
+        Each yielded image has an `is_loading_placeholder` attribute
+        indicating whether it's a loading screen or actual chart.
+
+        Returns:
+            Generator yielding PIL.Image objects
+        """
+        from .image_utils import create_loading_image, create_no_image_placeholder
+
+        # Get chart generator (singleton)
+        if self._chart_generator is None:
+            from .gaia_chart import get_gaia_chart_generator
+
+            self._chart_generator = get_gaia_chart_generator(
+                self.config_object, self.shared_state
+            )
+
+        gaia_catalog_path = Path(utils.data_dir, "gaia_stars", "metadata.json")
+
+        if not gaia_catalog_path.exists():
+            logger.warning(f"Gaia star catalog not found at {gaia_catalog_path}")
+            placeholder = create_no_image_placeholder(display_class, burn_in=burn_in)
+            yield placeholder
+            return
+
+        try:
+            # Ensure catalog loading started
+            logger.debug("Calling chart_generator.ensure_catalog_loading()...")
+            self._chart_generator.ensure_catalog_loading()
+            logger.debug(f"Catalog state: {self._chart_generator.get_catalog_state()}")
+
+            # Create generator that yields converted images
+            for image in self._chart_generator.generate_chart(
+                catalog_object,
+                (display_class.fov_res, display_class.fov_res),
+                burn_in=burn_in,
+                display_class=display_class,
+                roll=roll,
+            ):
+                if image is None:
+                    # Catalog not ready yet, show "Loading..." with progress
+                    if self._chart_generator.catalog:
+                        progress_text = self._chart_generator.catalog.load_progress
+                        progress_percent = self._chart_generator.catalog.load_percent
+                    else:
+                        progress_text = "Initializing..."
+                        progress_percent = 0
+
+                    loading_image = create_loading_image(
+                        display_class,
+                        message="Loading...",
+                        progress_text=progress_text,
+                        progress_percent=progress_percent,
+                    )
+                    loading_image.image_type = ImageType.LOADING
+                    yield loading_image
+                else:
+                    # Convert chart to red and yield it
+                    red_image = ImageChops.multiply(
+                        image.convert("RGB"), display_class.colors.red_image
+                    )
+                    # Mark as Gaia chart image
+                    red_image.image_type = ImageType.GAIA_CHART  # type: ignore[attr-defined]
+                    yield red_image
+
+        except Exception as e:
+            logger.error(f"Gaia chart generation failed: {e}", exc_info=True)
+            placeholder = create_no_image_placeholder(display_class, burn_in=burn_in)
+            placeholder.image_type = ImageType.ERROR
+            yield placeholder
diff --git a/python/PiFinder/object_images/gaia_chart.py b/python/PiFinder/object_images/gaia_chart.py
new file mode 100644
index 000000000..09e244134
--- /dev/null
+++ b/python/PiFinder/object_images/gaia_chart.py
@@ -0,0 +1,1085 @@
+#!/usr/bin/python
+# -*- coding:utf-8 -*-
+"""
+Gaia star chart generator for objects without DSS/POSS images
+
+Generates on-demand star charts using HEALPix-indexed Gaia star catalog.
+Features:
+- Equipment-aware FOV and magnitude limits
+- Stereographic projection (matching chart.py)
+- Center marker for target object
+- Info overlays (FOV, magnification, eyepiece)
+- Caching for performance
+"""
+
+import logging
+from pathlib import Path
+from typing import Generator, Optional, Tuple
+
+import numpy as np
+from PIL import Image, ImageDraw, ImageFont
+
+from PiFinder import utils
+from PiFinder.object_images.star_catalog import CatalogState, GaiaStarCatalog
+from PiFinder.object_images.image_utils import (
+    pad_to_display_resolution,
+    add_image_overlays,
+)
+
+logger = logging.getLogger("PiFinder.GaiaChart")
+
+# Global singleton instance to ensure same catalog across all uses
+_gaia_chart_generator_instance = None
+
+
+def get_gaia_chart_generator(config, shared_state):
+    """Get or create the global chart generator singleton"""
+    global _gaia_chart_generator_instance
+    logger.debug(
+        f">>> get_gaia_chart_generator() called, instance exists: {_gaia_chart_generator_instance is not None}"
+    )
+    if _gaia_chart_generator_instance is None:
+        logger.info(">>> Creating new GaiaChartGenerator instance...")
+        _gaia_chart_generator_instance = GaiaChartGenerator(config, shared_state)
+        logger.info(
+            f">>> GaiaChartGenerator created, state: {_gaia_chart_generator_instance.get_catalog_state()}"
+        )
+    else:
+        logger.debug(
+            f">>> Returning existing instance, state: {_gaia_chart_generator_instance.get_catalog_state()}"
+        )
+    return _gaia_chart_generator_instance
+
+
+class GaiaChartGenerator:
+    """
+    Generate on-demand star charts with equipment-aware settings
+
+    Usage:
+        gen = GaiaChartGenerator(config, shared_state)
+        image = gen.generate_chart(catalog_object, (128, 128), burn_in=True)
+    """
+
+    def __init__(self, config, shared_state):
+        """
+        Initialize chart generator
+
+        Args:
+            config: PiFinder config object
+            shared_state: Shared state object
+        """
+        logger.info(">>> GaiaChartGenerator.__init__() called")
+        self.config = config
+        self.shared_state = shared_state
+        self.catalog = None
+        self.chart_cache = {}
+        self._lm_cache = None  # Cache (sqm, eyepiece_id, lm) to avoid recalculation
+
+        # Initialize font for text overlays
+        font_path = Path(Path.cwd(), "../fonts/RobotoMonoNerdFontMono-Bold.ttf")
+        try:
+            self.small_font = ImageFont.truetype(str(font_path), 8)
+        except Exception as e:
+            logger.warning(f"Failed to load font {font_path}: {e}, using default")
+            self.small_font = ImageFont.load_default()
+
+    def get_catalog_state(self) -> CatalogState:
+        """Get current catalog loading state"""
+        if self.catalog is None:
+            return CatalogState.NOT_LOADED
+        return self.catalog.state
+
+    def ensure_catalog_loading(self):
+        """
+        Ensure catalog is loading or loaded
+        Triggers background load if needed
+        """
+        logger.debug(
+            f">>> ensure_catalog_loading() called, catalog is None: {self.catalog is None}"
+        )
+
+        if self.catalog is None:
+            logger.info(">>> Calling initialize_catalog()...")
+            self.initialize_catalog()
+            logger.info(f">>> initialize_catalog() done, state: {self.catalog.state}")
+
+        if self.catalog.state == CatalogState.NOT_LOADED:
+            # Trigger background load
+            location = self.shared_state.location()
+            sqm = self.shared_state.sqm()
+
+            observer_lat = location.lat if location and location.lock else None
+            limiting_mag = self.get_limiting_magnitude(sqm)
+
+            logger.info(
+                f">>> Starting background catalog load: lat={observer_lat}, mag_limit={limiting_mag:.1f}"
+            )
+            self.catalog.start_background_load(observer_lat, limiting_mag)
+            logger.info(
+                f">>> start_background_load() called, new state: {self.catalog.state}"
+            )
+
+    def initialize_catalog(self):
+        """Create catalog instance (doesn't load data yet)"""
+        catalog_path = Path(utils.data_dir, "gaia_stars")
+        logger.info(f">>> initialize_catalog() - catalog_path: {catalog_path}")
+
+        # Check if catalog exists before initializing
+        metadata_file = catalog_path / "metadata.json"
+        if not metadata_file.exists():
+            logger.warning(f"Gaia star catalog not found at {catalog_path}")
+            logger.warning(
+                "To build catalog, run: python -m PiFinder.catalog_tools.gaia_downloader --mag-limit 12 --output /tmp/gaia.csv"
+            )
+            logger.warning(
+                "Then: python -m PiFinder.catalog_tools.healpix_builder --input /tmp/gaia.csv --output {}/astro_data/gaia_stars".format(
+                    Path.home() / "PiFinder"
+                )
+            )
+
+        logger.info(">>> Creating GaiaStarCatalog instance...")
+        import time
+
+        t0 = time.time()
+        self.catalog = GaiaStarCatalog(str(catalog_path))
+        t_init = (time.time() - t0) * 1000
+        logger.info(f">>> GaiaStarCatalog.__init__() took {t_init:.1f}ms")
+        logger.info(
+            f">>> Catalog initialized: {catalog_path}, state: {self.catalog.state}"
+        )
+
+    def generate_chart(
+        self,
+        catalog_object,
+        resolution: Tuple[int, int],
+        burn_in: bool = True,
+        display_class=None,
+        roll=None,
+    ) -> Generator[Optional[Image.Image], None, None]:
+        """
+        Generate chart for object at current equipment settings
+
+        Args:
+            catalog_object: CompositeObject with RA/Dec
+            resolution: (width, height) tuple
+            burn_in: Add FOV/mag/eyepiece overlays
+
+        Returns:
+            PIL Image in RGB (red colorspace), or None if catalog not ready
+        """
+        logger.info(f">>> generate_chart() ENTRY: object={catalog_object.display_name}")
+
+        # Ensure catalog is loading
+        self.ensure_catalog_loading()
+
+        # Check state
+        if self.catalog.state != CatalogState.READY:
+            logger.info(
+                f">>> Chart generation skipped: catalog state = {self.catalog.state}"
+            )
+            yield None
+            return
+
+        logger.info(">>> Catalog state is READY, proceeding...")
+
+        # Check cache
+        cache_key = self.get_cache_key(catalog_object)
+        if cache_key in self.chart_cache:
+            # Return cached base image, adding overlays if needed
+            # Crosshair will be added by add_pulsating_crosshair() each frame
+            logger.debug(f"Chart cache HIT for {cache_key}")
+            cached_image = self.chart_cache[cache_key]
+
+            # Make a copy to avoid modifying cached image
+            image = cached_image.copy()
+
+            # ALWAYS pad to display resolution when display_class is provided
+            if display_class is not None:
+                image = pad_to_display_resolution(image, display_class)
+
+            # Add overlays if burn_in requested
+            if burn_in and display_class is not None:
+                # Add FOV circle
+                draw = ImageDraw.Draw(image)
+                width, height = display_class.resolution
+                cx, cy = width / 2.0, height / 2.0
+                radius = min(width, height) / 2.0 - 2
+                marker_color = display_class.colors.get(64)
+                bbox = [cx - radius, cy - radius, cx + radius, cy + radius]
+                draw.ellipse(bbox, outline=marker_color, width=1)
+
+                # Add text overlays
+                sqm = self.shared_state.sqm()
+                mag_limit_calculated = self.get_limiting_magnitude(sqm)
+                equipment = self.config.equipment
+                fov = equipment.calc_tfov()
+                mag = equipment.calc_magnification()
+
+                image = add_image_overlays(
+                    image,
+                    display_class,
+                    fov,
+                    mag,
+                    equipment.active_eyepiece,
+                    burn_in=True,
+                    limiting_magnitude=mag_limit_calculated,
+                )
+
+            yield image
+            return
+
+        # Get equipment settings
+        equipment = self.config.equipment
+        fov = equipment.calc_tfov()
+        if fov <= 0:
+            fov = 10.0  # Default fallback
+
+        mag = equipment.calc_magnification()
+        if mag <= 0:
+            mag = 50.0  # Default fallback
+
+        logger.info(
+            f">>> Chart Generation: object={catalog_object.display_name}, center=({catalog_object.ra:.4f}, {catalog_object.dec:.4f}), fov={fov:.4f}°, mag={mag:.1f}x, eyepiece={equipment.active_eyepiece}"
+        )
+
+        sqm = self.shared_state.sqm()
+        mag_limit_calculated = self.get_limiting_magnitude(sqm)
+        # For query, cap at catalog max
+        mag_limit_query = min(mag_limit_calculated, 17.0)
+
+        logger.info(
+            f">>> Mag Limit: calculated={mag_limit_calculated:.2f}, query={mag_limit_query:.2f}, sqm={sqm.value if sqm else 'None'}"
+        )
+
+        # Query stars PROGRESSIVELY (bright to faint)
+        # This is a generator that yields partial results as each magnitude band loads
+        import time
+
+        t0 = time.time()
+
+        logger.info(
+            f"Chart for {catalog_object.catalog_code}{catalog_object.sequence}: "
+            f"Center RA={catalog_object.ra:.4f}° Dec={catalog_object.dec:.4f}°, "
+            f"FOV={fov:.4f}°, Roll={roll if roll is not None else 0:.1f}°, "
+            f"Starting PROGRESSIVE loading (mag_limit={mag_limit_query:.1f})"
+        )
+
+        # Use progressive loading to show bright stars first
+        stars_generator = self.catalog.get_stars_for_fov_progressive(
+            ra_deg=catalog_object.ra,
+            dec_deg=catalog_object.dec,
+            fov_deg=fov,
+            mag_limit=mag_limit_query,
+        )
+
+        # Calculate rotation angle for roll / telescope orientation
+        # Reflectors (Newtonian, SCT) invert the image 180°
+        # Refractors typically don't invert (depends on eyepiece design)
+        # Use obstruction as heuristic: obstruction > 0 = reflector
+        telescope = equipment.active_telescope
+        if telescope and telescope.obstruction_perc > 0:
+            # Reflector telescope (Newtonian, SCT) - inverts image
+            image_rotate = 180
+        else:
+            # Refractor or unknown - no base rotation
+            image_rotate = 0
+
+        if roll is not None:
+            image_rotate += roll
+
+        # Get flip/flop settings from telescope config
+        flip_image = telescope.flip_image if telescope else False
+        flop_image = telescope.flop_image if telescope else False
+
+        # Progressive rendering: Yield image after each magnitude band loads
+        # Re-render all stars each time (simple, correct, fast enough)
+        final_image = None
+        iteration_count = 0
+
+        logger.info(">>> Starting star generator loop...")
+        for stars, is_complete in stars_generator:
+            iteration_count += 1
+            logger.info(
+                f">>> Star generator iteration {iteration_count}: got {len(stars)} stars, complete={is_complete}"
+            )
+            t_render_start = time.time()
+
+            # Render ALL stars from scratch (base image without overlays)
+            base_image = self.render_chart(
+                stars,
+                catalog_object.ra,
+                catalog_object.dec,
+                fov,
+                resolution,
+                mag,
+                image_rotate,
+                mag_limit_query,
+                flip_image=flip_image,
+                flop_image=flop_image,
+            )
+
+            # Store base image for caching (without overlays)
+            final_base_image = base_image
+
+            # Make a copy for display (don't modify the base image)
+            display_image = base_image.copy()
+
+            # ALWAYS pad to display resolution when display_class is provided
+            if display_class is not None:
+                display_image = pad_to_display_resolution(display_image, display_class)
+
+            # Add overlays if burn_in requested
+            if burn_in and display_class is not None:
+                # Add FOV circle BEFORE text overlays so it appears behind them
+                draw = ImageDraw.Draw(display_image)
+                width, height = display_class.resolution
+                cx, cy = width / 2.0, height / 2.0
+                radius = min(width, height) / 2.0 - 2  # Leave 2 pixel margin
+                marker_color = display_class.colors.get(64)  # Subtle but visible
+                bbox = [cx - radius, cy - radius, cx + radius, cy + radius]
+                draw.ellipse(bbox, outline=marker_color, width=1)
+
+                # Add text overlays (using shared utility)
+                display_image = add_image_overlays(
+                    display_image,
+                    display_class,
+                    fov,
+                    mag,
+                    equipment.active_eyepiece,
+                    burn_in=True,
+                    limiting_magnitude=mag_limit_calculated,  # Pass uncapped value for display
+                )
+
+            t_render_end = time.time()
+            logger.info(
+                f"PROGRESSIVE: Total render time {(t_render_end - t_render_start) * 1000:.1f}ms "
+                f"(complete={is_complete}, total_stars={len(stars)})"
+            )
+
+            # Yield display image (with or without overlays)
+            if not is_complete:
+                yield display_image
+            # If complete, will yield final image after loop
+
+        # Final yield with complete image
+        t1 = time.time()
+        logger.info(
+            f">>> Star generator loop complete: {iteration_count} iterations, {(t1 - t0) * 1000:.1f}ms total"
+        )
+
+        if iteration_count == 0:
+            logger.warning(
+                f">>> WARNING: Star generator yielded NO results! FOV={fov:.4f}°, center=({catalog_object.ra:.4f}, {catalog_object.dec:.4f})"
+            )
+            # Generate blank chart (no stars) - this is the base image
+            final_base_image = self.render_chart(
+                np.array([]).reshape(0, 3),  # Empty star array
+                catalog_object.ra,
+                catalog_object.dec,
+                fov,
+                resolution,
+                mag,
+                image_rotate,
+                mag_limit_query,
+                flip_image=flip_image,
+                flop_image=flop_image,
+            )
+
+        # Cache base image (without overlays) so it can be reused
+        if "final_base_image" in locals() and final_base_image is not None:
+            self.chart_cache[cache_key] = final_base_image
+            if len(self.chart_cache) > 10:
+                # Remove oldest
+                oldest = next(iter(self.chart_cache))
+                del self.chart_cache[oldest]
+
+            # Create final display image
+            final_display_image = final_base_image.copy()
+
+            # ALWAYS pad to display resolution when display_class is provided
+            if display_class is not None:
+                final_display_image = pad_to_display_resolution(
+                    final_display_image, display_class
+                )
+
+            # Add overlays if burn_in requested
+            if burn_in and display_class is not None:
+                # Add FOV circle
+                draw = ImageDraw.Draw(final_display_image)
+                width, height = display_class.resolution
+                cx, cy = width / 2.0, height / 2.0
+                radius = min(width, height) / 2.0 - 2
+                marker_color = display_class.colors.get(64)
+                bbox = [cx - radius, cy - radius, cx + radius, cy + radius]
+                draw.ellipse(bbox, outline=marker_color, width=1)
+
+                # Add overlays
+                final_display_image = add_image_overlays(
+                    final_display_image,
+                    display_class,
+                    fov,
+                    mag,
+                    equipment.active_eyepiece,
+                    burn_in=True,
+                    limiting_magnitude=mag_limit_calculated,
+                )
+
+            yield final_display_image
+        else:
+            yield None
+
+    def render_chart(
+        self,
+        stars: np.ndarray,
+        center_ra: float,
+        center_dec: float,
+        fov: float,
+        resolution: Tuple[int, int],
+        magnification: float = 50.0,
+        rotation: float = 0.0,
+        mag_limit: float = 17.0,
+        flip_image: bool = False,
+        flop_image: bool = False,
+    ) -> Image.Image:
+        """
+        Render stars to PIL Image with center crosshair
+        Uses fast vectorized stereographic projection
+
+        Args:
+            stars: Numpy array (N, 3) of (ra, dec, mag)
+            center_ra: Center RA in degrees
+            center_dec: Center Dec in degrees
+            fov: Field of view in degrees
+            resolution: (width, height) tuple
+            magnification: Magnification factor
+            rotation: Rotation angle in degrees (applied to coordinates)
+
+        Returns:
+            PIL Image in RGB (black background, red stars)
+        """
+        import time
+
+        t_start = time.time()
+
+        width, height = resolution
+        # Use NumPy array for fast pixel operations
+        image_array = np.zeros((height, width, 3), dtype=np.uint8)
+        image = Image.new("RGB", (width, height), (0, 0, 0))
+        ImageDraw.Draw(image)
+
+        logger.info(
+            f"Render Chart: {len(stars)} stars input, center=({center_ra:.4f}, {center_dec:.4f}), fov={fov:.4f}, res={resolution}"
+        )
+
+        # stars is already a numpy array (N, 3)
+        stars_array = stars
+        ra_arr = stars_array[:, 0]
+        dec_arr = stars_array[:, 1]
+        mag_arr = stars_array[:, 2]
+        t2 = time.time()
+        # logger.debug(f"  Array conversion: {(t2-t1)*1000:.1f}ms")
+
+        # Fast stereographic projection (vectorized)
+        # Convert degrees to radians
+        center_ra_rad = np.radians(center_ra)
+        center_dec_rad = np.radians(center_dec)
+        ra_rad = np.radians(ra_arr)
+        dec_rad = np.radians(dec_arr)
+
+        # Use simple tangent plane projection (like POSS images)
+        # This gives linear scaling: pixels_per_degree is constant
+        # x = tan(ra - ra0) * cos(dec0)
+        # y = (tan(dec) - tan(dec0)) / cos(ra - ra0)
+        # Simplified for small angles: x ≈ (ra - ra0), y ≈ (dec - dec0)
+
+        # Tangent plane projection (matches POSS images)
+        # For small FOV (< 10°), linear approximation works well
+        # IMPORTANT: Scale RA by CENTER declination, not individual star declinations
+        cos_center_dec = np.cos(center_dec_rad)
+
+        dra = ra_rad - center_ra_rad
+        # Handle RA wrapping at 0°/360°
+        dra = np.where(dra > np.pi, dra - 2 * np.pi, dra)
+        dra = np.where(dra < -np.pi, dra + 2 * np.pi, dra)
+        ddec = dec_rad - center_dec_rad
+
+        # Project onto tangent plane
+        # X: RA offset scaled by CENTER declination (matches POSS projection)
+        # Y: Dec offset (linear)
+        x_proj = dra * cos_center_dec
+        y_proj = ddec
+
+        # Simple linear pixel scale (matches POSS behavior)
+        # fov degrees should map to width pixels
+        pixel_scale = width / np.radians(fov)
+
+        if fov < 0.2:  # Debug small FOVs
+            logger.info(
+                f">>> SMALL FOV DEBUG: fov={fov:.4f}°, pixel_scale={pixel_scale:.1f} px/rad"
+            )
+            if len(stars) > 0:
+                logger.info(
+                    f">>> Star RA range: [{np.min(ra_arr):.4f}, {np.max(ra_arr):.4f}]"
+                )
+                logger.info(
+                    f">>> Star Dec range: [{np.min(dec_arr):.4f}, {np.max(dec_arr):.4f}]"
+                )
+                logger.info(f">>> Center: RA={center_ra:.4f}, Dec={center_dec:.4f}")
+
+        # Convert to screen coordinates FIRST
+        # Center of field should always be at width/2, height/2
+        # IMPORTANT: Flip X-axis to match POSS image orientation
+        # RA increases EASTWARD, which is to the LEFT when facing south
+        # So positive RA offset should go to the LEFT (subtract from center)
+        x_screen = width / 2.0 - x_proj * pixel_scale  # FLIPPED: RA increases to LEFT
+        y_screen = height / 2.0 - y_proj * pixel_scale
+
+        # Apply rotation to SCREEN coordinates (after scaling)
+        # This avoids magnifying small numerical errors
+        if rotation != 0:
+            rot_rad = np.radians(rotation)
+            cos_rot = np.cos(rot_rad)
+            sin_rot = np.sin(rot_rad)
+
+            # Rotate around center
+            center_x = width / 2.0
+            center_y = height / 2.0
+            x_rel = x_screen - center_x
+            y_rel = y_screen - center_y
+
+            x_rotated = x_rel * cos_rot - y_rel * sin_rot
+            y_rotated = x_rel * sin_rot + y_rel * cos_rot
+
+            x_screen = x_rotated + center_x
+            y_screen = y_rotated + center_y
+
+        # Filter stars within screen bounds only (no circular mask)
+        mask = (
+            (x_screen >= 0) & (x_screen < width) & (y_screen >= 0) & (y_screen < height)
+        )
+
+        x_visible = x_screen[mask]
+        y_visible = y_screen[mask]
+        mag_visible = mag_arr[mask]
+        ra_arr[mask]
+        dec_arr[mask]
+
+        logger.info(
+            f"Render Chart: {len(x_visible)} stars visible on screen (of {len(stars)} total)"
+        )
+
+        # Scale brightness based on FIXED magnitude range
+        # Use brightest visible star and LIMITING MAGNITUDE (not faintest loaded star)
+        # This ensures consistent intensity scaling across progressive renders
+
+        if len(mag_visible) == 0:
+            intensities = np.array([])
+        else:
+            brightest_mag = np.min(mag_visible)
+            faintest_mag = mag_limit  # Use limiting magnitude, not max(mag_visible)
+
+            # Always use proper magnitude scaling
+            # Linear scaling from brightest (255) to limiting magnitude (50)
+            # Note: Lower magnitude = brighter star
+            mag_range = faintest_mag - brightest_mag
+            if mag_range < 0.01:
+                mag_range = 0.01  # Avoid division by zero
+
+            intensities = 255 - ((mag_visible - brightest_mag) / mag_range * 205)
+            intensities = np.clip(intensities, 50, 255).astype(int)
+
+        # Render stars: crosses for bright ones, single pixels for faint
+        t3 = time.time()
+        ix = np.round(x_visible).astype(int)
+        iy = np.round(y_visible).astype(int)
+        t4 = time.time()
+        logger.debug(f"  Star projection: {(t3 - t2) * 1000:.1f}ms")
+
+        for i in range(len(ix)):
+            px = ix[i]
+            py = iy[i]
+            intensity = intensities[i]
+
+            # Draw all stars as single pixels (no crosses)
+            if 0 <= px < width and 0 <= py < height:
+                # Use max to avoid bright blobs from overlapping stars
+                image_array[py, px, 0] = max(image_array[py, px, 0], intensity)
+
+        np.clip(image_array[:, :, 0], 0, 255, out=image_array[:, :, 0])
+        t5 = time.time()
+        logger.debug(f"  Star drawing loop: {(t5 - t4) * 1000:.1f}ms ({len(ix)} stars)")
+
+        # Convert NumPy array back to PIL Image
+        image = Image.fromarray(image_array, mode="RGB")
+        t6 = time.time()
+        logger.debug(f"  Image conversion: {(t6 - t5) * 1000:.1f}ms")
+
+        # Apply telescope flip/flop transformations
+        # flip_image = vertical flip (mirror top to bottom)
+        # flop_image = horizontal flip (mirror left to right)
+        if flip_image:
+            image = image.transpose(Image.Transpose.FLIP_TOP_BOTTOM)
+        if flop_image:
+            image = image.transpose(Image.Transpose.FLIP_LEFT_RIGHT)
+
+        # Note: Limiting magnitude display added by add_image_overlays() in generate_chart()
+        # Note: Pulsating crosshair added separately via add_pulsating_crosshair()
+        # so base chart can be cached
+
+        t_end = time.time()
+        logger.debug(f"  Total render time: {(t_end - t_start) * 1000:.1f}ms")
+
+        # Tag image as a Gaia chart (not a loading placeholder)
+        # This enables the correct marking menu in UIObjectDetails
+        image.is_loading_placeholder = False  # type: ignore[attr-defined]
+
+        return image
+
+    def render_chart_incremental(
+        self,
+        new_stars: np.ndarray,
+        base_image: Optional[Image.Image],
+        center_ra: float,
+        center_dec: float,
+        fov: float,
+        resolution: Tuple[int, int],
+        magnification: float = 50.0,
+        rotation: float = 0.0,
+        mag_limit: float = 17.0,
+        fixed_brightest_mag: Optional[float] = None,
+        fixed_faintest_mag: Optional[float] = None,
+    ) -> Image.Image:
+        """
+        Incrementally render new stars onto existing base image.
+        Uses FIXED intensity scaling to maintain consistent brightness across bands.
+
+        Args:
+            new_stars: Only the new stars to render
+            base_image: Existing image to draw onto (None for first render)
+            center_ra: Center RA in degrees
+            center_dec: Center Dec in degrees
+            fov: Field of view in degrees
+            resolution: (width, height) tuple
+            magnification: Magnification factor
+            rotation: Rotation angle in degrees
+            mag_limit: Limiting magnitude
+            fixed_brightest_mag: Brightest magnitude for intensity scaling (from first band)
+            fixed_faintest_mag: Faintest magnitude for intensity scaling (limiting mag)
+
+        Returns:
+            PIL Image with new stars added
+        """
+        import time
+
+        t_start = time.time()
+
+        width, height = resolution
+
+        # Start with base image or create new blank one
+        if base_image is None:
+            image_array = np.zeros((height, width, 3), dtype=np.uint8)
+        else:
+            image_array = np.array(base_image)
+
+        logger.info(f"Render Chart INCREMENTAL: {len(new_stars)} new stars")
+
+        if len(new_stars) == 0:
+            return Image.fromarray(image_array, mode="RGB")
+
+        # Use FIXED intensity scaling (established from first band + limiting mag)
+        if fixed_brightest_mag is None or fixed_faintest_mag is None:
+            # Fallback: calculate from new stars only
+            new_mags = new_stars[:, 2]
+            brightest_mag = np.min(new_mags)
+            faintest_mag = np.max(new_mags)
+            logger.warning(
+                f"INCREMENTAL: No fixed scale provided, using fallback: {brightest_mag:.2f} to {faintest_mag:.2f}"
+            )
+        else:
+            brightest_mag = fixed_brightest_mag
+            faintest_mag = fixed_faintest_mag
+
+        # Convert new stars to numpy arrays
+        ra_arr = new_stars[:, 0]
+        dec_arr = new_stars[:, 1]
+        mag_arr = new_stars[:, 2]
+
+        # Projection (same as render_chart)
+        center_ra_rad = np.radians(center_ra)
+        center_dec_rad = np.radians(center_dec)
+        ra_rad = np.radians(ra_arr)
+        dec_rad = np.radians(dec_arr)
+
+        cos_center_dec = np.cos(center_dec_rad)
+
+        dra = ra_rad - center_ra_rad
+        dra = np.where(dra > np.pi, dra - 2 * np.pi, dra)
+        dra = np.where(dra < -np.pi, dra + 2 * np.pi, dra)
+        ddec = dec_rad - center_dec_rad
+
+        x_proj = dra * cos_center_dec
+        y_proj = ddec
+
+        pixel_scale = width / np.radians(fov)
+
+        x_screen = width / 2.0 - x_proj * pixel_scale
+        y_screen = height / 2.0 - y_proj * pixel_scale
+
+        # Apply rotation
+        if rotation != 0:
+            rot_rad = np.radians(rotation)
+            cos_rot = np.cos(rot_rad)
+            sin_rot = np.sin(rot_rad)
+
+            center_x = width / 2.0
+            center_y = height / 2.0
+            x_rel = x_screen - center_x
+            y_rel = y_screen - center_y
+
+            x_rotated = x_rel * cos_rot - y_rel * sin_rot
+            y_rotated = x_rel * sin_rot + y_rel * cos_rot
+
+            x_screen = x_rotated + center_x
+            y_screen = y_rotated + center_y
+
+        # Filter visible stars
+        mask = (
+            (x_screen >= 0) & (x_screen < width) & (y_screen >= 0) & (y_screen < height)
+        )
+
+        x_visible = x_screen[mask]
+        y_visible = y_screen[mask]
+        mag_visible = mag_arr[mask]
+
+        logger.info(
+            f"Render Chart INCREMENTAL: {len(x_visible)} of {len(new_stars)} new stars visible"
+        )
+
+        # Calculate intensities using GLOBAL magnitude range (from all_stars)
+        if len(mag_visible) == 0:
+            intensities = np.array([])
+        elif faintest_mag - brightest_mag < 0.1:
+            intensities = np.full_like(mag_visible, 255, dtype=int)
+        else:
+            # Use global magnitude range for consistent scaling
+            intensities = 255 - (
+                (mag_visible - brightest_mag) / (faintest_mag - brightest_mag) * 205
+            )
+            intensities = intensities.astype(int)
+
+        # Draw new stars
+        ix = np.round(x_visible).astype(int)
+        iy = np.round(y_visible).astype(int)
+
+        for i in range(len(ix)):
+            px = ix[i]
+            py = iy[i]
+            intensity = intensities[i]
+
+            if 0 <= px < width and 0 <= py < height:
+                # Use max instead of add to avoid bright blobs from overlapping stars
+                image_array[py, px, 0] = max(image_array[py, px, 0], intensity)
+
+        np.clip(image_array[:, :, 0], 0, 255, out=image_array[:, :, 0])
+
+        image = Image.fromarray(image_array, mode="RGB")
+
+        # Tag as Gaia chart
+        image.is_loading_placeholder = False  # type: ignore[attr-defined]
+
+        t_end = time.time()
+        logger.debug(f"  Incremental render time: {(t_end - t_start) * 1000:.1f}ms")
+
+        return image
+
+    def _draw_star_antialiased_fast(self, image_array, ix, iy, fx, fy, intensity):
+        """
+        Draw star with bilinear anti-aliasing using fast NumPy operations
+
+        Args:
+            image_array: NumPy array (height, width, 3)
+            ix, iy: Integer pixel coordinates (top-left)
+            fx, fy: Fractional offsets (0-1)
+            intensity: Peak intensity (0-255)
+        """
+        # Bilinear interpolation weights
+        w00 = (1 - fx) * (1 - fy)  # Top-left
+        w10 = fx * (1 - fy)  # Top-right
+        w01 = (1 - fx) * fy  # Bottom-left
+        w11 = fx * fy  # Bottom-right
+
+        # Apply to 2x2 region using NumPy (much faster than getpixel/putpixel)
+        # Red channel only (index 0)
+        if w00 > 0.01:
+            image_array[iy, ix, 0] = min(
+                255, image_array[iy, ix, 0] + int(intensity * w00)
+            )
+        if w10 > 0.01:
+            image_array[iy, ix + 1, 0] = min(
+                255, image_array[iy, ix + 1, 0] + int(intensity * w10)
+            )
+        if w01 > 0.01:
+            image_array[iy + 1, ix, 0] = min(
+                255, image_array[iy + 1, ix, 0] + int(intensity * w01)
+            )
+        if w11 > 0.01:
+            image_array[iy + 1, ix + 1, 0] = min(
+                255, image_array[iy + 1, ix + 1, 0] + int(intensity * w11)
+            )
+
+    def mag_to_intensity(self, mag: float) -> int:
+        """
+        Convert magnitude to red pixel intensity (0-255)
+
+        Args:
+            mag: Stellar magnitude
+
+        Returns:
+            Red pixel value (0-255)
+        """
+        if mag < 3:
+            return 255
+        elif mag < 6:
+            return 200
+        elif mag < 9:
+            return 150
+        elif mag < 12:
+            return 100
+        elif mag < 14:
+            return 75
+        else:
+            return 50
+
+    @staticmethod
+    def sqm_to_nelm(sqm: float) -> float:
+        """
+        Convert SQM reading (sky brightness) to NELM (naked eye limiting magnitude)
+
+        Formula: NELM ≈ (SQM - 8.89) / 2 + 0.5
+
+        Reference: https://www.unihedron.com/projects/darksky/faq.php
+        Unihedron manufacturer formula for SQM-L devices
+
+        Args:
+            sqm: Sky Quality Meter reading in mag/arcsec²
+
+        Returns:
+            Naked Eye Limiting Magnitude
+
+        Examples:
+            SQM 22.0 (pristine dark sky) → NELM 7.1
+            SQM 21.0 (good dark sky) → NELM 6.6
+            SQM 20.0 (rural sky) → NELM 6.1
+            SQM 19.0 (suburban) → NELM 5.6
+            SQM 18.0 (suburban/urban) → NELM 5.1
+            SQM 17.0 (urban) → NELM 4.6
+        """
+        nelm = (sqm - 8.89) / 2.0 + 0.5
+        return nelm
+
+    @staticmethod
+    def feijth_comello_limiting_magnitude(
+        mv: float, D: float, d: float, M: float, t: float
+    ) -> float:
+        """
+        Calculate limiting magnitude using Feijth & Comello formula
+
+        Formula: mg = mv - 2 + 2.5 × log₁₀(√(D² - d²) × M × t)
+
+        Where:
+        - mv = naked eye limiting magnitude
+        - D = telescope aperture [cm]
+        - d = central obstruction diameter [cm] (0 for unobstructed)
+        - M = magnification
+        - t = transmission (100% = 1.0, typically 0.5-0.9)
+
+        This practical formula is based on over 100,000 observations by Henk Feijth
+        and Georg Comello (mid-1990s). Unlike simple aperture formulas, it accounts
+        for obstruction, magnification, and transmission.
+
+        References:
+        - https://astrobasics.de/en/basics/physical-quantities/limiting-magnitude/
+        - https://www.y-auriga.de/astro/formeln.html (section 14)
+        - https://fr.wikipedia.org/wiki/Magnitude_limite_visuelle
+
+        Args:
+            mv: Naked eye limiting magnitude
+            D: Aperture in cm
+            d: Central obstruction diameter in cm
+            M: Magnification
+            t: Transmission (0-1)
+
+        Returns:
+            Telescopic limiting magnitude
+
+        Example:
+            With mv=6.04, D=25cm, d=4cm, M=400, t=0.54 → mg=13.36
+        """
+        from math import log10, sqrt
+
+        # Effective aperture accounting for central obstruction
+        # Only the (D² - d²) term is under the square root
+        effective_aperture = sqrt(D**2 - d**2)
+
+        # Complete formula: mg = mv - 2 + 2.5 × log₁₀(√(D² - d²) × M × t)
+        mg = mv - 2.0 + 2.5 * log10(effective_aperture * M * t)
+        return mg
+
+    def get_limiting_magnitude(self, sqm) -> float:
+        """
+        Get limiting magnitude based on config mode (auto or fixed)
+
+        Args:
+            sqm: SQM state object for sky brightness
+
+        Returns:
+            Limiting magnitude value
+        """
+        # Build cache key from sqm, telescope, and eyepiece focal lengths
+        # Round SQM to 1 decimal to avoid floating point comparison issues
+        equipment = self.config.equipment
+        telescope = equipment.active_telescope
+        eyepiece = equipment.active_eyepiece
+
+        # Cache key includes all factors that affect LM calculation
+        telescope_fl = telescope.focal_length_mm if telescope else None
+        telescope_aperture = telescope.aperture_mm if telescope else None
+        eyepiece_fl = eyepiece.focal_length_mm if eyepiece else None
+        sqm_value = (
+            round(sqm.value, 1) if sqm and hasattr(sqm, "value") and sqm.value else None
+        )
+
+        # Include config mode and fixed value in cache key to handle mode switching
+        lm_mode = self.config.get_option("obj_chart_lm_mode")
+        lm_fixed = self.config.get_option("obj_chart_lm_fixed")
+
+        cache_key = (
+            sqm_value,
+            telescope_aperture,
+            telescope_fl,
+            eyepiece_fl,
+            lm_mode,
+            lm_fixed,
+        )
+
+        # Check cache - return cached value without logging
+        if self._lm_cache is not None and self._lm_cache[0] == cache_key:
+            return self._lm_cache[1]
+
+        if lm_mode == "fixed":
+            # Use fixed limiting magnitude from config
+            lm = self.config.get_option("obj_chart_lm_fixed")
+            try:
+                lm = float(lm)
+                logger.info(f"Using fixed LM from config: {lm:.1f}")
+                self._lm_cache = (cache_key, lm)
+                return lm
+            except (ValueError, TypeError):
+                # Invalid fixed value, fall back to auto
+                logger.warning(f"Invalid fixed LM value: {lm}, falling back to auto")
+                lm = self.calculate_limiting_magnitude(sqm)
+                self._lm_cache = (cache_key, lm)
+                return lm
+        else:
+            # Auto mode: calculate based on equipment and sky brightness
+            lm = self.calculate_limiting_magnitude(sqm)
+            self._lm_cache = (cache_key, lm)
+            return lm
+
+    def calculate_limiting_magnitude(self, sqm) -> float:
+        """
+        Calculate limiting magnitude using Feijth & Comello formula
+
+        Converts SQM to NELM, then applies Feijth & Comello formula accounting
+        for telescope aperture, obstruction, magnification, and transmission.
+
+        Args:
+            sqm: SQM state object for sky brightness
+
+        Returns:
+            Limiting magnitude (uncapped - caller caps for catalog queries)
+        """
+
+        equipment = self.config.equipment
+        telescope = equipment.active_telescope
+        eyepiece = equipment.active_eyepiece
+
+        # Get naked eye limiting magnitude from SQM
+        if sqm and hasattr(sqm, "value") and sqm.value:
+            sqm_value = sqm.value
+            mv = self.sqm_to_nelm(sqm_value)
+        else:
+            sqm_value = 19.5  # Default suburban sky
+            mv = self.sqm_to_nelm(sqm_value)  # ≈ 5.8
+
+        # Calculate telescopic limiting magnitude
+        if telescope and telescope.aperture_mm > 0 and eyepiece:
+            # Convert aperture from mm to cm for formula
+            D_cm = telescope.aperture_mm / 10.0
+
+            # Calculate magnification
+            magnification = telescope.focal_length_mm / eyepiece.focal_length_mm
+            exit_pupil_mm = telescope.aperture_mm / magnification
+
+            # No obstruction assumed (we don't know the secondary mirror size)
+            d_cm = 0.0
+
+            # Transmission (typical value for good optics)
+            transmission = 0.85
+
+            # Apply Feijth & Comello formula directly
+            # The formula already accounts for magnification effects
+            lm = self.feijth_comello_limiting_magnitude(
+                mv, D_cm, d_cm, magnification, transmission
+            )
+
+            logger.info(
+                f"LM calculation: mv={mv:.1f} (SQM={sqm_value:.1f}), "
+                f"aperture={telescope.aperture_mm:.0f}mm, mag={magnification:.1f}x, "
+                f"exit_pupil={exit_pupil_mm:.1f}mm → LM={lm:.1f}"
+            )
+        elif telescope and telescope.aperture_mm > 0:
+            # No eyepiece: assume minimum useful magnification (exit pupil = 7mm)
+            D_cm = telescope.aperture_mm / 10.0
+            min_magnification = telescope.aperture_mm / 7.0
+            transmission = 0.85
+
+            lm = self.feijth_comello_limiting_magnitude(
+                mv, D_cm, 0.0, min_magnification, transmission
+            )
+            logger.info(
+                f"LM calculation: aperture={telescope.aperture_mm}mm (no eyepiece, min mag={min_magnification:.1f}x) → LM={lm:.1f}"
+            )
+        else:
+            # No telescope: use naked eye
+            lm = mv
+            logger.info(f"LM calculation: no telescope, NELM={lm:.1f}")
+
+        # Return uncapped value (caller will cap for queries if needed)
+        return lm
+
+    def get_cache_key(self, catalog_object) -> str:
+        """
+        Generate cache key for object + eyepiece + limiting magnitude combination
+
+        Args:
+            catalog_object: CompositeObject
+
+        Returns:
+            Cache key string
+        """
+        obj_key = f"{catalog_object.catalog_code}{catalog_object.sequence}"
+        eyepiece = self.config.equipment.active_eyepiece
+        eyepiece_key = str(eyepiece) if eyepiece else "none"
+
+        # Include limiting magnitude in cache key
+        sqm = self.shared_state.sqm()
+        lm = self.get_limiting_magnitude(sqm)
+        lm_key = f"{lm:.1f}"
+
+        return f"{obj_key}_{eyepiece_key}_lm{lm_key}"
+
+    def invalidate_cache(self):
+        """Clear chart cache (call when equipment changes)"""
+        self.chart_cache.clear()
+        logger.debug("Chart cache invalidated")
diff --git a/python/PiFinder/object_images/image_base.py b/python/PiFinder/object_images/image_base.py
new file mode 100644
index 000000000..94b715a72
--- /dev/null
+++ b/python/PiFinder/object_images/image_base.py
@@ -0,0 +1,73 @@
+#!/usr/bin/python
+# -*- coding:utf-8 -*-
+"""
+Abstract base class for object image providers
+"""
+
+from abc import ABC, abstractmethod
+from enum import Enum
+from typing import Union, Generator
+from PIL import Image
+
+
+class ImageType(Enum):
+    """Image type enumeration for object images"""
+
+    POSS = "poss"  # Survey image from disk
+    GAIA_CHART = "gaia_chart"  # Generated star chart
+    LOADING = "loading"  # Loading placeholder
+    ERROR = "error"  # Error placeholder
+
+
+class ImageProvider(ABC):
+    """
+    Base class for object image providers
+
+    Provides a common interface for different image sources:
+    - POSS/survey images from disk
+    - Generated Gaia star charts
+    - Future: SDSS, online images, etc.
+    """
+
+    @abstractmethod
+    def can_provide(self, catalog_object, **kwargs) -> bool:
+        """
+        Check if this provider can supply an image for the given object
+
+        Args:
+            catalog_object: The astronomical object to image
+            **kwargs: Additional parameters (config, paths, etc.)
+
+        Returns:
+            True if this provider can supply an image
+        """
+        pass
+
+    @abstractmethod
+    def get_image(
+        self,
+        catalog_object,
+        eyepiece_text,
+        fov,
+        roll,
+        display_class,
+        burn_in=True,
+        **kwargs,
+    ) -> Union[Image.Image, Generator]:
+        """
+        Get image for catalog object
+
+        Args:
+            catalog_object: The astronomical object to image
+            eyepiece_text: Eyepiece description for overlay
+            fov: Field of view in degrees
+            roll: Rotation angle in degrees
+            display_class: Display configuration object
+            burn_in: Whether to add overlays (FOV, mag, etc.)
+            **kwargs: Provider-specific parameters
+
+        Returns:
+            PIL.Image for static images (POSS)
+            Generator yielding progressive images (Gaia charts)
+        """
+        pass
diff --git a/python/PiFinder/object_images/image_utils.py b/python/PiFinder/object_images/image_utils.py
new file mode 100644
index 000000000..188238327
--- /dev/null
+++ b/python/PiFinder/object_images/image_utils.py
@@ -0,0 +1,311 @@
+#!/usr/bin/python
+# -*- coding:utf-8 -*-
+"""
+Shared image utility functions for object images
+
+Provides common operations for:
+- POSS survey images
+- Generated Gaia star charts
+"""
+
+from PIL import Image, ImageDraw, ImageChops
+
+
+def add_image_overlays(
+    image,
+    display_class,
+    fov,
+    magnification,
+    eyepiece,
+    burn_in=True,
+    limiting_magnitude=None,
+):
+    """
+    Add FOV/magnification/eyepiece overlays to image
+
+    This function is shared by:
+    - POSS image display (poss_provider.py)
+    - Generated Gaia star charts (chart_provider.py)
+
+    Args:
+        image: PIL Image to modify
+        display_class: Display configuration object
+        fov: Field of view in degrees
+        magnification: Telescope magnification
+        eyepiece: Active eyepiece object
+        burn_in: Whether to add overlays (default True)
+        limiting_magnitude: Optional limiting magnitude to display (for generated charts)
+
+    Returns:
+        Modified PIL Image with overlays added
+    """
+    if not burn_in:
+        return image
+
+    from PiFinder.ui import ui_utils
+
+    draw = ImageDraw.Draw(image)
+
+    # Top-left: FOV in degrees
+    ui_utils.shadow_outline_text(
+        draw,
+        (1, display_class.titlebar_height - 1),
+        f"{fov:0.2f}°",
+        font=display_class.fonts.base,
+        align="left",
+        fill=display_class.colors.get(254),
+        shadow_color=display_class.colors.get(0),
+        outline=2,
+    )
+
+    # Top-right: Magnification
+    mag_text = f"{magnification:.0f}x" if magnification and magnification > 0 else "?x"
+    ui_utils.shadow_outline_text(
+        draw,
+        (
+            display_class.resX - (display_class.fonts.base.width * 4),
+            display_class.titlebar_height - 1,
+        ),
+        mag_text,
+        font=display_class.fonts.base,
+        align="right",
+        fill=display_class.colors.get(254),
+        shadow_color=display_class.colors.get(0),
+        outline=2,
+    )
+
+    # Top-center: Limiting magnitude (for generated charts)
+    if limiting_magnitude is not None:
+        # Show ">17" if exceeds catalog limit, otherwise show actual value
+        if limiting_magnitude > 17.0:
+            lm_text = "LM:>17"
+        else:
+            lm_text = f"LM:{limiting_magnitude:.1f}"
+        lm_bbox = draw.textbbox((0, 0), lm_text, font=display_class.fonts.base.font)
+        lm_width = lm_bbox[2] - lm_bbox[0]
+        lm_x = (display_class.resX - lm_width) // 2
+
+        ui_utils.shadow_outline_text(
+            draw,
+            (lm_x, display_class.titlebar_height - 1),
+            lm_text,
+            font=display_class.fonts.base,
+            align="left",
+            fill=display_class.colors.get(254),
+            shadow_color=display_class.colors.get(0),
+            outline=2,
+        )
+
+    # Bottom-left: Eyepiece name
+    if eyepiece:
+        eyepiece_text = f"{eyepiece.focal_length_mm:.0f}mm {eyepiece.name}"
+        ui_utils.shadow_outline_text(
+            draw,
+            (1, display_class.resY - (display_class.fonts.base.height * 1.1)),
+            eyepiece_text,
+            font=display_class.fonts.base,
+            align="left",
+            fill=display_class.colors.get(128),  # Dimmer than FOV/mag
+            shadow_color=display_class.colors.get(0),
+            outline=2,
+        )
+
+    return image
+
+
+def create_loading_image(
+    display_class, message="Loading...", progress_text=None, progress_percent=0
+):
+    """
+    Create a placeholder image with loading message and optional progress
+
+    Args:
+        display_class: Display configuration object
+        message: Main text to display (default "Loading...")
+        progress_text: Optional progress status text
+        progress_percent: Progress percentage (0-100)
+
+    Returns:
+        PIL Image with centered message and progress
+    """
+    image = Image.new("RGB", display_class.resolution, (0, 0, 0))
+    draw = ImageDraw.Draw(image)
+
+    # Use center of display for positioning
+    center_x = display_class.resolution[0] // 2
+    center_y = display_class.resolution[1] // 2
+
+    # Draw main message
+    text_bbox = draw.textbbox((0, 0), message, font=display_class.fonts.large.font)
+    text_width = text_bbox[2] - text_bbox[0]
+    text_height = text_bbox[3] - text_bbox[1]
+
+    x = center_x - (text_width // 2)
+    y = center_y - (text_height // 2) - 20
+
+    draw.text(
+        (x, y),
+        message,
+        font=display_class.fonts.large.font,
+        fill=(128, 0, 0),  # Medium red for night vision
+    )
+
+    # Draw progress text if provided
+    if progress_text:
+        progress_bbox = draw.textbbox(
+            (0, 0), progress_text, font=display_class.fonts.base.font
+        )
+        progress_width = progress_bbox[2] - progress_bbox[0]
+
+        px = center_x - (progress_width // 2)
+        py = y + text_height + 8
+
+        draw.text(
+            (px, py),
+            progress_text,
+            font=display_class.fonts.base.font,
+            fill=(100, 0, 0),  # Dimmer red
+        )
+
+    # Draw progress bar if percentage > 0
+    if progress_percent > 0:
+        bar_width = int(display_class.resolution[0] * 0.8)
+        bar_height = 4
+        bar_x = center_x - (bar_width // 2)
+        bar_y = display_class.resolution[1] - 25
+
+        # Background bar
+        draw.rectangle(
+            [bar_x, bar_y, bar_x + bar_width, bar_y + bar_height],
+            outline=(64, 0, 0),
+            fill=(32, 0, 0),
+        )
+
+        # Progress fill
+        fill_width = int(bar_width * (progress_percent / 100))
+        if fill_width > 0:
+            draw.rectangle(
+                [bar_x, bar_y, bar_x + fill_width, bar_y + bar_height], fill=(128, 0, 0)
+            )
+
+        # Percentage text
+        percent_text = f"{progress_percent}%"
+        percent_bbox = draw.textbbox(
+            (0, 0), percent_text, font=display_class.fonts.base.font
+        )
+        percent_width = percent_bbox[2] - percent_bbox[0]
+
+        draw.text(
+            (center_x - (percent_width // 2), bar_y + bar_height + 4),
+            percent_text,
+            font=display_class.fonts.base.font,
+            fill=(100, 0, 0),
+        )
+
+    return image
+
+
+def create_no_image_placeholder(display_class, burn_in=True):
+    """
+    Create a "No Image" placeholder
+
+    Used when neither POSS nor Gaia chart is available
+
+    Args:
+        display_class: Display configuration object
+        burn_in: Whether to add text (default True)
+
+    Returns:
+        PIL Image with "No Image" message
+    """
+    image = Image.new("RGB", display_class.resolution)
+    if burn_in:
+        draw = ImageDraw.Draw(image)
+        draw.text(
+            (30, 50),
+            "No Image",
+            font=display_class.fonts.large.font,
+            fill=display_class.colors.get(128),
+        )
+    return image
+
+
+def apply_circular_vignette(image, display_class):
+    """
+    Apply circular vignette to show eyepiece FOV boundary
+
+    Creates a circular mask that dims everything outside
+    the eyepiece field of view, then adds a subtle outline.
+
+    Args:
+        image: PIL Image to modify
+        display_class: Display configuration object
+
+    Returns:
+        Modified PIL Image with circular vignette
+    """
+    # Create dimming mask (circle is full brightness, outside is dimmed)
+    _circle_dim = Image.new(
+        "RGB",
+        (display_class.fov_res, display_class.fov_res),
+        display_class.colors.get(127),  # Dim the outside
+    )
+    _circle_draw = ImageDraw.Draw(_circle_dim)
+    _circle_draw.ellipse(
+        [2, 2, display_class.fov_res - 2, display_class.fov_res - 2],
+        fill=display_class.colors.get(255),  # Full brightness inside
+    )
+
+    # Apply dimming by multiplying
+    image = ImageChops.multiply(image, _circle_dim)
+
+    # Add subtle outline
+    draw = ImageDraw.Draw(image)
+    draw.ellipse(
+        [2, 2, display_class.fov_res - 2, display_class.fov_res - 2],
+        outline=display_class.colors.get(64),
+        width=1,
+    )
+
+    return image
+
+
+def pad_to_display_resolution(image, display_class):
+    """
+    Pad image to match display resolution
+
+    If FOV resolution differs from display resolution,
+    centers the image and pads with black.
+
+    Args:
+        image: PIL Image to pad
+        display_class: Display configuration object
+
+    Returns:
+        Padded PIL Image at display resolution
+    """
+    # Pad horizontally if needed
+    if display_class.fov_res != display_class.resX:
+        pad_image = Image.new("RGB", display_class.resolution)
+        pad_image.paste(
+            image,
+            (
+                int((display_class.resX - display_class.fov_res) / 2),
+                0,
+            ),
+        )
+        image = pad_image
+
+    # Pad vertically if needed
+    if display_class.fov_res != display_class.resY:
+        pad_image = Image.new("RGB", display_class.resolution)
+        pad_image.paste(
+            image,
+            (
+                0,
+                int((display_class.resY - display_class.fov_res) / 2),
+            ),
+        )
+        image = pad_image
+
+    return image
diff --git a/python/PiFinder/object_images/poss_provider.py b/python/PiFinder/object_images/poss_provider.py
new file mode 100644
index 000000000..4da8b632b
--- /dev/null
+++ b/python/PiFinder/object_images/poss_provider.py
@@ -0,0 +1,197 @@
+#!/usr/bin/python
+# -*- coding:utf-8 -*-
+"""
+POSS image provider - loads pre-downloaded survey images from disk
+"""
+
+import os
+from PIL import Image
+from PiFinder import utils
+from PiFinder import image_util
+from .image_base import ImageProvider, ImageType
+import logging
+
+logger = logging.getLogger("PiFinder.POSSProvider")
+
+BASE_IMAGE_PATH = f"{utils.data_dir}/catalog_images"
+
+
+class POSSImageProvider(ImageProvider):
+    """
+    Provides POSS (Palomar Observatory Sky Survey) images from disk
+
+    POSS images are pre-downloaded 1024x1024 JPG files stored in
+    subdirectories by object ID. This provider:
+    - Loads image from disk
+    - Rotates for telescope orientation
+    - Crops to field of view
+    - Resizes to display resolution
+    - Converts to red
+    - Adds circular vignette (optional)
+    - Adds text overlays (optional)
+    """
+
+    def can_provide(self, catalog_object, **kwargs) -> bool:
+        """Check if POSS image exists on disk"""
+        image_path = self._resolve_image_name(catalog_object, source="POSS")
+        return os.path.exists(image_path)
+
+    def get_image(
+        self,
+        catalog_object,
+        eyepiece_text,
+        fov,
+        roll,
+        display_class,
+        burn_in=True,
+        magnification=None,
+        config_object=None,
+        **kwargs,
+    ) -> Image.Image:
+        """
+        Load and process POSS image
+
+        Returns:
+            PIL.Image with POSS image processed and overlayed
+        """
+        from .image_utils import (
+            apply_circular_vignette,
+            pad_to_display_resolution,
+            add_image_overlays,
+        )
+
+        # Load image from disk
+        image_path = self._resolve_image_name(catalog_object, source="POSS")
+        return_image = Image.open(image_path)
+
+        # Rotate for roll / telescope orientation
+        # Reflectors (Newtonian, SCT) invert the image 180°
+        # Refractors typically don't invert (depends on eyepiece design)
+        # Use obstruction as heuristic: obstruction > 0 = reflector
+        telescope = None
+        if config_object and hasattr(config_object, "equipment"):
+            telescope = config_object.equipment.active_telescope
+
+        if telescope and telescope.obstruction_perc > 0:
+            # Reflector telescope (Newtonian, SCT) - inverts image
+            image_rotate = 180
+        else:
+            # Refractor or unknown - no base rotation
+            image_rotate = 0
+
+        if roll is not None:
+            image_rotate += roll
+        return_image = return_image.rotate(image_rotate)  # type: ignore[assignment]
+
+        # Apply telescope flip/flop transformations
+        # flip_image = vertical flip (mirror top to bottom)
+        # flop_image = horizontal flip (mirror left to right)
+        if telescope:
+            if telescope.flip_image:
+                return_image = return_image.transpose(Image.Transpose.FLIP_TOP_BOTTOM)  # type: ignore[assignment]
+            if telescope.flop_image:
+                return_image = return_image.transpose(Image.Transpose.FLIP_LEFT_RIGHT)  # type: ignore[assignment]
+
+        # Crop to FOV
+        fov_size = int(1024 * fov / 2)
+        return_image = return_image.crop(  # type: ignore[assignment]
+            (
+                512 - fov_size,
+                512 - fov_size,
+                512 + fov_size,
+                512 + fov_size,
+            )
+        )
+
+        # Resize to display resolution
+        return_image = return_image.resize(  # type: ignore[assignment]
+            (display_class.fov_res, display_class.fov_res), Image.Resampling.LANCZOS
+        )
+
+        # Convert to red
+        return_image = image_util.make_red(return_image, display_class.colors)
+
+        # Add circular vignette if burn_in
+        if burn_in:
+            return_image = apply_circular_vignette(return_image, display_class)
+
+        # Pad to display resolution if needed
+        return_image = pad_to_display_resolution(return_image, display_class)
+
+        # Add text overlays if burn_in
+        if burn_in:
+            # Get eyepiece object for overlay
+            if config_object and hasattr(config_object, "equipment"):
+                eyepiece_obj = config_object.equipment.active_eyepiece
+            else:
+                # Create minimal eyepiece object from text
+                class FakeEyepiece:
+                    def __init__(self, text):
+                        self.focal_length_mm = 0
+                        self.name = text
+
+                eyepiece_obj = FakeEyepiece(eyepiece_text)
+
+            return_image = add_image_overlays(
+                return_image,
+                display_class,
+                fov,
+                magnification,
+                eyepiece_obj,
+                burn_in=True,
+            )
+
+        # Mark as POSS image
+        return_image.image_type = ImageType.POSS
+        return return_image
+
+    def _resolve_image_name(self, catalog_object, source):
+        """
+        Resolve image path for this object
+
+        Checks primary name and alternatives
+
+        Args:
+            catalog_object: Object to find image for
+            source: Image source ("POSS", "SDSS", etc.)
+
+        Returns:
+            Path to image file, or empty string if not found
+        """
+
+        def create_image_path(image_name):
+            last_char = str(image_name)[-1]
+            image = f"{BASE_IMAGE_PATH}/{last_char}/{image_name}_{source}.jpg"
+            exists = os.path.exists(image)
+            return exists, image
+
+        # Try primary name
+        image_name = f"{catalog_object.catalog_code}{catalog_object.sequence}"
+        ok, image = create_image_path(image_name)
+
+        if ok:
+            catalog_object.image_name = image
+            return image
+
+        # Try alternatives
+        for name in catalog_object.names:
+            alt_image_name = f"{''.join(name.split())}"
+            ok, image = create_image_path(alt_image_name)
+            if ok:
+                catalog_object.image_name = image
+                return image
+
+        return ""
+
+
+def create_catalog_image_dirs():
+    """
+    Checks for and creates catalog_image dirs
+    """
+    if not os.path.exists(BASE_IMAGE_PATH):
+        os.makedirs(BASE_IMAGE_PATH)
+
+    for i in range(0, 10):
+        _image_dir = f"{BASE_IMAGE_PATH}/{i}"
+        if not os.path.exists(_image_dir):
+            os.makedirs(_image_dir)
diff --git a/python/PiFinder/object_images/star_catalog.py b/python/PiFinder/object_images/star_catalog.py
new file mode 100644
index 000000000..1df3ab452
--- /dev/null
+++ b/python/PiFinder/object_images/star_catalog.py
@@ -0,0 +1,1564 @@
+#!/usr/bin/python
+# -*- coding:utf-8 -*-
+"""
+HEALPix-indexed star catalog loader with background loading and CPU throttling
+
+This module provides efficient loading of Gaia star catalogs for chart generation.
+Features:
+- Background loading with thread safety
+- CPU throttling to avoid blocking other processes
+- LRU tile caching
+- Hemisphere filtering for memory efficiency
+- Proper motion corrections
+"""
+
+import json
+import logging
+import mmap
+import struct
+import threading
+import time
+from datetime import datetime
+from enum import Enum
+from pathlib import Path
+from typing import Any, Dict, List, Optional, Set, Tuple
+
+import numpy as np
+
+# Import healpy at module level to avoid first-use delay
+# This ensures the slow import happens during initialization, not during first chart render
+try:
+    import healpy as hp  # type: ignore[import-not-found]
+
+    _HEALPY_AVAILABLE = True
+except ImportError:
+    hp = None
+    _HEALPY_AVAILABLE = False
+
+logger = logging.getLogger("PiFinder.StarCatalog")
+
+# Optimized tile format: header + star records (no redundant HEALPix per star)
+TILE_HEADER_FORMAT = "<IH"  # [HEALPix:4][NumStars:2]
+TILE_HEADER_SIZE = 6
+STAR_RECORD_FORMAT = "<BBB"  # [RA_offset:1][Dec_offset:1][Mag:1]
+STAR_RECORD_SIZE = 3
+
+# Numpy dtype for vectorized parsing (star records only, no HEALPix)
+# NOTE: Proper motion has been pre-applied at catalog build time
+STAR_RECORD_DTYPE = np.dtype(
+    [
+        ("ra_offset", "u1"),
+        ("dec_offset", "u1"),
+        ("mag", "u1"),
+    ]
+)
+
+# Index cache size limit (tiles per magnitude band)
+# At ~50 bytes per tile entry, 10000 tiles = ~500KB per band
+# With 6 mag bands, total cache size ~3MB (acceptable on Pi)
+# This accommodates the full mag 0-6 index (6465 tiles) without trimming
+MAX_INDEX_CACHE_SIZE = 10000
+
+
+class CatalogState(Enum):
+    """Catalog loading state"""
+
+    NOT_LOADED = 0
+    LOADING = 1
+    READY = 2
+
+
+class CompressedIndex:
+    """
+    Memory-efficient compressed index reader with mmap support.
+
+    Uses run-length encoding format:
+    - Header: version(4), num_tiles(4), num_runs(4)
+    - Run directory: [start_tile_id(4), data_offset(8)] per run (in RAM)
+    - Run data: [length(2), offset_base(8), sizes...] (mmap'd)
+    """
+
+    def __init__(self, index_file: Path):
+        """Load compressed index with run directory in memory"""
+        self.index_file = index_file
+        self.run_directory: List[Tuple[int, int]] = []  # (start_tile_id, data_offset)
+
+        # Open file for mmap
+        self._file = open(index_file, "rb")
+        self._mm = mmap.mmap(self._file.fileno(), 0, access=mmap.ACCESS_READ)
+
+        # Read header
+        version, self.num_tiles, num_runs = struct.unpack_from("<III", self._mm, 0)
+        if version != 3:
+            raise ValueError(f"Expected compressed index v3, got v{version}")
+
+        # Read run directory into memory (fast!)
+        offset = 12
+        for _ in range(num_runs):
+            start_tile, data_offset = struct.unpack_from("<IQ", self._mm, offset)
+            self.run_directory.append((start_tile, data_offset))
+            offset += 12
+
+        logger.debug(
+            f"CompressedIndex: loaded {num_runs} runs for {self.num_tiles:,} tiles"
+        )
+
+    def get(self, tile_id: int) -> Optional[Tuple[int, int]]:
+        """
+        Get (offset, size) for a tile ID.
+
+        Returns None if tile doesn't exist.
+        """
+        # Binary search in run directory
+        left, right = 0, len(self.run_directory) - 1
+        run_idx = -1
+
+        while left <= right:
+            mid = (left + right) // 2
+            start_tile = self.run_directory[mid][0]
+
+            # Check if tile is in this run
+            if mid < len(self.run_directory) - 1:
+                next_start = self.run_directory[mid + 1][0]
+                if start_tile <= tile_id < next_start:
+                    run_idx = mid
+                    break
+            else:
+                # Last run
+                if start_tile <= tile_id:
+                    run_idx = mid
+                    break
+
+            if tile_id < start_tile:
+                right = mid - 1
+            else:
+                left = mid + 1
+
+        if run_idx == -1:
+            return None
+
+        # Read run data from mmap
+        start_tile, data_offset = self.run_directory[run_idx]
+        offset_in_run = tile_id - start_tile
+
+        # Read run header
+        run_length, offset_base = struct.unpack_from("<HQ", self._mm, data_offset)
+
+        if offset_in_run >= run_length:
+            return None
+
+        # Read sizes up to and including our tile
+        sizes_offset = data_offset + 10  # After length(2) + offset_base(8)
+        sizes_data = self._mm[sizes_offset : sizes_offset + (offset_in_run + 1) * 2]
+        sizes = struct.unpack(f"<{offset_in_run + 1}H", sizes_data)
+
+        # Calculate tile offset and size
+        tile_offset = offset_base + sum(sizes[:-1])
+        tile_size = sizes[-1]
+
+        return (tile_offset, tile_size)
+
+    def close(self):
+        """Close mmap and file"""
+        if self._mm:
+            self._mm.close()
+        if self._file:
+            self._file.close()
+
+    def __del__(self):
+        """Cleanup on deletion"""
+        self.close()
+
+
+class GaiaStarCatalog:
+    """
+    HEALPix-indexed star catalog with background loading
+
+    Usage:
+        catalog = GaiaStarCatalog("/path/to/gaia_stars")
+        catalog.start_background_load(observer_lat=40.0, limiting_mag=14.0)
+        # ... wait for catalog.state == CatalogState.READY ...
+        stars = catalog.get_stars_for_fov(ra=180.0, dec=45.0, fov=10.0, mag_limit=12.0)
+    """
+
+    def __init__(self, catalog_path: str):
+        """
+        Initialize catalog (doesn't load data yet)
+
+        Args:
+            catalog_path: Path to gaia_stars directory containing metadata.json
+        """
+        logger.info(f">>> GaiaStarCatalog.__init__() called with path: {catalog_path}")
+        self.catalog_path = Path(catalog_path)
+        self.state = CatalogState.NOT_LOADED
+        self.metadata: Optional[Dict[str, Any]] = None
+        self.nside: Optional[int] = None
+        self.observer_lat: Optional[float] = None
+        self.limiting_magnitude: float = 12.0
+        self.visible_tiles: Optional[Set[int]] = None
+        self.tile_cache: Dict[Tuple[int, float], np.ndarray] = {}
+        self.cache_lock = threading.Lock()
+        self.load_thread: Optional[threading.Thread] = None
+        self.load_progress: str = ""  # Status message for UI
+        self.load_percent: int = 0  # Progress percentage (0-100)
+        self._index_cache: Dict[str, Any] = {}
+        # Cache of existing tile IDs per magnitude band to avoid scanning for non-existent tiles
+        self._existing_tiles_cache: Dict[str, Set[int]] = {}
+        logger.info(">>> GaiaStarCatalog.__init__() completed")
+
+    def start_background_load(
+        self, observer_lat: Optional[float] = None, limiting_mag: float = 12.0
+    ):
+        """
+        Start loading catalog in background thread
+
+        Args:
+            observer_lat: Observer latitude for hemisphere filtering (None = full sky)
+            limiting_mag: Magnitude limit for preloading bright stars
+        """
+        logger.info(f">>> start_background_load() called, current state: {self.state}")
+        if self.state != CatalogState.NOT_LOADED:
+            logger.warning(
+                f">>> Catalog already loading or loaded (state={self.state}), skipping"
+            )
+            return
+
+        logger.info(
+            f">>> Starting background load: lat={observer_lat}, mag={limiting_mag}, path={self.catalog_path}"
+        )
+
+        self.state = CatalogState.LOADING
+        self.observer_lat = observer_lat
+        self.limiting_magnitude = limiting_mag
+
+        # Start background thread
+        logger.info(">>> Creating background thread...")
+        self.load_thread = threading.Thread(
+            target=self._background_load_worker, daemon=True, name="CatalogLoader"
+        )
+        self.load_thread.start()
+        logger.info(
+            f">>> Background thread started, thread alive: {self.load_thread.is_alive()}"
+        )
+
+    def _background_load_worker(self):
+        """Background worker - just loads metadata"""
+        logger.info(">>> _background_load_worker() started")
+        try:
+            # Load metadata
+            self.load_progress = "Loading..."
+            self.load_percent = 50
+            logger.info(f">>> Loading catalog metadata from {self.catalog_path}")
+
+            metadata_file = self.catalog_path / "metadata.json"
+
+            if not metadata_file.exists():
+                logger.error(f">>> Catalog metadata not found: {metadata_file}")
+                logger.error(
+                    ">>> Please build catalog using: python -m PiFinder.catalog_tools.gaia_downloader"
+                )
+                self.load_progress = "Error: catalog not built"
+                self.state = CatalogState.NOT_LOADED
+                return
+
+            with open(metadata_file, "r") as f:
+                self.metadata = json.load(f)
+            logger.info(">>> metadata.json loaded")
+
+            self.nside = self.metadata.get("nside", 512)
+            star_count = self.metadata.get("star_count", 0)
+            logger.info(
+                f">>> Catalog metadata ready: {star_count:,} stars, "
+                f"mag limit {self.metadata.get('mag_limit', 0):.1f}, nside={self.nside}"
+            )
+
+            # Log available bands
+            bands = self.metadata.get("mag_bands", [])
+            logger.info(f">>> Catalog mag bands: {json.dumps(bands)}")
+
+            # Preload all compressed indices (run directories) into memory (~2-12 MB total)
+            # This eliminates first-query delays (70ms per band → 420ms total stuttering)
+            self._preload_compressed_indices()
+
+            # Initialize empty structures (no preloading)
+            self.visible_tiles = None  # Load full sky on-demand
+
+            # Mark ready
+            self.load_progress = "Ready"
+            self.load_percent = 100
+            self.state = CatalogState.READY
+            logger.info(f">>> _background_load_worker() completed, state: {self.state}")
+
+        except Exception as e:
+            logger.error(f">>> Catalog loading failed: {e}", exc_info=True)
+            self.load_progress = f"Error: {str(e)}"
+            self.state = CatalogState.NOT_LOADED
+
+    def _calc_visible_tiles(self, observer_lat: float) -> Optional[Set[int]]:
+        """
+        Calculate HEALPix tiles visible from observer latitude
+
+        DISABLED: Too slow (iterates 3M+ pixels)
+        TODO: Pre-compute hemisphere mask during catalog build
+
+        Args:
+            observer_lat: Observer latitude in degrees
+
+        Returns:
+            None (full sky always loaded for now)
+        """
+        return None
+
+    def _preload_mag_band(self, mag_min: float, mag_max: float):
+        """
+        Preload all tiles for a magnitude band
+
+        Args:
+            mag_min: Minimum magnitude
+            mag_max: Maximum magnitude
+        """
+        band_dir = self.catalog_path / f"mag_{mag_min:02.0f}_{mag_max:02.0f}"
+        if not band_dir.exists():
+            return
+
+        # Get all tile files in this band
+        tile_files = sorted(band_dir.glob("tile_*.bin"))
+
+        for tile_file in tile_files:
+            # Extract tile ID from filename
+            tile_id = int(tile_file.stem.split("_")[1])
+
+            # Filter by hemisphere if applicable
+            if self.visible_tiles and tile_id not in self.visible_tiles:
+                continue
+
+            # Load tile
+            self._load_tile_from_file(tile_file, mag_min, mag_max)
+
+            # CPU throttle: 10ms pause between tiles
+            # (50ms was too conservative, slowing down loading significantly)
+            time.sleep(0.01)
+
+    def get_stars_for_fov_progressive(
+        self,
+        ra_deg: float,
+        dec_deg: float,
+        fov_deg: float,
+        mag_limit: Optional[float] = None,
+    ):
+        """
+        Query stars in field of view progressively (bright to faint)
+
+        This is a generator that yields (stars, is_complete) tuples as each
+        magnitude band is loaded. This allows the UI to display bright stars
+        immediately while continuing to load fainter stars in the background.
+
+        Uses background thread to load magnitude bands asynchronously, eliminating
+        UI event loop blocking. The UI consumes results at its own pace (~10 FPS)
+        while catalog loading continues uninterrupted.
+
+        Blocks if state == LOADING (waits for load to complete)
+        Returns empty array if state == NOT_LOADED
+
+        Args:
+            ra_deg: Center RA in degrees
+            dec_deg: Center Dec in degrees
+            fov_deg: Field of view in degrees
+            mag_limit: Limiting magnitude (uses catalog default if None)
+
+        Yields:
+            (stars, is_complete) tuples where:
+                - stars: Numpy array (N, 3) of (ra, dec, mag) with proper motion corrected
+                - is_complete: True if this is the final yield with all stars
+        """
+        if self.state == CatalogState.NOT_LOADED:
+            logger.warning("Catalog not loaded")
+            yield (np.empty((0, 3)), True)
+            return
+
+        # Wait for catalog to be loaded
+        while self.state == CatalogState.LOADING:
+            import time
+
+            time.sleep(0.1)
+
+        if mag_limit is None:
+            mag_limit = self.metadata.get("mag_limit", 17.0) if self.metadata else 17.0
+
+        if not _HEALPY_AVAILABLE:
+            logger.error("healpy not available - cannot perform HEALPix queries")
+            yield (np.empty((0, 3)), True)
+            return
+
+        # Calculate HEALPix tiles covering FOV
+        # fov_deg is the diagonal field width, query_disc expects radius
+        # For square FOV rotated arbitrarily, need circumscribed circle radius = diagonal/2
+        # Add 10% margin to ensure edge tiles are fully covered
+        # Use inclusive=True to ensure boundary tiles are included (critical for small FOVs)
+        vec = hp.ang2vec(ra_deg, dec_deg, lonlat=True)
+        radius_rad = np.radians(fov_deg / 2 * 1.1)
+        tiles = hp.query_disc(self.nside, vec, radius_rad, inclusive=True)
+        logger.debug(
+            f"HEALPix query_disc: FOV={fov_deg:.4f}°, radius={np.degrees(radius_rad):.4f}°, nside={self.nside}, returned {len(tiles)} tiles"
+        )
+
+        # Filter by visible hemisphere
+        if self.visible_tiles:
+            tiles = [t for t in tiles if t in self.visible_tiles]
+
+        if not self.metadata:
+            yield (np.empty((0, 3)), True)
+            return
+
+        # Background loading using producer-consumer pattern
+        import queue
+        import threading
+        import time
+
+        # Queue to pass star arrays from background thread to generator
+        result_queue: queue.Queue = queue.Queue(
+            maxsize=6
+        )  # Buffer up to 6 magnitude bands
+
+        def load_bands_background():
+            """Background thread that loads magnitude bands continuously"""
+            try:
+                all_stars_list = []
+                mag_bands = self.metadata.get("mag_bands", [])
+
+                for i, mag_band_info in enumerate(mag_bands):
+                    mag_min = mag_band_info["min"]
+                    mag_max = mag_band_info["max"]
+
+                    # Skip bands fainter than limit
+                    if mag_min >= mag_limit:
+                        break
+
+                    logger.debug(
+                        f">>> BACKGROUND: Loading mag band {mag_min}-{mag_max}, tiles={len(tiles)}"
+                    )
+
+                    # Load stars from this magnitude band only
+                    band_stars = self._load_tiles_for_mag_band(
+                        tiles, mag_band_info, mag_limit, ra_deg, dec_deg, fov_deg
+                    )
+
+                    # Add to cumulative list
+                    if len(band_stars) > 0:
+                        all_stars_list.append(band_stars)
+
+                    # Concatenate for this yield
+                    if all_stars_list:
+                        current_total = np.concatenate(all_stars_list)
+                    else:
+                        current_total = np.empty((0, 3))
+
+                    is_last_band = mag_max >= mag_limit
+
+                    # Push to queue (blocks if queue is full - back-pressure)
+                    result_queue.put((current_total, is_last_band, len(band_stars)))
+
+                    logger.info(
+                        f">>> BACKGROUND: mag {mag_min}-{mag_max}: "
+                        f"stars={len(band_stars)}, cumulative={len(current_total)}"
+                    )
+
+                    if is_last_band:
+                        break
+
+            except Exception as e:
+                logger.error(f">>> BACKGROUND: Error loading bands: {e}", exc_info=True)
+                # Push error marker
+                result_queue.put((None, True, 0))
+
+        # Start background loading thread
+        loader_thread = threading.Thread(
+            target=load_bands_background, daemon=True, name="StarCatalogLoader"
+        )
+        loader_thread.start()
+        logger.info(">>> PROGRESSIVE: Background loading thread started")
+
+        # Yield results as they become available
+        while True:
+            try:
+                # Get next result from queue
+                # Use timeout to avoid blocking forever if thread crashes
+                current_total, is_last_band, band_star_count = result_queue.get(
+                    timeout=10.0
+                )
+
+                if current_total is None:
+                    # Error in background thread
+                    logger.error(">>> PROGRESSIVE: Background thread encountered error")
+                    yield (np.empty((0, 3)), True)
+                    break
+
+                # Yield to consumer (UI)
+                yield (current_total, is_last_band)
+
+                logger.info(
+                    f">>> PROGRESSIVE: stars_in_band={band_star_count}, cumulative={len(current_total)}"
+                )
+
+                if is_last_band:
+                    logger.info(
+                        f"PROGRESSIVE: Complete! Total {len(current_total)} stars loaded"
+                    )
+                    break
+
+            except queue.Empty:
+                logger.error(">>> PROGRESSIVE: Timeout waiting for background thread")
+                yield (np.empty((0, 3)), True)
+                break
+
+    def get_stars_for_fov(
+        self,
+        ra_deg: float,
+        dec_deg: float,
+        fov_deg: float,
+        mag_limit: Optional[float] = None,
+    ) -> np.ndarray:
+        """
+        Query stars in field of view
+
+        Blocks if state == LOADING (waits for load to complete)
+        Returns empty array if state == NOT_LOADED
+
+        Args:
+            ra_deg: Center RA in degrees
+            dec_deg: Center Dec in degrees
+            fov_deg: Field of view in degrees
+            mag_limit: Limiting magnitude (uses catalog default if None)
+
+        Returns:
+            Numpy array (N, 3) of (ra, dec, mag) with proper motion corrected
+        """
+        if self.state == CatalogState.NOT_LOADED:
+            logger.warning("Catalog not loaded")
+            return np.empty((0, 3))
+
+        if self.state == CatalogState.LOADING:
+            # Wait for loading to complete (with timeout)
+            logger.info("Waiting for catalog to finish loading...")
+            timeout = 30  # seconds
+            start = time.time()
+            while self.state == CatalogState.LOADING:
+                time.sleep(0.1)
+                if time.time() - start > timeout:
+                    logger.error("Catalog loading timeout")
+                    return np.empty((0, 3))
+
+        # State is READY - metadata must be loaded by now
+        assert self.metadata is not None, (
+            "metadata should be loaded when state is READY"
+        )
+        assert self.nside is not None, "nside should be set when state is READY"
+
+        mag_limit = mag_limit or self.limiting_magnitude
+
+        if not _HEALPY_AVAILABLE:
+            logger.error("healpy not installed")
+            return np.empty((0, 3))
+
+        # Calculate HEALPix tiles covering FOV
+        # fov_deg is the diagonal field width, query_disc expects radius
+        # For square FOV rotated arbitrarily, need circumscribed circle radius = diagonal/2
+        # Add 10% margin to ensure edge tiles are fully covered
+        vec = hp.ang2vec(ra_deg, dec_deg, lonlat=True)
+        radius_rad = np.radians(fov_deg / 2 * 1.1)
+        tiles = hp.query_disc(self.nside, vec, radius_rad)
+        logger.debug(
+            f"HEALPix: Querying {len(tiles)} tiles for FOV={fov_deg:.2f}° (radius={np.degrees(radius_rad):.3f}°) at nside={self.nside}"
+        )
+
+        # Filter by visible hemisphere
+        if self.visible_tiles:
+            tiles = [t for t in tiles if t in self.visible_tiles]
+
+        # Load stars from tiles (batch load for better performance)
+        stars: np.ndarray = np.empty((0, 3))
+        tile_star_counts = {}
+
+        # Try batch loading if catalog is compact format
+        # Only batch for moderate tile counts (10-50) to avoid UI blocking
+        is_compact = self.metadata.get("format") == "compact"
+        if is_compact and 10 < len(tiles) <= 50:
+            # Batch load is much faster for many tiles
+            # Note: batch loading returns PM-corrected (ra, dec, mag) tuples
+            logger.info(f"Using BATCH loading for {len(tiles)} tiles")
+            stars = self._load_tiles_batch(tiles, mag_limit)
+            logger.info(f"Batch load complete: {len(stars)} stars")
+            tile_star_counts = {
+                t: 0 for t in tiles
+            }  # Don't track individual counts for batch
+        else:
+            # Load one by one (better for small queries or legacy format)
+            logger.info(
+                f"Using SINGLE-TILE loading for {len(tiles)} tiles (compact={is_compact})"
+            )
+            stars_raw_list = []
+
+            # To prevent UI blocking, limit the number of tiles loaded at once
+            # For small FOVs (<1°), 20-30 tiles is more than enough
+            MAX_TILES = 25
+            if len(tiles) > MAX_TILES:
+                logger.warning(
+                    f"Large tile count ({len(tiles)}) detected! Limiting to {MAX_TILES} tiles to prevent UI freeze"
+                )
+                # Tiles from query_disc are roughly ordered by distance from center
+                # Keep the first MAX_TILES which are closest to FOV center
+                tiles = tiles[:MAX_TILES]
+
+            cache_hits = 0
+            cache_misses = 0
+
+            for i, tile_id in enumerate(tiles):
+                # Check if this tile is cached (for performance tracking)
+                cache_key = (tile_id, mag_limit)
+                was_cached = cache_key in self.tile_cache
+
+                # Returns (N, 5) array
+                tile_stars = self._load_tile_data(tile_id, mag_limit)
+                tile_star_counts[tile_id] = len(tile_stars)
+
+                if len(tile_stars) > 0:
+                    stars_raw_list.append(tile_stars)
+
+                if was_cached:
+                    cache_hits += 1
+                else:
+                    cache_misses += 1
+
+            # Log cache performance
+            logger.debug(
+                f"Tile cache: {cache_hits} hits, {cache_misses} misses ({cache_hits / (cache_hits + cache_misses) * 100:.1f}% hit rate)"
+            )
+
+            total_raw = sum(len(x) for x in stars_raw_list)
+            logger.debug(f"Single-tile loading complete: {total_raw} stars")
+
+            # Log tile loading stats
+            if tile_star_counts:
+                logger.debug(
+                    f"Loaded from {len(tile_star_counts)} tiles: "
+                    + f"min={min(tile_star_counts.values())} max={max(tile_star_counts.values())} "
+                    + f"total={sum(tile_star_counts.values())}"
+                )
+
+            # Apply proper motion correction (for non-batch path only)
+            t_pm_start = time.time()
+
+            if stars_raw_list:
+                stars_raw_combined = np.concatenate(stars_raw_list)
+                ras = stars_raw_combined[:, 0]
+                decs = stars_raw_combined[:, 1]
+                mags = stars_raw_combined[:, 2]
+                pmras = stars_raw_combined[:, 3]
+                pmdecs = stars_raw_combined[:, 4]
+                stars = self._apply_proper_motion((ras, decs, mags, pmras, pmdecs))
+            else:
+                stars = np.empty((0, 3))
+
+            t_pm_end = time.time()
+            logger.debug(
+                f"Proper motion correction: {len(stars)} stars in {(t_pm_end - t_pm_start) * 1000:.1f}ms"
+            )
+
+        return stars
+
+    def _load_tiles_for_mag_band(
+        self,
+        tile_ids: List[int],
+        mag_band_info: dict,
+        mag_limit: float,
+        ra_deg: float,
+        dec_deg: float,
+        fov_deg: float,
+    ) -> np.ndarray:
+        """
+        Load tiles for a specific magnitude band (used by progressive loading)
+
+        Args:
+            tile_ids: List of HEALPix tile IDs to load
+            mag_band_info: Magnitude band metadata dict with 'min', 'max' keys
+            mag_limit: Maximum magnitude to include
+            ra_deg: Center RA (for logging)
+            dec_deg: Center Dec (for logging)
+            fov_deg: Field of view (for logging)
+
+        Returns:
+            Numpy array (N, 3) of (ra, dec, mag) with proper motion corrected
+        """
+        mag_min = mag_band_info["min"]
+        mag_max = mag_band_info["max"]
+        band_dir = self.catalog_path / f"mag_{mag_min:02.0f}_{mag_max:02.0f}"
+
+        # logger.info(f">>> _load_tiles_for_mag_band: mag {mag_min}-{mag_max}, band_dir={band_dir}, tiles={len(tile_ids)}")
+
+        # Check if this band directory exists
+        if not band_dir.exists():
+            logger.warning(f">>> Magnitude band directory not found: {band_dir}")
+            return np.empty((0, 3))
+
+        # For compact format, use vectorized batch loading per band
+        assert self.metadata is not None, "metadata must be loaded"
+        is_compact = self.metadata.get("format") == "compact"
+        # logger.info(f">>> Format is_compact={is_compact}, calling _load_tiles_batch_single_band...")
+        if is_compact:
+            result = self._load_tiles_batch_single_band(
+                tile_ids, mag_band_info, mag_limit
+            )
+            # logger.info(f">>> _load_tiles_batch_single_band returned {len(result)} stars")
+            return result
+        else:
+            # Legacy format - load tiles one by one (will load all bands for each tile)
+            # This is less efficient but legacy format doesn't support per-band loading
+            stars_raw_list = []
+            for tile_id in tile_ids:
+                tile_stars = self._load_tile_data(tile_id, mag_limit)
+                # Filter to just this magnitude band
+                # tile_stars is (N, 5)
+                if len(tile_stars) > 0:
+                    mags = tile_stars[:, 2]
+                    mask = (mags >= mag_min) & (mags < mag_max)
+                    if np.any(mask):
+                        stars_raw_list.append(tile_stars[mask])
+
+            if stars_raw_list:
+                stars_raw_combined = np.concatenate(stars_raw_list)
+                ras = stars_raw_combined[:, 0]
+                decs = stars_raw_combined[:, 1]
+                mags = stars_raw_combined[:, 2]
+                pmras = stars_raw_combined[:, 3]
+                pmdecs = stars_raw_combined[:, 4]
+                return self._apply_proper_motion((ras, decs, mags, pmras, pmdecs))
+            else:
+                return np.empty((0, 3))
+
+    def _load_tile_data(self, tile_id: int, mag_limit: float) -> np.ndarray:
+        """
+        Load star data for a HEALPix tile
+
+        Args:
+            tile_id: HEALPix tile ID
+            mag_limit: Maximum magnitude to load
+
+        Returns:
+            Numpy array of shape (N, 5) containing (ra, dec, mag, pmra, pmdec)
+        """
+        assert self.metadata is not None, (
+            "metadata must be loaded before calling _load_tile_data"
+        )
+
+        cache_key = (tile_id, mag_limit)
+
+        # Check cache
+        with self.cache_lock:
+            if cache_key in self.tile_cache:
+                return self.tile_cache[cache_key]
+
+        # Load from disk
+        stars_list = []
+
+        # Check catalog format
+        is_compact = self.metadata.get("format") == "compact"
+
+        # Determine which magnitude bands to load
+        for mag_band_info in self.metadata.get("mag_bands", []):
+            mag_min = mag_band_info["min"]
+            mag_max = mag_band_info["max"]
+
+            if mag_min >= mag_limit:
+                continue  # Band too faint
+
+            band_dir = self.catalog_path / f"mag_{mag_min:02.0f}_{mag_max:02.0f}"
+
+            if is_compact:
+                # Compact format: read from consolidated file using index
+                ras, decs, mags, pmras, pmdecs = self._load_tile_compact(
+                    band_dir, tile_id, mag_min, mag_max
+                )
+            else:
+                # Legacy format: one file per tile
+                tile_file = band_dir / f"tile_{tile_id:06d}.bin"
+                if tile_file.exists():
+                    ras, decs, mags, pmras, pmdecs = self._load_tile_from_file(
+                        tile_file, mag_min, mag_max
+                    )
+                else:
+                    ras, decs, mags, pmras, pmdecs = (
+                        np.array([]),
+                        np.array([]),
+                        np.array([]),
+                        np.array([]),
+                        np.array([]),
+                    )
+
+            if len(ras) > 0:
+                # Filter by magnitude
+                mask = mags <= mag_limit
+                if np.any(mask):
+                    # Stack into (N, 5) array for this band
+                    band_stars = np.column_stack(
+                        (ras[mask], decs[mask], mags[mask], pmras[mask], pmdecs[mask])
+                    )
+                    stars_list.append(band_stars)
+                    logger.debug(
+                        f"  Tile {tile_id} Band {mag_min}-{mag_max}: {len(band_stars)} stars (file: {tile_file if not is_compact else 'compact'})"
+                    )
+                else:
+                    logger.debug(
+                        f"  Tile {tile_id} Band {mag_min}-{mag_max}: 0 stars (mask empty)"
+                    )
+
+        if not stars_list:
+            stars = np.empty((0, 5))
+        else:
+            stars = np.concatenate(stars_list)
+
+        # Cache result
+        with self.cache_lock:
+            self.tile_cache[cache_key] = stars
+            # Simple cache size management (keep last 100 tiles)
+            if len(self.tile_cache) > 100:
+                # Remove oldest (first) entry
+                oldest_key = next(iter(self.tile_cache))
+                del self.tile_cache[oldest_key]
+
+        return stars
+
+    def _load_tile_from_file(
+        self, tile_file: Path, mag_min: float, mag_max: float
+    ) -> Tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray, np.ndarray]:
+        """
+        Load stars from a tile file
+
+        Args:
+            tile_file: Path to tile binary file
+            mag_min: Minimum magnitude in this band
+            mag_max: Maximum magnitude in this band
+
+        Returns:
+            Tuple of (ras, decs, mags, pmras, pmdecs) arrays
+        """
+        if not _HEALPY_AVAILABLE:
+            return (
+                np.array([]),
+                np.array([]),
+                np.array([]),
+                np.array([]),
+                np.array([]),
+            )
+
+        # Read entire file at once
+        with open(tile_file, "rb") as f:
+            data = f.read()
+
+        return self._parse_records(data)
+
+    def _load_tile_compact(
+        self, band_dir: Path, tile_id: int, mag_min: float, mag_max: float
+    ) -> Tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray, np.ndarray]:
+        """
+        Load stars from compact format (consolidated tiles.bin + v3 compressed index)
+
+        Args:
+            band_dir: Magnitude band directory
+            tile_id: HEALPix tile ID
+            mag_min: Minimum magnitude
+            mag_max: Maximum magnitude
+
+        Returns:
+            Tuple of (ras, decs, mags, pmras, pmdecs) arrays
+        """
+        if not _HEALPY_AVAILABLE:
+            return (
+                np.array([]),
+                np.array([]),
+                np.array([]),
+                np.array([]),
+                np.array([]),
+            )
+
+        index_file = band_dir / "index.bin"
+        tiles_file = band_dir / "tiles.bin"
+
+        if not tiles_file.exists():
+            return (
+                np.array([]),
+                np.array([]),
+                np.array([]),
+                np.array([]),
+                np.array([]),
+            )
+
+        if not index_file.exists():
+            raise FileNotFoundError(
+                f"Compressed index not found: {index_file}\n"
+                f"This catalog requires v3 format. Please rebuild using healpix_builder_compact.py"
+            )
+
+        # Load index (cached per band)
+        cache_key = f"index_{mag_min}_{mag_max}"
+        if cache_key not in self._index_cache:
+            self._index_cache[cache_key] = CompressedIndex(index_file)
+
+        index = self._index_cache[cache_key]
+
+        # Get tile offset and size from compressed index
+        result = index.get(tile_id)
+        if result is None:
+            return (
+                np.array([]),
+                np.array([]),
+                np.array([]),
+                np.array([]),
+                np.array([]),
+            )
+        offset, size = result
+
+        # Read tile data
+        with open(tiles_file, "rb") as f:
+            f.seek(offset)
+            data = f.read(size)
+            return self._parse_records(data)
+
+    def _parse_records(
+        self, data: bytes
+    ) -> Tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray, np.ndarray]:
+        """
+        Parse binary tile data into numpy arrays (VECTORIZED)
+
+        New format: [Tile Header: 6 bytes][Star Records: 5 bytes each]
+
+        Args:
+            data: Binary tile data (header + star records)
+
+        Returns:
+            Tuple of (ras, decs, mags, pmras, pmdecs) as numpy arrays
+        """
+        if len(data) < TILE_HEADER_SIZE:
+            return (
+                np.array([]),
+                np.array([]),
+                np.array([]),
+                np.array([]),
+                np.array([]),
+            )
+
+        # Parse tile header
+        healpix_pixel, num_stars = struct.unpack(
+            TILE_HEADER_FORMAT, data[:TILE_HEADER_SIZE]
+        )
+
+        # Extract star records
+        star_data = data[TILE_HEADER_SIZE:]
+
+        if len(star_data) == 0:
+            return (
+                np.array([]),
+                np.array([]),
+                np.array([]),
+                np.array([]),
+                np.array([]),
+            )
+
+        # Verify data size matches expected
+        expected_size = num_stars * STAR_RECORD_SIZE
+        if len(star_data) != expected_size:
+            logger.warning(
+                f"Tile {healpix_pixel}: size mismatch. Expected {expected_size} bytes "
+                f"for {num_stars} stars, got {len(star_data)} bytes"
+            )
+            # Truncate to valid records
+            num_stars = len(star_data) // STAR_RECORD_SIZE
+
+        # Parse all star records using numpy
+        records = np.frombuffer(star_data, dtype=STAR_RECORD_DTYPE, count=num_stars)
+
+        # Get pixel center (same for all stars in this tile)
+        pixel_ra, pixel_dec = hp.pix2ang(self.nside, healpix_pixel, lonlat=True)
+
+        # Calculate pixel size once
+        pixel_size_deg = np.sqrt(hp.nside2pixarea(self.nside, degrees=True))
+        max_offset_arcsec = pixel_size_deg * 3600.0 * 0.75
+
+        # Decode all offsets
+        ra_offset_arcsec = (records["ra_offset"] / 127.5 - 1.0) * max_offset_arcsec
+        dec_offset_arcsec = (records["dec_offset"] / 127.5 - 1.0) * max_offset_arcsec
+
+        # Calculate final positions (broadcast pixel center to all stars)
+        decs = pixel_dec + dec_offset_arcsec / 3600.0
+        ras = pixel_ra + ra_offset_arcsec / 3600.0 / np.cos(np.radians(decs))
+
+        # Decode magnitudes
+        mags = records["mag"] / 10.0
+
+        # v2.1: Proper motion has been pre-applied at build time
+        # Return empty arrays for backward compatibility
+        pmras = np.zeros(len(records))
+        pmdecs = np.zeros(len(records))
+
+        return ras, decs, mags, pmras, pmdecs
+
+    def _preload_compressed_indices(self) -> None:
+        """
+        Preload all v3 compressed indices (run directories) into memory during startup.
+
+        Loads compressed index run directories (~2-12 MB total) to eliminate first-query
+        delays during chart generation. Each compressed index loads its run directory
+        into RAM for fast binary search, while keeping run data in mmap.
+
+        This runs in background thread during catalog startup and trades a one-time
+        ~200ms startup cost for eliminating 6 × 70ms = 420ms of stuttering during
+        first chart generation.
+        """
+        if not self.metadata or "mag_bands" not in self.metadata:
+            logger.warning(
+                ">>> No metadata available, skipping compressed index preload"
+            )
+            return
+
+        t0_total = time.time()
+        bands_loaded = 0
+
+        logger.info(">>> Preloading v3 compressed indices for all magnitude bands...")
+
+        for band_info in self.metadata["mag_bands"]:
+            mag_min = int(band_info["min"])
+            mag_max = int(band_info["max"])
+            cache_key = f"index_{mag_min}_{mag_max}"
+
+            # Load compressed index (v3 format stored as index.bin)
+            index_file = (
+                self.catalog_path / f"mag_{mag_min:02d}_{mag_max:02d}" / "index.bin"
+            )
+
+            if not index_file.exists():
+                raise FileNotFoundError(
+                    f"Compressed index not found: {index_file}\n"
+                    f"This catalog requires v3 format. Please rebuild using healpix_builder_compact.py"
+                )
+
+            t0 = time.time()
+
+            # Load compressed index (v3 only)
+            self._index_cache[cache_key] = CompressedIndex(index_file)
+            t_load = (time.time() - t0) * 1000
+
+            compressed_idx = self._index_cache[cache_key]
+            bands_loaded += 1
+
+            logger.info(
+                f">>> Loaded compressed index {cache_key}: "
+                f"{compressed_idx.num_tiles:,} tiles, {len(compressed_idx.run_directory):,} runs "
+                f"in {t_load:.1f}ms"
+            )
+
+        t_total = (time.time() - t0_total) * 1000
+        logger.info(
+            f">>> Compressed index preload complete: {bands_loaded} indices "
+            f"in {t_total:.1f}ms"
+        )
+
+    def _load_existing_tiles_set(self, index_file: Path) -> Set[int]:
+        """
+        Quickly load the set of all existing tile IDs from an index file.
+        This is much faster than scanning for specific tiles when we just need
+        to know "does this tile exist?" to avoid wasteful searches.
+
+        Args:
+            index_file: Path to binary index file
+
+        Returns:
+            Set of existing tile IDs (as integers)
+        """
+        existing_tiles: set[int] = set()
+
+        if not index_file.exists():
+            return existing_tiles
+
+        with open(index_file, "rb") as f:
+            # Read header
+            header = f.read(8)
+            if len(header) < 8:
+                return existing_tiles
+
+            version, num_tiles = struct.unpack("<II", header)
+
+            # Define dtype to read just tile IDs (we don't need offset/size)
+            if version == 1:
+                # [tile_id:4][offset:8][size:4]
+                tile_id_dtype = np.dtype(
+                    [("tile_id", "<u4"), ("_skip", "V12")]
+                )  # Skip 12 bytes
+            elif version == 2:
+                # [tile_id:4][offset:8][compressed_size:4][uncompressed_size:4]
+                tile_id_dtype = np.dtype(
+                    [("tile_id", "<u4"), ("_skip", "V16")]
+                )  # Skip 16 bytes
+            else:
+                logger.error(f"Unsupported index version: {version}")
+                return existing_tiles
+
+            # Read all tile IDs at once (very fast, just reading integers)
+            data = f.read()
+            if not data:
+                return existing_tiles
+
+            records = np.frombuffer(data, dtype=tile_id_dtype)
+
+            # Convert to set (numpy → set is fast for integers)
+            existing_tiles = set(records["tile_id"].tolist())
+
+        return existing_tiles
+
+    def _apply_proper_motion(
+        self, stars: Tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray, np.ndarray]
+    ) -> np.ndarray:
+        """
+        Apply proper motion corrections from J2016.0 to current epoch (VECTORIZED)
+
+        Args:
+            stars: Tuple of (ras, decs, mags, pmras, pmdecs) arrays
+
+        Returns:
+            Numpy array of shape (N, 3) containing (ra, dec, mag)
+        """
+        ras, decs, mags, pmras, pmdecs = stars
+
+        if len(ras) == 0:
+            return np.empty((0, 3))
+
+        # Calculate years from J2016.0 to current date
+        current_year = datetime.now().year + (
+            datetime.now().timetuple().tm_yday / 365.25
+        )
+        years_elapsed = current_year - 2016.0
+
+        # Apply proper motion forward to current epoch
+        # pmra is in mas/year and needs cos(dec) correction for RA
+        # Vectorized calculation
+        ra_corrections = (
+            (pmras / 1000 / 3600) / np.cos(np.radians(decs)) * years_elapsed
+        )
+        dec_corrections = (pmdecs / 1000 / 3600) * years_elapsed
+
+        ra_corrected = ras + ra_corrections
+        dec_corrected = decs + dec_corrections
+
+        # Keep dec in valid range
+        dec_corrected = np.clip(dec_corrected, -90, 90)
+
+        # Stack into (N, 3) array
+        return np.column_stack((ra_corrected, dec_corrected, mags))
+
+    def _trim_index_cache(self, cache_key: str, protected_tile_ids: List[int]) -> None:
+        """
+        Trim index cache to stay within MAX_INDEX_CACHE_SIZE limit.
+
+        Strategy: Remove oldest tiles not in the current request (protected_tile_ids).
+        This ensures we keep tiles needed for the current chart while evicting others.
+
+        Args:
+            cache_key: Cache key (e.g., "index_12_14")
+            protected_tile_ids: Tile IDs that must NOT be evicted (current FOV)
+        """
+        index = self._index_cache.get(cache_key)
+        if not index:
+            return
+
+        cache_size = len(index)
+        if cache_size <= MAX_INDEX_CACHE_SIZE:
+            return  # Within limit, nothing to do
+
+        # Calculate how many to remove
+        tiles_to_remove = cache_size - MAX_INDEX_CACHE_SIZE
+        logger.info(
+            f">>> Cache {cache_key} exceeds limit ({cache_size} > {MAX_INDEX_CACHE_SIZE}), removing {tiles_to_remove} tiles"
+        )
+
+        # Build set of protected tiles
+        protected_set = {str(tid) for tid in protected_tile_ids}
+
+        # Find eviction candidates (tiles not in current request)
+        candidates = [
+            tile_key for tile_key in index.keys() if tile_key not in protected_set
+        ]
+
+        if len(candidates) < tiles_to_remove:
+            # Not enough non-protected tiles, just remove what we can
+            logger.warning(
+                f">>> Only {len(candidates)} evictable tiles, removing all of them"
+            )
+            tiles_to_remove = len(candidates)
+
+        # Remove the first N candidates (simple FIFO-ish eviction)
+        # Could enhance this with LRU tracking later
+        for i in range(tiles_to_remove):
+            tile_key = candidates[i]
+            del index[tile_key]
+
+        logger.info(f">>> Cache trimmed: {cache_size} → {len(index)} tiles")
+
+    def _load_tiles_batch_single_band(
+        self,
+        tile_ids: List[int],
+        mag_band_info: dict,
+        mag_limit: float,
+    ) -> np.ndarray:
+        """
+        Batch load multiple tiles for a SINGLE magnitude band (compact format only)
+        Used by progressive loading to load one mag band at a time
+
+        Args:
+            tile_ids: List of HEALPix tile IDs
+            mag_band_info: Magnitude band metadata dict
+            mag_limit: Maximum magnitude
+
+        Returns:
+            Numpy array of shape (N, 3) containing (ra, dec, mag)
+        """
+        if not _HEALPY_AVAILABLE:
+            return np.empty((0, 3))
+
+        mag_min = mag_band_info["min"]
+        mag_max = mag_band_info["max"]
+
+        band_dir = self.catalog_path / f"mag_{mag_min:02.0f}_{mag_max:02.0f}"
+        index_file = band_dir / "index.bin"
+        tiles_file = band_dir / "tiles.bin"
+
+        if not tiles_file.exists():
+            return np.empty((0, 3))
+
+        if not index_file.exists():
+            raise FileNotFoundError(
+                f"Compressed index not found: {index_file}\n"
+                f"This catalog requires v3 format. Please rebuild using healpix_builder_compact.py"
+            )
+
+        cache_key = f"index_{mag_min}_{mag_max}"
+
+        # Load v3 compressed index (cached)
+        if not hasattr(self, "_index_cache"):
+            self._index_cache = {}
+
+        t_index_start = time.time()
+        logger.debug(f"Checking index cache for {cache_key}")
+        if cache_key not in self._index_cache:
+            logger.info(f">>> Loading v3 compressed index from {index_file}")
+            t0 = time.time()
+            self._index_cache[cache_key] = CompressedIndex(index_file)
+            t_read_index = (time.time() - t0) * 1000
+            logger.info(f">>> Compressed index loaded in {t_read_index:.1f}ms")
+        else:
+            logger.debug(f">>> Using cached index for {cache_key}")
+
+        index = self._index_cache[cache_key]
+        t_index_total = (time.time() - t_index_start) * 1000
+        logger.debug(f">>> Index cache operations took {t_index_total:.1f}ms")
+
+        t_readops_start = time.time()
+        logger.debug(f"Building read_ops for {len(tile_ids)} tiles...")
+
+        # Collect all tile read operations from v3 compressed index
+        read_ops: List[Tuple[int, Dict[str, int]]] = []
+        missing_tiles = 0
+        for tile_id in tile_ids:
+            # Ensure tile_id is a Python int (not numpy.int64)
+            tile_id_int = int(tile_id)
+            tile_tuple = index.get(tile_id_int)
+            if tile_tuple:
+                offset, size = tile_tuple
+                read_ops.append((tile_id_int, {"offset": offset, "size": size}))
+            else:
+                missing_tiles += 1
+
+        if missing_tiles > 0:
+            logger.debug(
+                f"{missing_tiles} of {len(tile_ids)} tiles missing from index for mag {mag_min}-{mag_max}"
+            )
+
+        if not read_ops:
+            logger.debug(
+                f"No tiles to load (all {len(tile_ids)} requested tiles are empty)"
+            )
+            return np.empty((0, 3))
+
+        # Sort by offset to minimize seeks
+        read_ops.sort(key=lambda x: x[1]["offset"])
+        t_readops = (time.time() - t_readops_start) * 1000
+        logger.debug(f"Built {len(read_ops)} read_ops in {t_readops:.1f}ms")
+
+        # Read data in larger sequential chunks when possible
+        MAX_GAP = 100 * 1024  # 100KB gap tolerance
+
+        # Accumulate arrays
+        all_ras = []
+        all_decs = []
+        all_mags = []
+        all_pmras = []
+        all_pmdecs = []
+
+        t_io_start = time.time()
+        t_decode_total = 0.0
+        bytes_read = 0
+        logger.debug(f"Batch loading {len(read_ops)} tiles for mag {mag_min}-{mag_max}")
+        with open(tiles_file, "rb") as f:
+            i = 0
+            chunk_num = 0
+            while i < len(read_ops):
+                chunk_num += 1
+                # logger.debug(f">>> Processing chunk {chunk_num}, tile {i+1}/{len(read_ops)}")
+
+                tile_id, tile_info = read_ops[i]
+                offset = tile_info["offset"]
+                chunk_end = offset + tile_info["size"]
+
+                # Find consecutive tiles for chunk reading
+                tiles_in_chunk: List[Tuple[int, Dict[str, int]]] = [
+                    (tile_id, tile_info)
+                ]
+                j = i + 1
+                inner_iterations = 0
+                while j < len(read_ops):
+                    inner_iterations += 1
+                    if inner_iterations > 1000:
+                        logger.error(
+                            f">>> INFINITE LOOP DETECTED in chunk consolidation! j={j}, len={len(read_ops)}, i={i}"
+                        )
+                        break  # Safety break
+
+                    next_tile_id, next_tile_info = read_ops[j]
+                    next_offset = next_tile_info["offset"]
+                    if next_offset - chunk_end <= MAX_GAP:
+                        chunk_end = next_offset + next_tile_info["size"]
+                        tiles_in_chunk.append((next_tile_id, next_tile_info))
+                        j += 1
+                    else:
+                        break
+
+                # Read entire chunk
+                chunk_size = chunk_end - offset
+                # logger.debug(f">>> Reading chunk: {len(tiles_in_chunk)} tiles, size={chunk_size} bytes")
+                f.seek(offset)
+                chunk_data = f.read(chunk_size)
+                bytes_read += chunk_size
+                # logger.debug(f">>> Chunk read complete, processing tiles...")
+
+                # Process each tile in chunk
+                for tile_idx, (tile_id, tile_info) in enumerate(tiles_in_chunk):
+                    # logger.debug(f">>> Processing tile {tile_idx+1}/{len(tiles_in_chunk)} (id={tile_id})")
+                    tile_offset = tile_info["offset"] - offset
+                    size = tile_info["size"]
+                    data = chunk_data[tile_offset : tile_offset + size]
+
+                    # Parse records using shared helper
+                    t_decode_start = time.time()
+                    ras, decs, mags, pmras, pmdecs = self._parse_records(data)
+                    t_decode_total += time.time() - t_decode_start
+
+                    # Filter by magnitude
+                    mask = mags <= mag_limit
+
+                    if np.any(mask):
+                        all_ras.append(ras[mask])
+                        all_decs.append(decs[mask])
+                        all_mags.append(mags[mask])
+                        all_pmras.append(pmras[mask])
+                        all_pmdecs.append(pmdecs[mask])
+
+                i = j
+
+        if not all_ras:
+            return np.empty((0, 3))
+
+        # Concatenate all arrays
+        t_concat_start = time.time()
+        ras_final = np.concatenate(all_ras)
+        decs_final = np.concatenate(all_decs)
+        mags_final = np.concatenate(all_mags)
+        pmras_final = np.concatenate(all_pmras)
+        pmdecs_final = np.concatenate(all_pmdecs)
+        (time.time() - t_concat_start) * 1000
+
+        # Apply proper motion
+        t_pm_start = time.time()
+        result = self._apply_proper_motion(
+            (ras_final, decs_final, mags_final, pmras_final, pmdecs_final)
+        )
+        (time.time() - t_pm_start) * 1000
+
+        # Log performance breakdown
+        t_io_total = (time.time() - t_io_start) * 1000
+        logger.debug(
+            f"Tile I/O for mag {mag_min}-{mag_max}: "
+            f"{t_io_total:.1f}ms, {len(result)} stars, {bytes_read / 1024:.1f}KB"
+        )
+
+        return result
+
+    def _load_tiles_batch(self, tile_ids: List[int], mag_limit: float) -> np.ndarray:
+        """
+        Batch load multiple tiles efficiently (compact format only)
+        Much faster than loading tiles one-by-one due to reduced I/O overhead
+
+        Args:
+            tile_ids: List of HEALPix tile IDs
+            mag_limit: Maximum magnitude
+
+        Returns:
+            Numpy array of shape (N, 3) containing (ra, dec, mag)
+        """
+        assert self.metadata is not None, (
+            "metadata must be loaded before calling _load_tiles_batch"
+        )
+
+        if not _HEALPY_AVAILABLE:
+            return np.empty((0, 3))
+
+        all_ras = []
+        all_decs = []
+        all_mags = []
+        all_pmras = []
+        all_pmdecs = []
+
+        logger.info(f"_load_tiles_batch: Starting batch load of {len(tile_ids)} tiles")
+
+        # Process each magnitude band
+        for mag_band_info in self.metadata.get("mag_bands", []):
+            mag_min = mag_band_info["min"]
+            mag_max = mag_band_info["max"]
+
+            if mag_min >= mag_limit:
+                continue  # Skip faint bands
+
+            logger.info(f"_load_tiles_batch: Processing mag band {mag_min}-{mag_max}")
+            band_dir = self.catalog_path / f"mag_{mag_min:02.0f}_{mag_max:02.0f}"
+            index_file = band_dir / "index.bin"
+            tiles_file = band_dir / "tiles.bin"
+
+            if not tiles_file.exists():
+                continue
+
+            if not index_file.exists():
+                raise FileNotFoundError(
+                    f"Compressed index not found: {index_file}\n"
+                    f"This catalog requires v3 format. Please rebuild using healpix_builder_compact.py"
+                )
+
+            # Load v3 compressed index
+            cache_key = f"index_{mag_min}_{mag_max}"
+            if not hasattr(self, "_index_cache"):
+                self._index_cache = {}
+
+            if cache_key not in self._index_cache:
+                self._index_cache[cache_key] = CompressedIndex(index_file)
+
+            index = self._index_cache[cache_key]
+
+            # Collect all tile read operations from v3 compressed index
+            read_ops = []
+            for tile_id in tile_ids:
+                tile_tuple = index.get(tile_id)
+                if tile_tuple:
+                    offset, size = tile_tuple
+                    read_ops.append((tile_id, {"offset": offset, "size": size}))
+
+            if not read_ops:
+                continue
+
+            logger.info(
+                f"_load_tiles_batch: Found {len(read_ops)} tiles in mag band {mag_min}-{mag_max}"
+            )
+
+            # Sort by offset to minimize seeks
+            read_ops.sort(key=lambda x: x[1]["offset"])
+
+            # Optimize: Read data in larger sequential chunks when possible
+            # Group tiles that are close together (within 100KB)
+            MAX_GAP = 100 * 1024  # 100KB gap tolerance
+
+            logger.info(f"_load_tiles_batch: Opening {tiles_file}")
+            # Open file once and read all tiles
+            with open(tiles_file, "rb") as f:
+                i = 0
+                while i < len(read_ops):
+                    tile_id, tile_info = read_ops[i]
+                    offset = tile_info["offset"]
+                    size = tile_info["size"]
+
+                    # Check if next tiles are sequential (within gap tolerance)
+                    chunk_end = offset + size
+                    tiles_in_chunk = [(tile_id, tile_info)]
+
+                    j = i + 1
+                    while j < len(read_ops):
+                        next_tile_id, next_tile_info = read_ops[j]
+                        next_offset = next_tile_info["offset"]
+
+                        # If next tile is within gap tolerance, include in chunk
+                        if next_offset - chunk_end <= MAX_GAP:
+                            tiles_in_chunk.append((next_tile_id, next_tile_info))
+                            next_size = next_tile_info["size"]
+                            chunk_end = next_offset + next_size
+                            j += 1
+                        else:
+                            break
+
+                    # Read entire chunk at once
+                    chunk_size = chunk_end - offset
+                    logger.info(
+                        f"_load_tiles_batch: Reading chunk at offset {offset}, size {chunk_size / 1024:.1f}KB with {len(tiles_in_chunk)} tiles"
+                    )
+                    f.seek(offset)
+                    chunk_data = f.read(chunk_size)
+                    logger.info(
+                        f"_load_tiles_batch: Read complete, processing {len(tiles_in_chunk)} tiles"
+                    )
+
+                    # Process each tile in the chunk using vectorized operations
+                    for tile_id, tile_info in tiles_in_chunk:
+                        tile_offset = (
+                            tile_info["offset"] - offset
+                        )  # Relative offset in chunk
+                        size = tile_info["size"]
+                        data = chunk_data[tile_offset : tile_offset + size]
+
+                        # Parse records using shared helper
+                        ras, decs, mags, pmras, pmdecs = self._parse_records(data)
+
+                        # Filter by magnitude
+                        mask = mags <= mag_limit
+
+                        if np.any(mask):
+                            all_ras.append(ras[mask])
+                            all_decs.append(decs[mask])
+                            all_mags.append(mags[mask])
+                            all_pmras.append(pmras[mask])
+                            all_pmdecs.append(pmdecs[mask])
+
+                    # Move to next chunk
+                    i = j
+
+        logger.info(
+            f"_load_tiles_batch: Loaded {len(all_ras)} batches of stars, applying proper motion"
+        )
+
+        if not all_ras:
+            return np.empty((0, 3))
+
+        # Concatenate all arrays
+        ras_final = np.concatenate(all_ras)
+        decs_final = np.concatenate(all_decs)
+        mags_final = np.concatenate(all_mags)
+        pmras_final = np.concatenate(all_pmras)
+        pmdecs_final = np.concatenate(all_pmdecs)
+
+        # Apply proper motion
+        result = self._apply_proper_motion(
+            (ras_final, decs_final, mags_final, pmras_final, pmdecs_final)
+        )
+        logger.info(f"_load_tiles_batch: Complete, returning {len(result)} stars")
+        return result
diff --git a/python/PiFinder/plot.py b/python/PiFinder/plot.py
index 0e4c8a403..2a0596e61 100644
--- a/python/PiFinder/plot.py
+++ b/python/PiFinder/plot.py
@@ -8,7 +8,6 @@
 import os
 import datetime
 import numpy as np
-import pandas
 from pathlib import Path
 from PiFinder import utils
 from PIL import Image, ImageDraw, ImageChops
@@ -133,6 +132,8 @@ def radec_to_xy(self, ra: float, dec: float) -> tuple[float, float]:
         """
         Converts and RA/DEC to screen space x/y for the current projection
         """
+        import pandas
+
         markers = pandas.DataFrame(
             [(Angle(degrees=ra)._hours, dec)], columns=["ra_hours", "dec_degrees"]
         )
@@ -168,6 +169,8 @@ def plot_markers(self, marker_list):
         Marker list should be a list of
         (RA_Hours/DEC_degrees, symbol) tuples
         """
+        import pandas
+
         ret_image = Image.new("RGB", self.render_size)
         idraw = ImageDraw.Draw(ret_image)
 
diff --git a/python/PiFinder/server.py b/python/PiFinder/server.py
index 6f1bea592..3f095cbd4 100644
--- a/python/PiFinder/server.py
+++ b/python/PiFinder/server.py
@@ -57,7 +57,7 @@ def __init__(
         shared_state,
         is_debug=False,
     ):
-        self.version_txt = f"{utils.pifinder_dir}/version.txt"
+        self._software_version = utils.get_version()
         self.keyboard_queue = keyboard_queue
         self.ui_queue = ui_queue
         self.gps_queue = gps_queue
@@ -115,13 +115,7 @@ def send_css(filename):
         @app.route("/")
         def home():
             logger.debug("/ called")
-            # Get version info
-            software_version = "Unknown"
-            try:
-                with open(self.version_txt, "r") as ver_f:
-                    software_version = ver_f.read()
-            except (FileNotFoundError, IOError) as e:
-                logger.warning(f"Could not read version file: {str(e)}")
+            software_version = self._software_version
 
             # Try to update GPS state
             try:
@@ -423,7 +417,12 @@ def network_update():
             self.network.set_wifi_mode(wifi_mode)
             self.network.set_ap_name(ap_name)
             self.network.set_host_name(host_name)
-            return template("restart")
+            return template(
+                "network",
+                net=self.network,
+                show_new_form=0,
+                status_message="Network settings updated. You may need to reconnect.",
+            )
 
         @app.route("/tools/pwchange", method="post")
         @auth_required
diff --git a/python/PiFinder/solver.py b/python/PiFinder/solver.py
index 842cf683b..2bbe7e5ca 100644
--- a/python/PiFinder/solver.py
+++ b/python/PiFinder/solver.py
@@ -25,6 +25,7 @@
 from PiFinder.state import SQM as SQMState
 
 sys.path.append(str(utils.tetra3_dir))
+sys.path.append(str(utils.tetra3_dir / "tetra3"))
 import tetra3
 from tetra3 import cedar_detect_client
 
@@ -35,40 +36,18 @@
 
 
 def create_sqm_calculator(shared_state):
-    """Create a new SQM calculator instance for PROCESSED images with current calibration."""
-    # Get camera type from shared state and use "_processed" profile
-    # since images are already processed 8-bit (not raw)
+    """Create a new SQM calculator instance with current calibration."""
     camera_type = shared_state.camera_type()
     camera_type_processed = f"{camera_type}_processed"
 
-    logger.info(
-        f"Creating processed SQM calculator for camera: {camera_type_processed}"
-    )
-
-    return SQMCalculator(
-        camera_type=camera_type_processed,
-        use_adaptive_noise_floor=True,
-    )
-
-
-def create_sqm_calculator_raw(shared_state):
-    """Create a new SQM calculator instance for RAW 16-bit images with current calibration."""
-    # Get camera type from shared state (raw profile, e.g., "imx296", "hq")
-    camera_type_raw = shared_state.camera_type()
-
-    logger.info(f"Creating raw SQM calculator for camera: {camera_type_raw}")
+    logger.info(f"Creating SQM calculator for camera: {camera_type_processed}")
 
-    return SQMCalculator(
-        camera_type=camera_type_raw,
-        use_adaptive_noise_floor=True,
-    )
+    return SQMCalculator(camera_type=camera_type_processed)
 
 
-def update_sqm_dual_pipeline(
+def update_sqm(
     shared_state,
     sqm_calculator,
-    sqm_calculator_raw,
-    camera_command_queue,
     centroids,
     solution,
     image_processed,
@@ -80,22 +59,14 @@ def update_sqm_dual_pipeline(
     annulus_outer_radius=14,
 ):
     """
-    Calculate SQM for BOTH processed (8-bit) and raw (16-bit) images.
-
-    This function:
-    1. Checks if enough time has passed since last update
-    2. Calculates SQM from processed 8-bit image
-    3. Captures a raw 16-bit frame, loads it, and calculates raw SQM
-    4. Updates shared state with both values
+    Calculate SQM from image.
 
     Args:
         shared_state: SharedStateObj instance
-        sqm_calculator: SQM calculator for processed images
-        sqm_calculator_raw: SQM calculator for raw images
-        camera_command_queue: Queue to send raw capture command
+        sqm_calculator: SQM calculator instance
         centroids: List of detected star centroids
         solution: Tetra3 solve solution with matched stars
-        image_processed: Processed 8-bit image array
+        image_processed: Processed image array (numpy)
         exposure_sec: Exposure time in seconds
         altitude_deg: Altitude in degrees for extinction correction
         calculation_interval_seconds: Minimum time between calculations (default: 5.0)
@@ -131,8 +102,8 @@ def update_sqm_dual_pipeline(
         return False
 
     try:
-        # ========== Calculate PROCESSED (8-bit) SQM ==========
-        sqm_value_processed, _ = sqm_calculator.calculate(
+        # Calculate SQM from image
+        sqm_value, details = sqm_calculator.calculate(
             centroids=centroids,
             solution=solution,
             image=image_processed,
@@ -143,48 +114,35 @@ def update_sqm_dual_pipeline(
             annulus_outer_radius=annulus_outer_radius,
         )
 
-        # ========== Calculate RAW (16-bit) SQM from shared state ==========
-        sqm_value_raw = None
-
-        try:
-            # Get raw frame from shared state (already captured by camera)
-            raw_array = shared_state.cam_raw()
-
-            if raw_array is not None:
-                raw_array = np.asarray(raw_array, dtype=np.float32)
-
-                # Calculate raw SQM
-                sqm_value_raw, _ = sqm_calculator_raw.calculate(
-                    centroids=centroids,
-                    solution=solution,
-                    image=raw_array,
-                    exposure_sec=exposure_sec,
-                    altitude_deg=altitude_deg,
-                    aperture_radius=aperture_radius,
-                    annulus_inner_radius=annulus_inner_radius,
-                    annulus_outer_radius=annulus_outer_radius,
-                )
-
-        except Exception as e:
-            logger.warning(f"Failed to calculate raw SQM: {e}")
-            # Continue with just processed SQM
+        # Update noise floor in shared state (for SNR auto-exposure)
+        noise_floor_details = details.get("noise_floor_details")
+        if noise_floor_details and "noise_floor_adu" in noise_floor_details:
+            shared_state.set_noise_floor(noise_floor_details["noise_floor_adu"])
+
+        # Store SQM details (filter out large per-star arrays)
+        filtered_details = {
+            k: v
+            for k, v in details.items()
+            if k
+            not in (
+                "star_centroids",
+                "star_mags",
+                "star_fluxes",
+                "star_local_backgrounds",
+                "star_mzeros",
+            )
+        }
+        shared_state.set_sqm_details(filtered_details)
 
-        # ========== Update shared state with BOTH values ==========
-        if sqm_value_processed is not None:
+        # Update shared state
+        if sqm_value is not None:
             new_sqm_state = SQMState(
-                value=sqm_value_processed,
-                value_raw=sqm_value_raw,  # May be None if raw failed
+                value=sqm_value,
                 source="Calculated",
                 last_update=datetime.now().isoformat(),
             )
             shared_state.set_sqm(new_sqm_state)
-
-            raw_str = (
-                f", raw={sqm_value_raw:.2f}"
-                if sqm_value_raw is not None
-                else ", raw=N/A"
-            )
-            logger.info(f"SQM updated: processed={sqm_value_processed:.2f}{raw_str}")
+            logger.info(f"SQM updated: {sqm_value:.2f} mag/arcsec²")
             return True
 
     except Exception as e:
@@ -194,15 +152,39 @@ def update_sqm_dual_pipeline(
     return False
 
 
+class CedarConnectionError(Exception):
+    """Raised when Cedar gRPC connection fails."""
+
+    pass
+
+
 class PFCedarDetectClient(cedar_detect_client.CedarDetectClient):
     def __init__(self, port=50551):
-        """Set up the client without spawning the server as we
-        run this as a service on the PiFinder
+        """Connect to cedar-detect-server.
 
-        Also changing this to a different default port
+        On the Pi the server runs as a systemd service.
+        In dev mode we spawn it as a subprocess (like upstream does).
         """
         self._port = port
-        time.sleep(2)
+        self._subprocess = None
+
+        # Check if the server is already listening (systemd service on Pi)
+        if not self._server_reachable():
+            # Dev mode: spawn the server ourselves
+            import shutil
+
+            binary = shutil.which("cedar-detect-server")
+            if binary is None:
+                raise FileNotFoundError("cedar-detect-server")
+            my_env = os.environ.copy()
+            my_env["RUST_BACKTRACE"] = "1"
+            import subprocess
+
+            self._subprocess = subprocess.Popen(
+                [binary, "--port", str(self._port)], env=my_env
+            )
+            time.sleep(1)
+
         # Will initialize on first use.
         self._stub = None
         self._shmem = None
@@ -210,6 +192,19 @@ def __init__(self, port=50551):
         # Try shared memory, fall back if an error occurs.
         self._use_shmem = True
 
+    def __del__(self):
+        if self._subprocess is not None:
+            self._subprocess.kill()
+        self._del_shmem()
+
+    def _server_reachable(self):
+        """Quick check if cedar-detect-server is already listening."""
+        import socket
+
+        with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
+            s.settimeout(0.2)
+            return s.connect_ex(("127.0.0.1", self._port)) == 0
+
     def _get_stub(self):
         if self._stub is None:
             channel = grpc.insecure_channel("127.0.0.1:%d" % self._port)
@@ -218,8 +213,96 @@ def _get_stub(self):
             )
         return self._stub
 
-    def __del__(self):
-        self._del_shmem()
+    def _alloc_shmem(self, size):
+        """Override to fix shared memory name (no leading / for Python's SharedMemory)."""
+        from multiprocessing import shared_memory
+
+        if self._shmem is not None and size > self._shmem_size:
+            self._shmem.close()
+            self._shmem.unlink()
+            self._shmem = None
+        if self._shmem is None:
+            # Use name without leading / - Python's SharedMemory adds it automatically
+            self._shmem = shared_memory.SharedMemory(
+                "cedar_detect_image", create=True, size=size
+            )
+            self._shmem_size = size
+
+    def _del_shmem(self):
+        """Override to match _alloc_shmem naming."""
+        if self._shmem is not None:
+            self._shmem.close()
+            try:
+                self._shmem.unlink()
+            except FileNotFoundError:
+                pass
+            self._shmem = None
+
+    def extract_centroids(
+        self, image, sigma, max_size, use_binned, detect_hot_pixels=True
+    ):
+        """Override to raise CedarConnectionError on gRPC failure instead of returning empty list."""
+        import numpy as np
+        from tetra3 import cedar_detect_pb2
+
+        np_image = np.asarray(image, dtype=np.uint8)
+        (height, width) = np_image.shape
+        centroids_result = None
+
+        # Use shared memory path (same machine)
+        if self._use_shmem:
+            self._alloc_shmem(size=width * height)
+            shimg = np.ndarray(
+                np_image.shape, dtype=np_image.dtype, buffer=self._shmem.buf
+            )
+            shimg[:] = np_image[:]
+
+            im = cedar_detect_pb2.Image(
+                width=width, height=height, shmem_name=self._shmem.name
+            )
+            req = cedar_detect_pb2.CentroidsRequest(
+                input_image=im,
+                sigma=sigma,
+                max_size=max_size,
+                return_binned=False,
+                use_binned_for_star_candidates=use_binned,
+                detect_hot_pixels=detect_hot_pixels,
+            )
+            try:
+                centroids_result = self._get_stub().ExtractCentroids(req)
+            except grpc.RpcError as err:
+                if err.code() == grpc.StatusCode.INTERNAL:
+                    # Shared memory issue, fall back to non-shmem
+                    self._del_shmem()
+                    self._use_shmem = False
+                else:
+                    raise CedarConnectionError(
+                        f"Cedar gRPC failed: {err.details()}"
+                    ) from err
+
+        if not self._use_shmem:
+            im = cedar_detect_pb2.Image(
+                width=width, height=height, image_data=np_image.tobytes()
+            )
+            req = cedar_detect_pb2.CentroidsRequest(
+                input_image=im,
+                sigma=sigma,
+                max_size=max_size,
+                return_binned=False,
+                use_binned_for_star_candidates=use_binned,
+            )
+            try:
+                centroids_result = self._get_stub().ExtractCentroids(req)
+            except grpc.RpcError as err:
+                raise CedarConnectionError(
+                    f"Cedar gRPC failed: {err.details()}"
+                ) from err
+
+        tetra_centroids = []
+        if centroids_result is not None:
+            for sc in centroids_result.star_candidates:
+                tetra_centroids.append((sc.centroid_position.y, sc.centroid_position.x))
+        return tetra_centroids
 
 
 def solver(
@@ -272,13 +355,13 @@ def solver(
     centroids = []
     log_no_stars_found = True
 
-    # Create SQM calculators (processed and raw) - can be reloaded via command queue
+    # Create SQM calculator - can be reloaded via command queue
     sqm_calculator = create_sqm_calculator(shared_state)
-    sqm_calculator_raw = create_sqm_calculator_raw(shared_state)
 
     while True:
         logger.info("Starting Solver Loop")
-        # Start cedar detect server
+        # Try to start cedar detect server, fall back to tetra3 centroider if unavailable
+        cedar_detect = None
         try:
             cedar_detect = PFCedarDetectClient()
         except FileNotFoundError as e:
@@ -286,10 +369,8 @@ def solver(
                 "Not using cedar_detect, as corresponding file '%s' could not be found",
                 e.filename,
             )
-            cedar_detect = None
         except ValueError:
             logger.exception("Not using cedar_detect")
-            cedar_detect = None
 
         try:
             while True:
@@ -316,12 +397,9 @@ def solver(
                             align_dec = 0
 
                         if command[0] == "reload_sqm_calibration":
-                            logger.info(
-                                "Reloading SQM calibration (both processed and raw)..."
-                            )
+                            logger.info("Reloading SQM calibration...")
                             sqm_calculator = create_sqm_calculator(shared_state)
-                            sqm_calculator_raw = create_sqm_calculator_raw(shared_state)
-                            logger.info("SQM calibration reloaded for both pipelines")
+                            logger.info("SQM calibration reloaded")
 
                 state_utils.sleep_for_framerate(shared_state)
 
@@ -357,13 +435,20 @@ def solver(
                         ]
 
                         t0 = precision_timestamp()
-                        if cedar_detect is None:
-                            # Use old tetr3 centroider
-                            centroids = tetra3.get_centroids_from_image(np_image)
+                        if cedar_detect is not None:
+                            # Try Cedar first
+                            try:
+                                centroids = cedar_detect.extract_centroids(
+                                    np_image, sigma=8, max_size=10, use_binned=True
+                                )
+                            except CedarConnectionError as e:
+                                logger.warning(
+                                    f"Cedar connection failed: {e}, falling back to tetra3"
+                                )
+                                centroids = tetra3.get_centroids_from_image(np_image)
                         else:
-                            centroids = cedar_detect.extract_centroids(
-                                np_image, sigma=8, max_size=10, use_binned=True
-                            )
+                            # Cedar not available, use tetra3
+                            centroids = tetra3.get_centroids_from_image(np_image)
                         t_extract = (precision_timestamp() - t0) * 1000
 
                         logger.debug(
@@ -371,6 +456,9 @@ def solver(
                             % ("camera", len(centroids), t_extract)
                         )
 
+                        # Initialize solution to prevent UnboundLocalError
+                        solution = {}
+
                         if len(centroids) == 0:
                             if log_no_stars_found:
                                 logger.info(
@@ -408,11 +496,9 @@ def solver(
                                 last_image_metadata["exposure_time"] / 1_000_000.0
                             )
 
-                            update_sqm_dual_pipeline(
+                            update_sqm(
                                 shared_state=shared_state,
                                 sqm_calculator=sqm_calculator,
-                                sqm_calculator_raw=sqm_calculator_raw,
-                                camera_command_queue=camera_command_queue,
                                 centroids=centroids,
                                 solution=solution,
                                 image_processed=np_image,
@@ -428,9 +514,9 @@ def solver(
                             solution.pop("epoch_proper_motion", None)
                             solution.pop("cache_hit_fraction", None)
 
-                        solved |= solution
+                            solved |= solution
 
-                        if "T_solve" in solution:
+                        if "T_solve" in solved:
                             total_tetra_time = t_extract + solved["T_solve"]
                             if total_tetra_time > 1000:
                                 console_queue.put(f"SLV: Long: {total_tetra_time}")
@@ -460,7 +546,7 @@ def solver(
                             # Mark successful solve - use same timestamp as last_solve_attempt for comparison
                             solved["last_solve_success"] = solved["last_solve_attempt"]
 
-                            logger.info(
+                            logger.debug(
                                 f"Solve SUCCESS - {len(centroids)} centroids → "
                                 f"{solved.get('Matches', 0)} matches, "
                                 f"RMSE: {solved.get('RMSE', 0):.1f}px"
@@ -484,7 +570,7 @@ def solver(
                         else:
                             # Centroids found but solve failed - clear Matches
                             solved["Matches"] = 0
-                            logger.warning(
+                            logger.debug(
                                 f"Solve FAILED - {len(centroids)} centroids detected but "
                                 f"pattern match failed (FOV est: 12.0°, max err: 4.0°)"
                             )
diff --git a/python/PiFinder/splash.py b/python/PiFinder/splash.py
index fc2a55ce8..a351e955f 100644
--- a/python/PiFinder/splash.py
+++ b/python/PiFinder/splash.py
@@ -33,8 +33,9 @@ def show_splash():
     screen_draw = ImageDraw.Draw(welcome_image)
 
     # Display version and Wifi mode
-    with open(os.path.join(root_dir, "version.txt"), "r") as ver_f:
-        version = "v" + ver_f.read()
+    from PiFinder import utils
+
+    version = utils.get_version()
 
     with open(os.path.join(root_dir, "wifi_status.txt"), "r") as wifi_f:
         wifi_mode = wifi_f.read()
diff --git a/python/PiFinder/sqm/camera_profiles.py b/python/PiFinder/sqm/camera_profiles.py
index 61e86e9cc..beeddab07 100644
--- a/python/PiFinder/sqm/camera_profiles.py
+++ b/python/PiFinder/sqm/camera_profiles.py
@@ -208,7 +208,7 @@ def __repr__(self) -> str:
         analog_gain=1.0,  # Not applicable to processed images
         digital_gain=1.0,  # Already applied during processing
         bit_depth=8,
-        bias_offset=8.0,  # Conservative - below typical dark pixels (9-12)
+        bias_offset=6.0,  # Calibrated against reference SQM meter
         read_noise_adu=1.5,  # Quantization + residual noise in 8-bit
         dark_current_rate=0.0,  # Negligible after processing
         thermal_coeff=0.0,
diff --git a/python/PiFinder/sqm/noise_floor.py b/python/PiFinder/sqm/noise_floor.py
index 056f6bc6d..526b95039 100644
--- a/python/PiFinder/sqm/noise_floor.py
+++ b/python/PiFinder/sqm/noise_floor.py
@@ -173,7 +173,7 @@ def estimate_noise_floor(
             logger.debug("Requesting zero-second calibration sample")
 
         if not is_valid:
-            logger.warning(
+            logger.debug(
                 f"Noise floor estimate may be invalid: {reason} "
                 f"(floor={noise_floor:.1f}, median={np.median(image):.1f})"
             )
@@ -251,7 +251,7 @@ def update_with_zero_sec_sample(self, zero_sec_image: np.ndarray) -> None:
             }
         )
 
-        logger.info(
+        logger.debug(
             f"Zero-sec sample: bias={measured_bias:.1f} ADU, "
             f"read_noise={measured_std:.2f} ADU"
         )
@@ -279,7 +279,7 @@ def update_with_zero_sec_sample(self, zero_sec_image: np.ndarray) -> None:
                 alpha * avg_read_noise + (1 - alpha) * self.profile.read_noise_adu
             )
 
-            logger.info(
+            logger.debug(
                 f"Updated camera profile: "
                 f"bias {old_bias:.1f} → {self.profile.bias_offset:.1f}, "
                 f"read_noise {old_noise:.2f} → {self.profile.read_noise_adu:.2f}"
diff --git a/python/PiFinder/sqm/sqm.ipynb b/python/PiFinder/sqm/sqm.ipynb
index facb0cfa7..cd956e870 100644
--- a/python/PiFinder/sqm/sqm.ipynb
+++ b/python/PiFinder/sqm/sqm.ipynb
@@ -32,9 +32,11 @@
     "import logging as logger\n",
     "from pathlib import Path\n",
     "import matplotlib.pyplot as plt\n",
+    "\n",
     "%matplotlib inline\n",
     "import pprint\n",
-    "pp = pprint.PrettyPrinter(depth=5)\n"
+    "\n",
+    "pp = pprint.PrettyPrinter(depth=5)"
    ]
   },
   {
@@ -70,11 +72,11 @@
     }
    ],
    "source": [
-    "os.chdir('/Users/mike/dev/amateur_astro/myPiFinder/wt-sqm/python')\n",
+    "os.chdir(\"/Users/mike/dev/amateur_astro/myPiFinder/wt-sqm/python\")\n",
     "cwd = Path(os.getcwd())\n",
     "print(cwd)\n",
     "tetra3_path = cwd / \"PiFinder/tetra3/tetra3\"\n",
-    "root_path = cwd / '..'\n",
+    "root_path = cwd / \"..\"\n",
     "\n",
     "# Add it only once if it's not already there\n",
     "if str(tetra3_path) not in sys.path:\n",
@@ -82,22 +84,21 @@
     "\n",
     "# Silence tetra3 DEBUG output BEFORE importing tetra3\n",
     "import logging\n",
+    "\n",
     "logging.basicConfig(level=logging.WARNING)\n",
-    "logging.getLogger('tetra3.Tetra3').setLevel(logging.WARNING)\n",
-    "logging.getLogger('Solver').setLevel(logging.WARNING)\n",
+    "logging.getLogger(\"tetra3.Tetra3\").setLevel(logging.WARNING)\n",
+    "logging.getLogger(\"Solver\").setLevel(logging.WARNING)\n",
     "\n",
     "# Now try importing\n",
-    "from breadth_first_combinations import breadth_first_combinations\n",
     "\n",
     "\n",
     "import PiFinder.tetra3.tetra3 as tetra3\n",
     "from PiFinder.tetra3.tetra3 import cedar_detect_client\n",
     "from PiFinder import utils\n",
+    "\n",
     "os_detail, platform, arch = utils.get_os_info()\n",
     "\n",
-    "t3 = tetra3.Tetra3(\n",
-    "    str(tetra3_path / \"data/default_database.npz\")\n",
-    ")\n",
+    "t3 = tetra3.Tetra3(str(tetra3_path / \"data/default_database.npz\"))\n",
     "\n",
     "logger.info(\"Starting Solver Loop\")\n",
     "# Start cedar detect server\n",
@@ -161,26 +162,26 @@
    "outputs": [],
    "source": [
     "images = {\n",
-    "    'sqm1833.png': {'realsqm': 18.33},\n",
-    "    'sqm1837.png': {'realsqm': 18.37},\n",
-    "    'sqm1845.png': {'realsqm': 18.45},\n",
-    "    'sqm1855.png': {'realsqm': 18.55},\n",
-    "    'sqm1860.png': {'realsqm': 18.60},\n",
-    "    'sqm1870.png': {'realsqm': 18.70},\n",
-    "    'sqm1980.png': {'realsqm': 19.80},\n",
-    "    'sqm2000_0.8-4.png': {'realsqm': 20.00},\n",
-    "    'sqm2000_0.8-3.png': {'realsqm': 20.00},\n",
-    "    'sqm1818_raw_new_0.2.png': {'realsqm': 18.18},    \n",
-    "    'sqm1818_raw_new_1.png': {'realsqm': 18.18}\n",
+    "    \"sqm1833.png\": {\"realsqm\": 18.33},\n",
+    "    \"sqm1837.png\": {\"realsqm\": 18.37},\n",
+    "    \"sqm1845.png\": {\"realsqm\": 18.45},\n",
+    "    \"sqm1855.png\": {\"realsqm\": 18.55},\n",
+    "    \"sqm1860.png\": {\"realsqm\": 18.60},\n",
+    "    \"sqm1870.png\": {\"realsqm\": 18.70},\n",
+    "    \"sqm1980.png\": {\"realsqm\": 19.80},\n",
+    "    \"sqm2000_0.8-4.png\": {\"realsqm\": 20.00},\n",
+    "    \"sqm2000_0.8-3.png\": {\"realsqm\": 20.00},\n",
+    "    \"sqm1818_raw_new_0.2.png\": {\"realsqm\": 18.18},\n",
+    "    \"sqm1818_raw_new_1.png\": {\"realsqm\": 18.18},\n",
     "}\n",
     "\n",
     "#\n",
     "# {\n",
-    "#   'sqmbla.png' : {'realsqm': 18.44, \n",
+    "#   'sqmbla.png' : {'realsqm': 18.44,\n",
     "#\n",
     "#\n",
-    "#images = {'sqm1833.png': images['sqm1833.png']}\n",
-    "#images = {'sqm1837.png': images['sqm1837.png']}"
+    "# images = {'sqm1833.png': images['sqm1833.png']}\n",
+    "# images = {'sqm1837.png': images['sqm1837.png']}"
    ]
   },
   {
@@ -198,7 +199,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "def load_image(current_image, image_path = Path('../test_images/')):\n",
+    "def load_image(current_image, image_path=Path(\"../test_images/\")):\n",
     "    img = Image.open(image_path / current_image)\n",
     "    rgb_np_image = np.asarray(img, dtype=np.uint8)\n",
     "    np_image = rgb_np_image[:, :, 0]  # Takes just the red values\n",
@@ -206,16 +207,18 @@
     "    # np_image = ((stretched - stretched.min()) * (255.0/(stretched.max() - stretched.min()))).astype(np.uint8)\n",
     "    return np_image, img\n",
     "\n",
+    "\n",
     "def show_image(image):\n",
-    "    plt.imshow(image, cmap='gray')\n",
-    "    plt.title(f\"Test image\")\n",
+    "    plt.imshow(image, cmap=\"gray\")\n",
+    "    plt.title(\"Test image\")\n",
     "    plt.colorbar()\n",
-    "    plt.show() \n",
+    "    plt.show()\n",
+    "\n",
     "\n",
     "# To use just one specific method:\n",
     "def percentile_stretch(image, name, low=5, high=99):\n",
     "    p_low, p_high = np.percentile(image, (low, high))\n",
-    "    plt.imshow(image, cmap='gray', vmin=p_low, vmax=p_high)\n",
+    "    plt.imshow(image, cmap=\"gray\", vmin=p_low, vmax=p_high)\n",
     "    plt.title(name)\n",
     "    plt.colorbar()\n",
     "    plt.show()"
@@ -537,7 +540,7 @@
     "for filename in images:\n",
     "    print(f\"{filename}\")\n",
     "    np_image, image = load_image(filename)\n",
-    "    images[filename]['np_image'] = np_image\n",
+    "    images[filename][\"np_image\"] = np_image\n",
     "    show_image(np_image)\n",
     "    percentile_stretch(np_image, filename)"
    ]
@@ -593,10 +596,10 @@
     "        fov_max_error=4.0,\n",
     "        match_max_error=0.005,\n",
     "        return_matches=True,\n",
-    "        target_pixel=(128,128),\n",
+    "        target_pixel=(128, 128),\n",
     "        solve_timeout=1000,\n",
     "    )\n",
-    "    \n",
+    "\n",
     "    if \"matched_centroids\" in solution:\n",
     "        # Don't clutter printed solution with these fields.\n",
     "        # del solution['matched_centroids']\n",
@@ -608,13 +611,16 @@
     "        del solution[\"cache_hit_fraction\"]\n",
     "    return centroids, solution\n",
     "\n",
-    "for key, value in images.items():    \n",
-    "    centroids, solution = detect(value['np_image'])\n",
-    "    value['centroids'] = centroids  # Store ALL detected centroids\n",
-    "    value['matched_stars'] = solution['matched_stars']\n",
-    "    value['matched_centroids'] = solution['matched_centroids']\n",
-    "    value['fov'] = solution['FOV']\n",
-    "    print(f\"For {key}, there are {len(value['matched_stars'])} matched_stars and {len(centroids)} total centroids\")"
+    "\n",
+    "for key, value in images.items():\n",
+    "    centroids, solution = detect(value[\"np_image\"])\n",
+    "    value[\"centroids\"] = centroids  # Store ALL detected centroids\n",
+    "    value[\"matched_stars\"] = solution[\"matched_stars\"]\n",
+    "    value[\"matched_centroids\"] = solution[\"matched_centroids\"]\n",
+    "    value[\"fov\"] = solution[\"FOV\"]\n",
+    "    print(\n",
+    "        f\"For {key}, there are {len(value['matched_stars'])} matched_stars and {len(centroids)} total centroids\"\n",
+    "    )"
    ]
   },
   {
@@ -633,11 +639,11 @@
    "outputs": [],
    "source": [
     "def enhance_centroids(value: dict):\n",
-    "    matched_centroids = value['matched_centroids']\n",
-    "    matched_stars = value['matched_stars']\n",
+    "    matched_centroids = value[\"matched_centroids\"]\n",
+    "    matched_stars = value[\"matched_stars\"]\n",
     "    xymags = []\n",
     "    for centr, stars in zip(matched_centroids, matched_stars):\n",
-    "        xymags.append([*centr,*stars])\n",
+    "        xymags.append([*centr, *stars])\n",
     "    xymags = np.array(xymags)\n",
     "    xymags_sorted = xymags[xymags[:, 4].argsort()]\n",
     "    # pixel_x, pixel_y - sorted\n",
@@ -646,16 +652,16 @@
     "    matched_stars_s = [[x[2], x[3], x[4]] for x in xymags_sorted]\n",
     "    # pixel_x, pixel_y, mag - sorted\n",
     "    matched = [[x[0], x[1], x[4]] for x in xymags_sorted]\n",
-    "    value['matched_centroids'] = matched_centroids_s\n",
-    "    value['matched_stars'] = matched_stars_s\n",
-    "    value['matched'] = matched\n",
+    "    value[\"matched_centroids\"] = matched_centroids_s\n",
+    "    value[\"matched_stars\"] = matched_stars_s\n",
+    "    value[\"matched\"] = matched\n",
     "    return value\n",
-    "    \n",
+    "\n",
+    "\n",
     "for key, value in images.items():\n",
     "    images[key] = enhance_centroids(value)\n",
     "\n",
-    "#pp.pprint(images)\n",
-    "\n"
+    "# pp.pprint(images)"
    ]
   },
   {
@@ -686,15 +692,16 @@
    "source": [
     "radius = 4\n",
     "plt.title(f\"circles with radius {radius}\")\n",
-    "plt.imshow(np.log1p(np_image), cmap='gray')\n",
+    "plt.imshow(np.log1p(np_image), cmap=\"gray\")\n",
     "plt.colorbar()\n",
     "# Add circles\n",
     "for i, (y, x) in enumerate(centroids):\n",
-    "    circle = plt.Circle((x, y), radius, fill=False, color='red')\n",
+    "    circle = plt.Circle((x, y), radius, fill=False, color=\"red\")\n",
     "    plt.gca().add_artist(circle)\n",
-    "     # Add number annotation\n",
-    "    plt.annotate(str(i), (x, y), color='yellow', fontsize=8, \n",
-    "                ha='right', va='top')  # ha/va center the text on the point\n",
+    "    # Add number annotation\n",
+    "    plt.annotate(\n",
+    "        str(i), (x, y), color=\"yellow\", fontsize=8, ha=\"right\", va=\"top\"\n",
+    "    )  # ha/va center the text on the point\n",
     "plt.show()"
    ]
   },
@@ -730,31 +737,38 @@
     "def histogram(image):\n",
     "    # Method 1: Using PIL's built-in histogram\n",
     "    hist = image.histogram()\n",
-    "    \n",
+    "\n",
     "    # Method 2: Better visualization with matplotlib\n",
     "    np_image = np.array(image)\n",
-    "    \n",
+    "\n",
     "    plt.figure(figsize=(10, 6))\n",
     "    plt.hist(np_image.ravel(), bins=256, range=(0, 256), density=True, alpha=0.75)\n",
-    "    plt.xlabel('Pixel Value')\n",
-    "    plt.ylabel('Frequency')\n",
-    "    plt.title('Image Histogram')\n",
+    "    plt.xlabel(\"Pixel Value\")\n",
+    "    plt.ylabel(\"Frequency\")\n",
+    "    plt.title(\"Image Histogram\")\n",
     "    plt.grid(True, alpha=0.2)\n",
-    "    \n",
+    "\n",
     "    # Optional: Add vertical line for mean\n",
     "    mean_val = np_image.mean()\n",
-    "    plt.axvline(mean_val, color='r', linestyle='dashed', alpha=0.5, \n",
-    "                label=f'Mean: {mean_val:.1f}')\n",
+    "    plt.axvline(\n",
+    "        mean_val,\n",
+    "        color=\"r\",\n",
+    "        linestyle=\"dashed\",\n",
+    "        alpha=0.5,\n",
+    "        label=f\"Mean: {mean_val:.1f}\",\n",
+    "    )\n",
     "    plt.legend()\n",
-    "    \n",
+    "\n",
     "    plt.show()\n",
-    "    \n",
+    "\n",
     "    # Print some statistics\n",
     "    print(f\"Min: {np_image.min()}\")\n",
     "    print(f\"Max: {np_image.max()}\")\n",
     "    print(f\"Mean: {np_image.mean():.2f}\")\n",
     "    print(f\"Median: {np.median(np_image):.2f}\")\n",
     "    print(f\"Std Dev: {np_image.std():.2f}\")\n",
+    "\n",
+    "\n",
     "histogram(image)"
    ]
   },
@@ -796,19 +810,21 @@
     "\n",
     "plt.subplot(121)\n",
     "plt.hist(np_array.ravel(), bins=256, range=(0, 256), density=True, alpha=0.75)\n",
-    "plt.title('Original Histogram')\n",
-    "plt.xlabel('Pixel Value')\n",
-    "plt.ylabel('Frequency')\n",
+    "plt.title(\"Original Histogram\")\n",
+    "plt.xlabel(\"Pixel Value\")\n",
+    "plt.ylabel(\"Frequency\")\n",
     "\n",
     "# Linear stretch (normalize to 0-255)\n",
     "stretched = np_array.astype(float)\n",
-    "stretched = ((stretched - stretched.min()) * (255.0/(stretched.max() - stretched.min()))).astype(np.uint8)\n",
+    "stretched = (\n",
+    "    (stretched - stretched.min()) * (255.0 / (stretched.max() - stretched.min()))\n",
+    ").astype(np.uint8)\n",
     "\n",
     "plt.subplot(122)\n",
     "plt.hist(stretched.ravel(), bins=256, range=(0, 256), density=True, alpha=0.75)\n",
-    "plt.title('Stretched Histogram')\n",
-    "plt.xlabel('Pixel Value')\n",
-    "plt.ylabel('Frequency')\n",
+    "plt.title(\"Stretched Histogram\")\n",
+    "plt.xlabel(\"Pixel Value\")\n",
+    "plt.ylabel(\"Frequency\")\n",
     "\n",
     "plt.tight_layout()\n",
     "plt.show()\n",
@@ -911,46 +927,52 @@
     "\n",
     "# Parameters for local background measurement\n",
     "APERTURE_RADIUS = 5  # Star flux aperture (pixels)\n",
-    "ANNULUS_INNER = 6    # Inner radius of background annulus (pixels)\n",
-    "ANNULUS_OUTER = 14   # Outer radius of background annulus (pixels)\n",
-    "ALTITUDE = 90        # Zenith for now (no extinction correction until we have real altitude)\n",
-    "PEDESTAL = 0         # No pedestal correction for now\n",
+    "ANNULUS_INNER = 6  # Inner radius of background annulus (pixels)\n",
+    "ANNULUS_OUTER = 14  # Outer radius of background annulus (pixels)\n",
+    "ALTITUDE = 90  # Zenith for now (no extinction correction until we have real altitude)\n",
+    "PEDESTAL = 0  # No pedestal correction for now\n",
     "\n",
     "print(\"Production SQM Implementation Results (Local Annulus Backgrounds)\")\n",
     "print(\"=\" * 100)\n",
-    "print(f\"{'Image':<25} {'Expected':<12} {'Calculated':<12} {'Error':<12} {'Error %':<12}\")\n",
+    "print(\n",
+    "    f\"{'Image':<25} {'Expected':<12} {'Calculated':<12} {'Error':<12} {'Error %':<12}\"\n",
+    ")\n",
     "print(\"-\" * 100)\n",
     "\n",
     "for key, value in images.items():\n",
     "    # Build solution dict from the existing data\n",
     "    solution = {\n",
-    "        'FOV': value['fov'],\n",
-    "        'matched_centroids': value['matched_centroids'],\n",
-    "        'matched_stars': value['matched_stars']\n",
+    "        \"FOV\": value[\"fov\"],\n",
+    "        \"matched_centroids\": value[\"matched_centroids\"],\n",
+    "        \"matched_stars\": value[\"matched_stars\"],\n",
     "    }\n",
-    "    \n",
+    "\n",
     "    # Calculate SQM using local annulus backgrounds\n",
     "    sqm_val, details = sqm.calculate(\n",
-    "        centroids=value['centroids'],\n",
+    "        centroids=value[\"centroids\"],\n",
     "        solution=solution,\n",
-    "        image=value['np_image'], \n",
+    "        image=value[\"np_image\"],\n",
     "        altitude_deg=ALTITUDE,\n",
     "        aperture_radius=APERTURE_RADIUS,\n",
     "        annulus_inner_radius=ANNULUS_INNER,\n",
     "        annulus_outer_radius=ANNULUS_OUTER,\n",
-    "        pedestal=PEDESTAL\n",
+    "        pedestal=PEDESTAL,\n",
     "    )\n",
-    "    \n",
+    "\n",
     "    if sqm_val is not None:\n",
-    "        value['sqm_calculated'] = sqm_val\n",
-    "        value['sqm_details'] = details\n",
-    "        \n",
-    "        expected = value['realsqm']\n",
+    "        value[\"sqm_calculated\"] = sqm_val\n",
+    "        value[\"sqm_details\"] = details\n",
+    "\n",
+    "        expected = value[\"realsqm\"]\n",
     "        calc_err = sqm_val - expected\n",
     "        err_pct = 100 * calc_err / expected\n",
-    "        \n",
-    "        print(f\"{key:<25} {expected:>10.2f}  {sqm_val:>10.2f}  {calc_err:>10.2f}  {err_pct:>10.1f}%\")\n",
-    "        print(f\"{'':>25} mzero={details['mzero']:>6.2f}, bg={details['background_per_pixel']:>6.1f} ADU/px, {details['n_matched_stars']} stars\")\n",
+    "\n",
+    "        print(\n",
+    "            f\"{key:<25} {expected:>10.2f}  {sqm_val:>10.2f}  {calc_err:>10.2f}  {err_pct:>10.1f}%\"\n",
+    "        )\n",
+    "        print(\n",
+    "            f\"{'':>25} mzero={details['mzero']:>6.2f}, bg={details['background_per_pixel']:>6.1f} ADU/px, {details['n_matched_stars']} stars\"\n",
+    "        )\n",
     "    else:\n",
     "        print(f\"{key:<25} FAILED\")\n",
     "\n",
@@ -1054,17 +1076,17 @@
     "\n",
     "# Define all test images\n",
     "all_images = {\n",
-    "    'sqm1833.png': {'realsqm': 18.33},\n",
-    "    'sqm1837.png': {'realsqm': 18.37},\n",
-    "    'sqm1845.png': {'realsqm': 18.45},\n",
-    "    'sqm1855.png': {'realsqm': 18.55},\n",
-    "    'sqm1860.png': {'realsqm': 18.60},\n",
-    "    'sqm1870.png': {'realsqm': 18.70},\n",
-    "    'sqm1980.png': {'realsqm': 19.80},\n",
-    "    'sqm2000_0.8-4.png': {'realsqm': 20.00},\n",
-    "    'sqm2000_0.8-3.png': {'realsqm': 20.00},\n",
-    "    'sqm1818_raw_new_0.2.png': {'realsqm': 18.18},    \n",
-    "    'sqm1818_raw_new_1.png': {'realsqm': 18.18}\n",
+    "    \"sqm1833.png\": {\"realsqm\": 18.33},\n",
+    "    \"sqm1837.png\": {\"realsqm\": 18.37},\n",
+    "    \"sqm1845.png\": {\"realsqm\": 18.45},\n",
+    "    \"sqm1855.png\": {\"realsqm\": 18.55},\n",
+    "    \"sqm1860.png\": {\"realsqm\": 18.60},\n",
+    "    \"sqm1870.png\": {\"realsqm\": 18.70},\n",
+    "    \"sqm1980.png\": {\"realsqm\": 19.80},\n",
+    "    \"sqm2000_0.8-4.png\": {\"realsqm\": 20.00},\n",
+    "    \"sqm2000_0.8-3.png\": {\"realsqm\": 20.00},\n",
+    "    \"sqm1818_raw_new_0.2.png\": {\"realsqm\": 18.18},\n",
+    "    \"sqm1818_raw_new_1.png\": {\"realsqm\": 18.18},\n",
     "}\n",
     "\n",
     "# Parameters for local annulus background\n",
@@ -1082,25 +1104,27 @@
     "\n",
     "for filename, info in all_images.items():\n",
     "    print(f\"\\nProcessing {filename}...\")\n",
-    "    \n",
+    "\n",
     "    # Load image\n",
     "    np_image, _ = load_image(filename)\n",
-    "    \n",
+    "\n",
     "    # Detect stars and solve\n",
     "    centroids, solution = detect(np_image)\n",
-    "    \n",
+    "\n",
     "    # Check if solve succeeded\n",
-    "    if 'matched_centroids' not in solution or len(solution['matched_centroids']) == 0:\n",
-    "        print(f\"  ❌ Failed to solve\")\n",
-    "        results_summary.append({\n",
-    "            'filename': filename,\n",
-    "            'expected': info['realsqm'],\n",
-    "            'calculated': None,\n",
-    "            'error': None,\n",
-    "            'status': 'SOLVE_FAILED'\n",
-    "        })\n",
+    "    if \"matched_centroids\" not in solution or len(solution[\"matched_centroids\"]) == 0:\n",
+    "        print(\"  ❌ Failed to solve\")\n",
+    "        results_summary.append(\n",
+    "            {\n",
+    "                \"filename\": filename,\n",
+    "                \"expected\": info[\"realsqm\"],\n",
+    "                \"calculated\": None,\n",
+    "                \"error\": None,\n",
+    "                \"status\": \"SOLVE_FAILED\",\n",
+    "            }\n",
+    "        )\n",
     "        continue\n",
-    "    \n",
+    "\n",
     "    # Calculate SQM\n",
     "    sqm_val, details = sqm.calculate(\n",
     "        centroids=centroids,\n",
@@ -1110,33 +1134,41 @@
     "        aperture_radius=APERTURE_RADIUS,\n",
     "        annulus_inner_radius=ANNULUS_INNER,\n",
     "        annulus_outer_radius=ANNULUS_OUTER,\n",
-    "        pedestal=PEDESTAL\n",
+    "        pedestal=PEDESTAL,\n",
     "    )\n",
-    "    \n",
+    "\n",
     "    if sqm_val is not None:\n",
-    "        error = sqm_val - info['realsqm']\n",
-    "        print(f\"  ✓ SQM: {sqm_val:.2f} (expected: {info['realsqm']:.2f}, error: {error:+.2f})\")\n",
-    "        print(f\"    mzero={details['mzero']:.2f}, stars={details['n_matched_stars']}, centroids={details['n_centroids']}\")\n",
-    "        \n",
-    "        results_summary.append({\n",
-    "            'filename': filename,\n",
-    "            'expected': info['realsqm'],\n",
-    "            'calculated': sqm_val,\n",
-    "            'error': error,\n",
-    "            'mzero': details['mzero'],\n",
-    "            'n_stars': details['n_matched_stars'],\n",
-    "            'n_centroids': details['n_centroids'],\n",
-    "            'status': 'OK'\n",
-    "        })\n",
+    "        error = sqm_val - info[\"realsqm\"]\n",
+    "        print(\n",
+    "            f\"  ✓ SQM: {sqm_val:.2f} (expected: {info['realsqm']:.2f}, error: {error:+.2f})\"\n",
+    "        )\n",
+    "        print(\n",
+    "            f\"    mzero={details['mzero']:.2f}, stars={details['n_matched_stars']}, centroids={details['n_centroids']}\"\n",
+    "        )\n",
+    "\n",
+    "        results_summary.append(\n",
+    "            {\n",
+    "                \"filename\": filename,\n",
+    "                \"expected\": info[\"realsqm\"],\n",
+    "                \"calculated\": sqm_val,\n",
+    "                \"error\": error,\n",
+    "                \"mzero\": details[\"mzero\"],\n",
+    "                \"n_stars\": details[\"n_matched_stars\"],\n",
+    "                \"n_centroids\": details[\"n_centroids\"],\n",
+    "                \"status\": \"OK\",\n",
+    "            }\n",
+    "        )\n",
     "    else:\n",
-    "        print(f\"  ❌ Failed to calculate SQM\")\n",
-    "        results_summary.append({\n",
-    "            'filename': filename,\n",
-    "            'expected': info['realsqm'],\n",
-    "            'calculated': None,\n",
-    "            'error': None,\n",
-    "            'status': 'CALC_FAILED'\n",
-    "        })\n",
+    "        print(\"  ❌ Failed to calculate SQM\")\n",
+    "        results_summary.append(\n",
+    "            {\n",
+    "                \"filename\": filename,\n",
+    "                \"expected\": info[\"realsqm\"],\n",
+    "                \"calculated\": None,\n",
+    "                \"error\": None,\n",
+    "                \"status\": \"CALC_FAILED\",\n",
+    "            }\n",
+    "        )\n",
     "\n",
     "print(\"\\n\" + \"=\" * 100)\n",
     "print(\"SUMMARY\")\n",
@@ -1145,22 +1177,28 @@
     "print(\"-\" * 100)\n",
     "\n",
     "for result in results_summary:\n",
-    "    if result['status'] == 'OK':\n",
-    "        print(f\"{result['filename']:<30} {result['expected']:>10.2f}  {result['calculated']:>10.2f}  {result['error']:>10.2f}  {result['status']:<15}\")\n",
+    "    if result[\"status\"] == \"OK\":\n",
+    "        print(\n",
+    "            f\"{result['filename']:<30} {result['expected']:>10.2f}  {result['calculated']:>10.2f}  {result['error']:>10.2f}  {result['status']:<15}\"\n",
+    "        )\n",
     "    else:\n",
-    "        print(f\"{result['filename']:<30} {result['expected']:>10.2f}  {'---':>10}  {'---':>10}  {result['status']:<15}\")\n",
+    "        print(\n",
+    "            f\"{result['filename']:<30} {result['expected']:>10.2f}  {'---':>10}  {'---':>10}  {result['status']:<15}\"\n",
+    "        )\n",
     "\n",
     "# Calculate statistics for successful measurements\n",
-    "successful = [r for r in results_summary if r['status'] == 'OK']\n",
+    "successful = [r for r in results_summary if r[\"status\"] == \"OK\"]\n",
     "if successful:\n",
-    "    errors = [r['error'] for r in successful]\n",
+    "    errors = [r[\"error\"] for r in successful]\n",
     "    print(\"\\n\" + \"=\" * 100)\n",
     "    print(\"STATISTICS\")\n",
     "    print(\"=\" * 100)\n",
     "    print(f\"Successful measurements: {len(successful)}/{len(results_summary)}\")\n",
     "    print(f\"Mean error:              {np.mean(errors):+.2f} mag/arcsec²\")\n",
     "    print(f\"Std dev:                 {np.std(errors):.2f} mag/arcsec²\")\n",
-    "    print(f\"RMS error:               {np.sqrt(np.mean(np.array(errors)**2)):.2f} mag/arcsec²\")\n",
+    "    print(\n",
+    "        f\"RMS error:               {np.sqrt(np.mean(np.array(errors) ** 2)):.2f} mag/arcsec²\"\n",
+    "    )\n",
     "    print(f\"Max error:               {np.max(np.abs(errors)):.2f} mag/arcsec²\")"
    ]
   },
@@ -1330,36 +1368,40 @@
     "from matplotlib.gridspec import GridSpec\n",
     "from scipy import stats\n",
     "\n",
+    "\n",
     "def sigma_clip_mean(data, sigma=2.0, max_iter=3):\n",
     "    \"\"\"Calculate mean after sigma clipping outliers. Returns mean, std, and mask matching input size.\"\"\"\n",
     "    data = np.array(data)\n",
     "    original_indices = np.arange(len(data))\n",
     "    mask = np.ones(len(data), dtype=bool)\n",
-    "    \n",
+    "\n",
     "    current_data = data.copy()\n",
     "    current_indices = original_indices.copy()\n",
-    "    \n",
+    "\n",
     "    for _ in range(max_iter):\n",
     "        mean = np.mean(current_data)\n",
     "        std = np.std(current_data)\n",
     "        keep = np.abs(current_data - mean) < sigma * std\n",
-    "        \n",
+    "\n",
     "        if np.sum(keep) == len(current_data):\n",
     "            break\n",
-    "            \n",
+    "\n",
     "        current_data = current_data[keep]\n",
     "        current_indices = current_indices[keep]\n",
-    "    \n",
+    "\n",
     "    # Create mask for original array\n",
     "    final_mask = np.zeros(len(data), dtype=bool)\n",
     "    final_mask[current_indices] = True\n",
-    "    \n",
+    "\n",
     "    return np.mean(current_data), np.std(current_data), final_mask\n",
     "\n",
-    "def detect_aperture_overlaps(star_centroids, aperture_radius, annulus_inner, annulus_outer):\n",
+    "\n",
+    "def detect_aperture_overlaps(\n",
+    "    star_centroids, aperture_radius, annulus_inner, annulus_outer\n",
+    "):\n",
     "    \"\"\"\n",
     "    Detect overlapping apertures and annuli between star pairs.\n",
-    "    \n",
+    "\n",
     "    Returns list of overlaps with format:\n",
     "    {\n",
     "        'star1_idx': int,\n",
@@ -1371,61 +1413,68 @@
     "    \"\"\"\n",
     "    overlaps = []\n",
     "    n_stars = len(star_centroids)\n",
-    "    \n",
+    "\n",
     "    for i in range(n_stars):\n",
-    "        for j in range(i+1, n_stars):\n",
+    "        for j in range(i + 1, n_stars):\n",
     "            x1, y1 = star_centroids[i]\n",
     "            x2, y2 = star_centroids[j]\n",
-    "            distance = np.sqrt((x2 - x1)**2 + (y2 - y1)**2)\n",
-    "            \n",
+    "            distance = np.sqrt((x2 - x1) ** 2 + (y2 - y1) ** 2)\n",
+    "\n",
     "            # Check different overlap types\n",
     "            if distance < 2 * aperture_radius:\n",
     "                # CRITICAL: Aperture-aperture overlap (star flux contamination)\n",
-    "                overlaps.append({\n",
-    "                    'star1_idx': i,\n",
-    "                    'star2_idx': j,\n",
-    "                    'distance': distance,\n",
-    "                    'type': 'CRITICAL',\n",
-    "                    'description': f'Aperture overlap (d={distance:.1f}px < {2*aperture_radius}px)'\n",
-    "                })\n",
+    "                overlaps.append(\n",
+    "                    {\n",
+    "                        \"star1_idx\": i,\n",
+    "                        \"star2_idx\": j,\n",
+    "                        \"distance\": distance,\n",
+    "                        \"type\": \"CRITICAL\",\n",
+    "                        \"description\": f\"Aperture overlap (d={distance:.1f}px < {2 * aperture_radius}px)\",\n",
+    "                    }\n",
+    "                )\n",
     "            elif distance < aperture_radius + annulus_outer:\n",
     "                # HIGH: Aperture inside another star's annulus (background contamination)\n",
-    "                overlaps.append({\n",
-    "                    'star1_idx': i,\n",
-    "                    'star2_idx': j,\n",
-    "                    'distance': distance,\n",
-    "                    'type': 'HIGH',\n",
-    "                    'description': f'Aperture-annulus overlap (d={distance:.1f}px < {aperture_radius + annulus_outer}px)'\n",
-    "                })\n",
+    "                overlaps.append(\n",
+    "                    {\n",
+    "                        \"star1_idx\": i,\n",
+    "                        \"star2_idx\": j,\n",
+    "                        \"distance\": distance,\n",
+    "                        \"type\": \"HIGH\",\n",
+    "                        \"description\": f\"Aperture-annulus overlap (d={distance:.1f}px < {aperture_radius + annulus_outer}px)\",\n",
+    "                    }\n",
+    "                )\n",
     "            elif distance < 2 * annulus_outer:\n",
     "                # MEDIUM: Annulus-annulus overlap (less critical)\n",
-    "                overlaps.append({\n",
-    "                    'star1_idx': i,\n",
-    "                    'star2_idx': j,\n",
-    "                    'distance': distance,\n",
-    "                    'type': 'MEDIUM',\n",
-    "                    'description': f'Annulus overlap (d={distance:.1f}px < {2*annulus_outer}px)'\n",
-    "                })\n",
-    "    \n",
+    "                overlaps.append(\n",
+    "                    {\n",
+    "                        \"star1_idx\": i,\n",
+    "                        \"star2_idx\": j,\n",
+    "                        \"distance\": distance,\n",
+    "                        \"type\": \"MEDIUM\",\n",
+    "                        \"description\": f\"Annulus overlap (d={distance:.1f}px < {2 * annulus_outer}px)\",\n",
+    "                    }\n",
+    "                )\n",
+    "\n",
     "    return overlaps\n",
     "\n",
+    "\n",
     "# Process each image with full diagnostics\n",
     "for filename, info in all_images.items():\n",
-    "    print(f\"\\n{'='*100}\")\n",
+    "    print(f\"\\n{'=' * 100}\")\n",
     "    print(f\"Processing: {filename}\")\n",
     "    print(f\"Expected SQM: {info['realsqm']:.2f} mag/arcsec²\")\n",
-    "    print(f\"{'='*100}\\n\")\n",
-    "    \n",
+    "    print(f\"{'=' * 100}\\n\")\n",
+    "\n",
     "    # Load image\n",
     "    np_image, _ = load_image(filename)\n",
-    "    \n",
+    "\n",
     "    # Detect stars and solve\n",
     "    centroids, solution = detect(np_image)\n",
-    "    \n",
-    "    if 'matched_centroids' not in solution or len(solution['matched_centroids']) == 0:\n",
+    "\n",
+    "    if \"matched_centroids\" not in solution or len(solution[\"matched_centroids\"]) == 0:\n",
     "        print(f\"❌ Failed to solve {filename}\\n\")\n",
     "        continue\n",
-    "    \n",
+    "\n",
     "    # Calculate SQM WITHOUT overlap correction\n",
     "    sqm_val, details = sqm.calculate(\n",
     "        centroids=centroids,\n",
@@ -1436,9 +1485,9 @@
     "        annulus_inner_radius=ANNULUS_INNER,\n",
     "        annulus_outer_radius=ANNULUS_OUTER,\n",
     "        pedestal=PEDESTAL,\n",
-    "        correct_overlaps=False\n",
+    "        correct_overlaps=False,\n",
     "    )\n",
-    "    \n",
+    "\n",
     "    # Calculate SQM WITH overlap correction\n",
     "    sqm_val_corrected, details_corrected = sqm.calculate(\n",
     "        centroids=centroids,\n",
@@ -1449,90 +1498,102 @@
     "        annulus_inner_radius=ANNULUS_INNER,\n",
     "        annulus_outer_radius=ANNULUS_OUTER,\n",
     "        pedestal=PEDESTAL,\n",
-    "        correct_overlaps=True\n",
+    "        correct_overlaps=True,\n",
     "    )\n",
-    "    \n",
+    "\n",
     "    if sqm_val is None:\n",
     "        print(f\"❌ Failed to calculate SQM for {filename}\\n\")\n",
     "        continue\n",
-    "    \n",
+    "\n",
     "    # Extract details (use non-corrected for visualization, but we have both)\n",
-    "    star_centroids = np.array(details['star_centroids'])\n",
-    "    star_mags = details['star_mags']\n",
-    "    star_fluxes = details['star_fluxes']\n",
-    "    star_mzeros = details['star_mzeros']\n",
-    "    star_local_bgs = details.get('star_local_backgrounds', [None] * len(star_mags))\n",
-    "    \n",
+    "    star_centroids = np.array(details[\"star_centroids\"])\n",
+    "    star_mags = details[\"star_mags\"]\n",
+    "    star_fluxes = details[\"star_fluxes\"]\n",
+    "    star_mzeros = details[\"star_mzeros\"]\n",
+    "    star_local_bgs = details.get(\"star_local_backgrounds\", [None] * len(star_mags))\n",
+    "\n",
     "    # ========== APERTURE OVERLAP DETECTION ==========\n",
-    "    overlaps = detect_aperture_overlaps(star_centroids, APERTURE_RADIUS, ANNULUS_INNER, ANNULUS_OUTER)\n",
-    "    \n",
+    "    overlaps = detect_aperture_overlaps(\n",
+    "        star_centroids, APERTURE_RADIUS, ANNULUS_INNER, ANNULUS_OUTER\n",
+    "    )\n",
+    "\n",
     "    # Build set of stars affected by overlaps\n",
     "    overlapping_stars = set()\n",
     "    for overlap in overlaps:\n",
-    "        overlapping_stars.add(overlap['star1_idx'])\n",
-    "        overlapping_stars.add(overlap['star2_idx'])\n",
-    "    \n",
+    "        overlapping_stars.add(overlap[\"star1_idx\"])\n",
+    "        overlapping_stars.add(overlap[\"star2_idx\"])\n",
+    "\n",
     "    # Categorize overlaps by severity\n",
-    "    critical_overlaps = [o for o in overlaps if o['type'] == 'CRITICAL']\n",
-    "    high_overlaps = [o for o in overlaps if o['type'] == 'HIGH']\n",
-    "    medium_overlaps = [o for o in overlaps if o['type'] == 'MEDIUM']\n",
-    "    \n",
+    "    critical_overlaps = [o for o in overlaps if o[\"type\"] == \"CRITICAL\"]\n",
+    "    high_overlaps = [o for o in overlaps if o[\"type\"] == \"HIGH\"]\n",
+    "    medium_overlaps = [o for o in overlaps if o[\"type\"] == \"MEDIUM\"]\n",
+    "\n",
     "    # Print overlap summary\n",
     "    if overlaps:\n",
     "        print(f\"⚠️  OVERLAPS DETECTED: {len(overlaps)} total\")\n",
     "        print(f\"   CRITICAL (aperture-aperture): {len(critical_overlaps)}\")\n",
     "        print(f\"   HIGH (aperture-annulus):      {len(high_overlaps)}\")\n",
     "        print(f\"   MEDIUM (annulus-annulus):     {len(medium_overlaps)}\")\n",
-    "        print(f\"   Stars affected: {len(overlapping_stars)}/{len(star_centroids)} ({100*len(overlapping_stars)/len(star_centroids):.0f}%)\")\n",
+    "        print(\n",
+    "            f\"   Stars affected: {len(overlapping_stars)}/{len(star_centroids)} ({100 * len(overlapping_stars) / len(star_centroids):.0f}%)\"\n",
+    "        )\n",
     "        print()\n",
     "    else:\n",
-    "        print(f\"✓ No aperture overlaps detected\\n\")\n",
-    "    \n",
+    "        print(\"✓ No aperture overlaps detected\\n\")\n",
+    "\n",
     "    # Calculate alternative mzero methods - filter for valid stars (flux > 0 and mzero not None)\n",
-    "    valid_indices = [i for i in range(len(star_fluxes)) \n",
-    "                     if star_fluxes[i] > 0 and star_mzeros[i] is not None]\n",
+    "    valid_indices = [\n",
+    "        i\n",
+    "        for i in range(len(star_fluxes))\n",
+    "        if star_fluxes[i] > 0 and star_mzeros[i] is not None\n",
+    "    ]\n",
     "    valid_mzeros = np.array([star_mzeros[i] for i in valid_indices])\n",
     "    valid_mags = np.array([star_mags[i] for i in valid_indices])\n",
     "    valid_fluxes = np.array([star_fluxes[i] for i in valid_indices])\n",
-    "    \n",
-    "    \n",
+    "\n",
     "    if len(valid_mzeros) > 0:\n",
     "        mzero_mean = np.mean(valid_mzeros)\n",
     "        mzero_median = np.median(valid_mzeros)\n",
     "        mzero_std = np.std(valid_mzeros)\n",
-    "        \n",
+    "\n",
     "        # Sigma clipping\n",
     "        if len(valid_mzeros) >= 3:\n",
-    "            mzero_sigclip, mzero_sigclip_std, sigclip_mask = sigma_clip_mean(valid_mzeros, sigma=2.0)\n",
+    "            mzero_sigclip, mzero_sigclip_std, sigclip_mask = sigma_clip_mean(\n",
+    "                valid_mzeros, sigma=2.0\n",
+    "            )\n",
     "            n_clipped = len(valid_mzeros) - np.sum(sigclip_mask)\n",
     "        else:\n",
     "            mzero_sigclip = mzero_mean\n",
     "            mzero_sigclip_std = mzero_std\n",
     "            n_clipped = 0\n",
     "            sigclip_mask = np.ones(len(valid_mzeros), dtype=bool)\n",
-    "        \n",
+    "\n",
     "        # Trendline correction methods\n",
     "        if len(valid_mzeros) >= 3:\n",
     "            # Method 1: Trendline on all valid stars\n",
-    "            slope_all, intercept_all, r_value_all, _, _ = stats.linregress(valid_mags, valid_mzeros)\n",
+    "            slope_all, intercept_all, r_value_all, _, _ = stats.linregress(\n",
+    "                valid_mags, valid_mzeros\n",
+    "            )\n",
     "            # Evaluate trend at median magnitude\n",
     "            median_mag = np.median(valid_mags)\n",
     "            mzero_trend = slope_all * median_mag + intercept_all\n",
-    "            \n",
+    "\n",
     "            # Calculate residuals for quality metric\n",
     "            predicted_all = slope_all * valid_mags + intercept_all\n",
     "            residuals_all = valid_mzeros - predicted_all\n",
     "            trend_rms_all = np.sqrt(np.mean(residuals_all**2))\n",
-    "            \n",
+    "\n",
     "            # Method 2: Sigma clip THEN fit trendline\n",
     "            clipped_mags = valid_mags[sigclip_mask]\n",
     "            clipped_mzeros = valid_mzeros[sigclip_mask]\n",
-    "            \n",
+    "\n",
     "            if len(clipped_mzeros) >= 3:\n",
-    "                slope_clip, intercept_clip, r_value_clip, _, _ = stats.linregress(clipped_mags, clipped_mzeros)\n",
+    "                slope_clip, intercept_clip, r_value_clip, _, _ = stats.linregress(\n",
+    "                    clipped_mags, clipped_mzeros\n",
+    "                )\n",
     "                median_mag_clip = np.median(clipped_mags)\n",
     "                mzero_trend_sigclip = slope_clip * median_mag_clip + intercept_clip\n",
-    "                \n",
+    "\n",
     "                predicted_clip = slope_clip * clipped_mags + intercept_clip\n",
     "                residuals_clip = clipped_mzeros - predicted_clip\n",
     "                trend_rms_clip = np.sqrt(np.mean(residuals_clip**2))\n",
@@ -1553,398 +1614,632 @@
     "            r_value_clip = 0\n",
     "            trend_rms_all = mzero_std\n",
     "            trend_rms_clip = mzero_sigclip_std\n",
-    "        \n",
+    "\n",
     "        # Calculate SQM with alternative methods\n",
-    "        bg_flux_density = details['background_flux_density']\n",
-    "        extinction = details['extinction_correction']\n",
-    "        \n",
+    "        bg_flux_density = details[\"background_flux_density\"]\n",
+    "        extinction = details[\"extinction_correction\"]\n",
+    "\n",
     "        sqm_median = mzero_median - 2.5 * np.log10(bg_flux_density) + extinction\n",
     "        sqm_sigclip = mzero_sigclip - 2.5 * np.log10(bg_flux_density) + extinction\n",
     "        sqm_trend = mzero_trend - 2.5 * np.log10(bg_flux_density) + extinction\n",
-    "        sqm_trend_sigclip = mzero_trend_sigclip - 2.5 * np.log10(bg_flux_density) + extinction\n",
+    "        sqm_trend_sigclip = (\n",
+    "            mzero_trend_sigclip - 2.5 * np.log10(bg_flux_density) + extinction\n",
+    "        )\n",
     "    else:\n",
-    "        mzero_mean = mzero_median = mzero_sigclip = mzero_trend = mzero_trend_sigclip = None\n",
+    "        mzero_mean = mzero_median = mzero_sigclip = mzero_trend = (\n",
+    "            mzero_trend_sigclip\n",
+    "        ) = None\n",
     "        sqm_median = sqm_sigclip = sqm_trend = sqm_trend_sigclip = None\n",
     "        n_clipped = 0\n",
     "        slope_all = slope_clip = 0\n",
     "        r_value_all = r_value_clip = 0\n",
-    "    \n",
+    "\n",
     "    # Create comprehensive figure with 4x3 grid\n",
     "    fig = plt.figure(figsize=(24, 16))\n",
     "    gs = GridSpec(4, 3, figure=fig, hspace=0.35, wspace=0.3)\n",
-    "    \n",
+    "\n",
     "    # ========== Panel 1: Image with apertures (spans 2x2) ==========\n",
     "    ax1 = fig.add_subplot(gs[0:2, 0:2])\n",
-    "    \n",
+    "\n",
     "    # Display image with log stretch\n",
     "    vmin, vmax = np.percentile(np_image, [1, 99.5])\n",
-    "    im = ax1.imshow(np_image, cmap='gray', vmin=vmin, vmax=vmax, origin='lower')\n",
-    "    \n",
+    "    im = ax1.imshow(np_image, cmap=\"gray\", vmin=vmin, vmax=vmax, origin=\"lower\")\n",
+    "\n",
     "    # Draw connecting lines for overlaps FIRST (so they appear behind circles)\n",
     "    for overlap in overlaps:\n",
-    "        x1, y1 = star_centroids[overlap['star1_idx']]\n",
-    "        x2, y2 = star_centroids[overlap['star2_idx']]\n",
-    "        \n",
+    "        x1, y1 = star_centroids[overlap[\"star1_idx\"]]\n",
+    "        x2, y2 = star_centroids[overlap[\"star2_idx\"]]\n",
+    "\n",
     "        # Color by severity\n",
-    "        if overlap['type'] == 'CRITICAL':\n",
-    "            line_color = 'red'\n",
-    "        elif overlap['type'] == 'HIGH':\n",
-    "            line_color = 'orange'\n",
+    "        if overlap[\"type\"] == \"CRITICAL\":\n",
+    "            line_color = \"red\"\n",
+    "        elif overlap[\"type\"] == \"HIGH\":\n",
+    "            line_color = \"orange\"\n",
     "        else:\n",
-    "            line_color = 'yellow'\n",
-    "        \n",
-    "        ax1.plot([x1, x2], [y1, y2], color=line_color, linestyle=':', linewidth=2, alpha=0.7)\n",
-    "    \n",
+    "            line_color = \"yellow\"\n",
+    "\n",
+    "        ax1.plot(\n",
+    "            [x1, x2], [y1, y2], color=line_color, linestyle=\":\", linewidth=2, alpha=0.7\n",
+    "        )\n",
+    "\n",
     "    # Draw apertures on matched stars\n",
-    "    for i, (centroid, flux, mag, local_bg) in enumerate(zip(star_centroids, star_fluxes, star_mags, star_local_bgs)):\n",
+    "    for i, (centroid, flux, mag, local_bg) in enumerate(\n",
+    "        zip(star_centroids, star_fluxes, star_mags, star_local_bgs)\n",
+    "    ):\n",
     "        x, y = centroid\n",
-    "        \n",
+    "\n",
     "        # Color code by flux status, outlier detection, and overlap\n",
     "        is_outlier = False\n",
     "        if flux > 0 and mzero_mean is not None and len(star_mzeros) > i:\n",
     "            mzero_val = star_mzeros[i]\n",
     "            is_outlier = abs(mzero_val - mzero_mean) > 2.0 * mzero_std\n",
-    "        \n",
+    "\n",
     "        is_overlapping = i in overlapping_stars\n",
-    "        \n",
+    "\n",
     "        if flux <= 0:\n",
-    "            color = 'red'\n",
+    "            color = \"red\"\n",
     "            alpha = 0.8\n",
     "        elif is_overlapping:\n",
-    "            color = 'magenta'  # Magenta for overlapping stars\n",
+    "            color = \"magenta\"  # Magenta for overlapping stars\n",
     "            alpha = 0.8\n",
     "        elif is_outlier:\n",
-    "            color = 'orange'\n",
+    "            color = \"orange\"\n",
     "            alpha = 0.7\n",
     "        else:\n",
-    "            color = 'lime'\n",
+    "            color = \"lime\"\n",
     "            alpha = 0.6\n",
-    "        \n",
+    "\n",
     "        # Draw aperture circle (solid)\n",
-    "        circle = mpatches.Circle((x, y), APERTURE_RADIUS, \n",
-    "                                 fill=False, edgecolor=color, linewidth=2, alpha=alpha)\n",
+    "        circle = mpatches.Circle(\n",
+    "            (x, y),\n",
+    "            APERTURE_RADIUS,\n",
+    "            fill=False,\n",
+    "            edgecolor=color,\n",
+    "            linewidth=2,\n",
+    "            alpha=alpha,\n",
+    "        )\n",
     "        ax1.add_patch(circle)\n",
-    "        \n",
+    "\n",
     "        # Draw annulus inner (dashed)\n",
-    "        annulus_inner = mpatches.Circle((x, y), ANNULUS_INNER,\n",
-    "                                       fill=False, edgecolor=color, linewidth=1, \n",
-    "                                       linestyle='--', alpha=0.4)\n",
+    "        annulus_inner = mpatches.Circle(\n",
+    "            (x, y),\n",
+    "            ANNULUS_INNER,\n",
+    "            fill=False,\n",
+    "            edgecolor=color,\n",
+    "            linewidth=1,\n",
+    "            linestyle=\"--\",\n",
+    "            alpha=0.4,\n",
+    "        )\n",
     "        ax1.add_patch(annulus_inner)\n",
-    "        \n",
+    "\n",
     "        # Draw annulus outer (dashed)\n",
-    "        annulus_outer_circle = mpatches.Circle((x, y), ANNULUS_OUTER,\n",
-    "                                       fill=False, edgecolor=color, linewidth=1, \n",
-    "                                       linestyle='--', alpha=0.4)\n",
+    "        annulus_outer_circle = mpatches.Circle(\n",
+    "            (x, y),\n",
+    "            ANNULUS_OUTER,\n",
+    "            fill=False,\n",
+    "            edgecolor=color,\n",
+    "            linewidth=1,\n",
+    "            linestyle=\"--\",\n",
+    "            alpha=0.4,\n",
+    "        )\n",
     "        ax1.add_patch(annulus_outer_circle)\n",
-    "        \n",
+    "\n",
     "        # Label star\n",
-    "        label_text = f'{i}\\nm={mag:.1f}\\nf={flux:.0f}\\nbg={local_bg:.0f}' if local_bg else f'{i}\\nm={mag:.1f}'\n",
-    "        ax1.text(x + ANNULUS_OUTER + 3, y, label_text,\n",
-    "                color=color, fontsize=7, va='center', weight='bold',\n",
-    "                bbox=dict(boxstyle='round,pad=0.3', facecolor='black', alpha=0.5))\n",
-    "    \n",
-    "    ax1.set_title(f'{filename}\\nSQM: {sqm_val:.2f} (expected: {info[\"realsqm\"]:.2f}, error: {sqm_val - info[\"realsqm\"]:+.2f})',\n",
-    "                 fontsize=14, weight='bold')\n",
-    "    ax1.set_xlabel('X (pixels)', fontsize=11)\n",
-    "    ax1.set_ylabel('Y (pixels)', fontsize=11)\n",
-    "    plt.colorbar(im, ax=ax1, label='ADU')\n",
-    "    \n",
+    "        label_text = (\n",
+    "            f\"{i}\\nm={mag:.1f}\\nf={flux:.0f}\\nbg={local_bg:.0f}\"\n",
+    "            if local_bg\n",
+    "            else f\"{i}\\nm={mag:.1f}\"\n",
+    "        )\n",
+    "        ax1.text(\n",
+    "            x + ANNULUS_OUTER + 3,\n",
+    "            y,\n",
+    "            label_text,\n",
+    "            color=color,\n",
+    "            fontsize=7,\n",
+    "            va=\"center\",\n",
+    "            weight=\"bold\",\n",
+    "            bbox=dict(boxstyle=\"round,pad=0.3\", facecolor=\"black\", alpha=0.5),\n",
+    "        )\n",
+    "\n",
+    "    ax1.set_title(\n",
+    "        f\"{filename}\\nSQM: {sqm_val:.2f} (expected: {info['realsqm']:.2f}, error: {sqm_val - info['realsqm']:+.2f})\",\n",
+    "        fontsize=14,\n",
+    "        weight=\"bold\",\n",
+    "    )\n",
+    "    ax1.set_xlabel(\"X (pixels)\", fontsize=11)\n",
+    "    ax1.set_ylabel(\"Y (pixels)\", fontsize=11)\n",
+    "    plt.colorbar(im, ax=ax1, label=\"ADU\")\n",
+    "\n",
     "    # Legend\n",
     "    legend_elements = [\n",
-    "        mpatches.Patch(color='lime', label='Valid star'),\n",
-    "        mpatches.Patch(color='magenta', label='Overlapping'),\n",
-    "        mpatches.Patch(color='orange', label='Outlier (|Δmzero| > 2σ)'),\n",
-    "        mpatches.Patch(color='red', label='Bad flux (≤ 0)'),\n",
-    "        mpatches.Circle((0, 0), 1, fill=False, edgecolor='white', linewidth=2, label=f'Aperture (r={APERTURE_RADIUS}px)'),\n",
-    "        mpatches.Circle((0, 0), 1, fill=False, edgecolor='white', linewidth=1, linestyle='--', label=f'Annulus ({ANNULUS_INNER}-{ANNULUS_OUTER}px)')\n",
+    "        mpatches.Patch(color=\"lime\", label=\"Valid star\"),\n",
+    "        mpatches.Patch(color=\"magenta\", label=\"Overlapping\"),\n",
+    "        mpatches.Patch(color=\"orange\", label=\"Outlier (|Δmzero| > 2σ)\"),\n",
+    "        mpatches.Patch(color=\"red\", label=\"Bad flux (≤ 0)\"),\n",
+    "        mpatches.Circle(\n",
+    "            (0, 0),\n",
+    "            1,\n",
+    "            fill=False,\n",
+    "            edgecolor=\"white\",\n",
+    "            linewidth=2,\n",
+    "            label=f\"Aperture (r={APERTURE_RADIUS}px)\",\n",
+    "        ),\n",
+    "        mpatches.Circle(\n",
+    "            (0, 0),\n",
+    "            1,\n",
+    "            fill=False,\n",
+    "            edgecolor=\"white\",\n",
+    "            linewidth=1,\n",
+    "            linestyle=\"--\",\n",
+    "            label=f\"Annulus ({ANNULUS_INNER}-{ANNULUS_OUTER}px)\",\n",
+    "        ),\n",
     "    ]\n",
-    "    ax1.legend(handles=legend_elements, loc='upper right', fontsize=9)\n",
-    "    \n",
+    "    ax1.legend(handles=legend_elements, loc=\"upper right\", fontsize=9)\n",
+    "\n",
     "    # ========== Panel 2: Per-Star Statistics Table ==========\n",
     "    ax2 = fig.add_subplot(gs[0:2, 2])\n",
-    "    ax2.axis('off')\n",
-    "    \n",
+    "    ax2.axis(\"off\")\n",
+    "\n",
     "    # Build table data\n",
-    "    table_data = [['#', 'Mag', 'Flux\\n(ADU)', 'Bg\\n(ADU)', 'mzero', 'Δmz', 'OK']]\n",
-    "    for i, (mag, flux, local_bg, mzero) in enumerate(zip(star_mags, star_fluxes, star_local_bgs, star_mzeros)):\n",
-    "        status = '✓' if flux > 0 else '✗'\n",
+    "    table_data = [[\"#\", \"Mag\", \"Flux\\n(ADU)\", \"Bg\\n(ADU)\", \"mzero\", \"Δmz\", \"OK\"]]\n",
+    "    for i, (mag, flux, local_bg, mzero) in enumerate(\n",
+    "        zip(star_mags, star_fluxes, star_local_bgs, star_mzeros)\n",
+    "    ):\n",
+    "        status = \"✓\" if flux > 0 else \"✗\"\n",
     "        delta_mzero = (mzero - mzero_mean) if (flux > 0 and mzero_mean) else None\n",
-    "        \n",
-    "        table_data.append([\n",
-    "            f'{i}',\n",
-    "            f'{mag:.2f}',\n",
-    "            f'{flux:.0f}',\n",
-    "            f'{local_bg:.0f}' if local_bg is not None else 'N/A',\n",
-    "            f'{mzero:.2f}' if flux > 0 else 'N/A',\n",
-    "            f'{delta_mzero:+.2f}' if delta_mzero is not None else 'N/A',\n",
-    "            status\n",
-    "        ])\n",
-    "    \n",
+    "\n",
+    "        table_data.append(\n",
+    "            [\n",
+    "                f\"{i}\",\n",
+    "                f\"{mag:.2f}\",\n",
+    "                f\"{flux:.0f}\",\n",
+    "                f\"{local_bg:.0f}\" if local_bg is not None else \"N/A\",\n",
+    "                f\"{mzero:.2f}\" if flux > 0 else \"N/A\",\n",
+    "                f\"{delta_mzero:+.2f}\" if delta_mzero is not None else \"N/A\",\n",
+    "                status,\n",
+    "            ]\n",
+    "        )\n",
+    "\n",
     "    # Create table\n",
-    "    table = ax2.table(cellText=table_data, cellLoc='center', loc='center',\n",
-    "                     colWidths=[0.08, 0.12, 0.15, 0.12, 0.12, 0.10, 0.08])\n",
+    "    table = ax2.table(\n",
+    "        cellText=table_data,\n",
+    "        cellLoc=\"center\",\n",
+    "        loc=\"center\",\n",
+    "        colWidths=[0.08, 0.12, 0.15, 0.12, 0.12, 0.10, 0.08],\n",
+    "    )\n",
     "    table.auto_set_font_size(False)\n",
     "    table.set_fontsize(7)\n",
     "    table.scale(1, 1.8)\n",
-    "    \n",
+    "\n",
     "    # Style header row\n",
     "    for i in range(7):\n",
-    "        table[(0, i)].set_facecolor('#4CAF50')\n",
-    "        table[(0, i)].set_text_props(weight='bold', color='white')\n",
-    "    \n",
+    "        table[(0, i)].set_facecolor(\"#4CAF50\")\n",
+    "        table[(0, i)].set_text_props(weight=\"bold\", color=\"white\")\n",
+    "\n",
     "    # Color code rows\n",
     "    for i in range(1, len(table_data)):\n",
-    "        flux = star_fluxes[i-1]\n",
-    "        is_overlapping = (i-1) in overlapping_stars\n",
-    "        \n",
+    "        flux = star_fluxes[i - 1]\n",
+    "        is_overlapping = (i - 1) in overlapping_stars\n",
+    "\n",
     "        if flux <= 0:\n",
-    "            color = '#FFCDD2'  # Red\n",
+    "            color = \"#FFCDD2\"  # Red\n",
     "        elif is_overlapping:\n",
-    "            color = '#F8BBD0'  # Magenta/pink\n",
-    "        elif i-1 < len(star_mzeros) and mzero_mean is not None:\n",
-    "            delta = abs(star_mzeros[i-1] - mzero_mean)\n",
+    "            color = \"#F8BBD0\"  # Magenta/pink\n",
+    "        elif i - 1 < len(star_mzeros) and mzero_mean is not None:\n",
+    "            delta = abs(star_mzeros[i - 1] - mzero_mean)\n",
     "            if delta > 2.0 * mzero_std:\n",
-    "                color = '#FFE0B2'  # Orange\n",
+    "                color = \"#FFE0B2\"  # Orange\n",
     "            elif delta > 1.0 * mzero_std:\n",
-    "                color = '#FFF9C4'  # Yellow\n",
+    "                color = \"#FFF9C4\"  # Yellow\n",
     "            else:\n",
-    "                color = '#E8F5E9'  # Green\n",
+    "                color = \"#E8F5E9\"  # Green\n",
     "        else:\n",
-    "            color = 'white'\n",
-    "        \n",
+    "            color = \"white\"\n",
+    "\n",
     "        for j in range(7):\n",
     "            table[(i, j)].set_facecolor(color)\n",
-    "    \n",
-    "    ax2.set_title('Per-Star Breakdown\\n(Δmz = deviation from mean)', fontsize=11, weight='bold', pad=20)\n",
-    "    \n",
+    "\n",
+    "    ax2.set_title(\n",
+    "        \"Per-Star Breakdown\\n(Δmz = deviation from mean)\",\n",
+    "        fontsize=11,\n",
+    "        weight=\"bold\",\n",
+    "        pad=20,\n",
+    "    )\n",
+    "\n",
     "    # ========== Panel 3: mzero Values vs Magnitude with Trendlines ==========\n",
     "    ax3 = fig.add_subplot(gs[2, 0])\n",
-    "    \n",
+    "\n",
     "    if len(valid_mzeros) > 0:\n",
     "        # Scatter plot of individual mzero values\n",
-    "        colors = ['red' if not sigclip_mask[i] else 'blue' for i in range(len(valid_mzeros))]\n",
-    "        ax3.scatter(valid_mags, valid_mzeros, s=80, alpha=0.7, c=colors, edgecolors='black', linewidths=1, label='Stars', zorder=3)\n",
-    "        \n",
+    "        colors = [\n",
+    "            \"red\" if not sigclip_mask[i] else \"blue\" for i in range(len(valid_mzeros))\n",
+    "        ]\n",
+    "        ax3.scatter(\n",
+    "            valid_mags,\n",
+    "            valid_mzeros,\n",
+    "            s=80,\n",
+    "            alpha=0.7,\n",
+    "            c=colors,\n",
+    "            edgecolors=\"black\",\n",
+    "            linewidths=1,\n",
+    "            label=\"Stars\",\n",
+    "            zorder=3,\n",
+    "        )\n",
+    "\n",
     "        # Horizontal lines for different methods\n",
-    "        ax3.axhline(mzero_mean, color='blue', linestyle='-', linewidth=2, label=f'Mean: {mzero_mean:.3f}', alpha=0.6)\n",
-    "        ax3.axhline(mzero_median, color='green', linestyle='--', linewidth=2, label=f'Median: {mzero_median:.3f}', alpha=0.6)\n",
-    "        \n",
+    "        ax3.axhline(\n",
+    "            mzero_mean,\n",
+    "            color=\"blue\",\n",
+    "            linestyle=\"-\",\n",
+    "            linewidth=2,\n",
+    "            label=f\"Mean: {mzero_mean:.3f}\",\n",
+    "            alpha=0.6,\n",
+    "        )\n",
+    "        ax3.axhline(\n",
+    "            mzero_median,\n",
+    "            color=\"green\",\n",
+    "            linestyle=\"--\",\n",
+    "            linewidth=2,\n",
+    "            label=f\"Median: {mzero_median:.3f}\",\n",
+    "            alpha=0.6,\n",
+    "        )\n",
+    "\n",
     "        # Trendlines\n",
     "        if len(valid_mzeros) >= 3:\n",
     "            mag_range = np.array([valid_mags.min(), valid_mags.max()])\n",
-    "            \n",
+    "\n",
     "            # All stars trend\n",
     "            trend_line_all = slope_all * mag_range + intercept_all\n",
-    "            ax3.plot(mag_range, trend_line_all, 'purple', linestyle='-.', linewidth=2.5, \n",
-    "                    label=f'Trend (all): R²={r_value_all**2:.3f}', zorder=2)\n",
-    "            \n",
+    "            ax3.plot(\n",
+    "                mag_range,\n",
+    "                trend_line_all,\n",
+    "                \"purple\",\n",
+    "                linestyle=\"-.\",\n",
+    "                linewidth=2.5,\n",
+    "                label=f\"Trend (all): R²={r_value_all**2:.3f}\",\n",
+    "                zorder=2,\n",
+    "            )\n",
+    "\n",
     "            # Sigma-clipped trend\n",
     "            if n_clipped > 0:\n",
     "                trend_line_clip = slope_clip * mag_range + intercept_clip\n",
-    "                ax3.plot(mag_range, trend_line_clip, 'red', linestyle=':', linewidth=2.5, \n",
-    "                        label=f'Trend (σ-clip): R²={r_value_clip**2:.3f}', zorder=2)\n",
-    "            \n",
+    "                ax3.plot(\n",
+    "                    mag_range,\n",
+    "                    trend_line_clip,\n",
+    "                    \"red\",\n",
+    "                    linestyle=\":\",\n",
+    "                    linewidth=2.5,\n",
+    "                    label=f\"Trend (σ-clip): R²={r_value_clip**2:.3f}\",\n",
+    "                    zorder=2,\n",
+    "                )\n",
+    "\n",
     "            # Mark median magnitude\n",
-    "            ax3.axvline(np.median(valid_mags), color='gray', linestyle='--', linewidth=1, alpha=0.5, zorder=1)\n",
-    "        \n",
+    "            ax3.axvline(\n",
+    "                np.median(valid_mags),\n",
+    "                color=\"gray\",\n",
+    "                linestyle=\"--\",\n",
+    "                linewidth=1,\n",
+    "                alpha=0.5,\n",
+    "                zorder=1,\n",
+    "            )\n",
+    "\n",
     "        # Std deviation bands\n",
-    "        ax3.axhspan(mzero_mean - mzero_std, mzero_mean + mzero_std, alpha=0.15, color='blue', zorder=0)\n",
-    "        \n",
-    "        ax3.set_xlabel('Catalog Magnitude', fontsize=10)\n",
-    "        ax3.set_ylabel('mzero', fontsize=10)\n",
-    "        ax3.set_title(f'mzero vs Magnitude\\nσ = {mzero_std:.3f}, Trend slope = {slope_all:.4f}', fontsize=10, weight='bold')\n",
-    "        ax3.legend(fontsize=7, loc='best')\n",
+    "        ax3.axhspan(\n",
+    "            mzero_mean - mzero_std,\n",
+    "            mzero_mean + mzero_std,\n",
+    "            alpha=0.15,\n",
+    "            color=\"blue\",\n",
+    "            zorder=0,\n",
+    "        )\n",
+    "\n",
+    "        ax3.set_xlabel(\"Catalog Magnitude\", fontsize=10)\n",
+    "        ax3.set_ylabel(\"mzero\", fontsize=10)\n",
+    "        ax3.set_title(\n",
+    "            f\"mzero vs Magnitude\\nσ = {mzero_std:.3f}, Trend slope = {slope_all:.4f}\",\n",
+    "            fontsize=10,\n",
+    "            weight=\"bold\",\n",
+    "        )\n",
+    "        ax3.legend(fontsize=7, loc=\"best\")\n",
     "        ax3.grid(True, alpha=0.3)\n",
     "        ax3.invert_xaxis()  # Brighter stars on right\n",
     "    else:\n",
-    "        ax3.text(0.5, 0.5, 'No valid stars', transform=ax3.transAxes, ha='center', va='center')\n",
-    "    \n",
+    "        ax3.text(\n",
+    "            0.5,\n",
+    "            0.5,\n",
+    "            \"No valid stars\",\n",
+    "            transform=ax3.transAxes,\n",
+    "            ha=\"center\",\n",
+    "            va=\"center\",\n",
+    "        )\n",
+    "\n",
     "    # ========== Panel 4: mzero Values vs Flux ==========\n",
     "    ax4 = fig.add_subplot(gs[2, 1])\n",
-    "    \n",
+    "\n",
     "    if len(valid_mzeros) > 0:\n",
     "        # Scatter plot of mzero vs log(flux)\n",
     "        log_fluxes = np.log10(valid_fluxes)\n",
-    "        colors = ['red' if not sigclip_mask[i] else 'blue' for i in range(len(valid_mzeros))]\n",
-    "        ax4.scatter(log_fluxes, valid_mzeros, s=80, alpha=0.7, c=colors, edgecolors='black', linewidths=1)\n",
-    "        \n",
+    "        colors = [\n",
+    "            \"red\" if not sigclip_mask[i] else \"blue\" for i in range(len(valid_mzeros))\n",
+    "        ]\n",
+    "        ax4.scatter(\n",
+    "            log_fluxes,\n",
+    "            valid_mzeros,\n",
+    "            s=80,\n",
+    "            alpha=0.7,\n",
+    "            c=colors,\n",
+    "            edgecolors=\"black\",\n",
+    "            linewidths=1,\n",
+    "        )\n",
+    "\n",
     "        # Horizontal lines\n",
-    "        ax4.axhline(mzero_mean, color='blue', linestyle='-', linewidth=2, label=f'Mean', alpha=0.6)\n",
-    "        ax4.axhline(mzero_median, color='green', linestyle='--', linewidth=2, label=f'Median', alpha=0.6)\n",
-    "        \n",
+    "        ax4.axhline(\n",
+    "            mzero_mean,\n",
+    "            color=\"blue\",\n",
+    "            linestyle=\"-\",\n",
+    "            linewidth=2,\n",
+    "            label=\"Mean\",\n",
+    "            alpha=0.6,\n",
+    "        )\n",
+    "        ax4.axhline(\n",
+    "            mzero_median,\n",
+    "            color=\"green\",\n",
+    "            linestyle=\"--\",\n",
+    "            linewidth=2,\n",
+    "            label=\"Median\",\n",
+    "            alpha=0.6,\n",
+    "        )\n",
+    "\n",
     "        # Check for trend with flux\n",
     "        if len(valid_mzeros) >= 3:\n",
-    "            slope_flux, intercept_flux, r_value_flux, _, _ = stats.linregress(log_fluxes, valid_mzeros)\n",
+    "            slope_flux, intercept_flux, r_value_flux, _, _ = stats.linregress(\n",
+    "                log_fluxes, valid_mzeros\n",
+    "            )\n",
     "            if abs(r_value_flux) > 0.3:  # Significant correlation\n",
     "                x_fit = np.array([log_fluxes.min(), log_fluxes.max()])\n",
     "                y_fit = slope_flux * x_fit + intercept_flux\n",
-    "                ax4.plot(x_fit, y_fit, 'orange', linestyle=':', linewidth=2, \n",
-    "                        label=f'Flux trend: R²={r_value_flux**2:.3f}')\n",
-    "        \n",
-    "        ax4.set_xlabel('log₁₀(Flux [ADU])', fontsize=10)\n",
-    "        ax4.set_ylabel('mzero', fontsize=10)\n",
-    "        ax4.set_title(f'mzero vs Flux\\n(Should be flat if aperture correct)', fontsize=10, weight='bold')\n",
-    "        ax4.legend(fontsize=8, loc='best')\n",
+    "                ax4.plot(\n",
+    "                    x_fit,\n",
+    "                    y_fit,\n",
+    "                    \"orange\",\n",
+    "                    linestyle=\":\",\n",
+    "                    linewidth=2,\n",
+    "                    label=f\"Flux trend: R²={r_value_flux**2:.3f}\",\n",
+    "                )\n",
+    "\n",
+    "        ax4.set_xlabel(\"log₁₀(Flux [ADU])\", fontsize=10)\n",
+    "        ax4.set_ylabel(\"mzero\", fontsize=10)\n",
+    "        ax4.set_title(\n",
+    "            \"mzero vs Flux\\n(Should be flat if aperture correct)\",\n",
+    "            fontsize=10,\n",
+    "            weight=\"bold\",\n",
+    "        )\n",
+    "        ax4.legend(fontsize=8, loc=\"best\")\n",
     "        ax4.grid(True, alpha=0.3)\n",
     "    else:\n",
-    "        ax4.text(0.5, 0.5, 'No valid stars', transform=ax4.transAxes, ha='center', va='center')\n",
-    "    \n",
+    "        ax4.text(\n",
+    "            0.5,\n",
+    "            0.5,\n",
+    "            \"No valid stars\",\n",
+    "            transform=ax4.transAxes,\n",
+    "            ha=\"center\",\n",
+    "            va=\"center\",\n",
+    "        )\n",
+    "\n",
     "    # ========== Panel 5: mzero Distribution Histogram ==========\n",
     "    ax5 = fig.add_subplot(gs[2, 2])\n",
-    "    \n",
+    "\n",
     "    if len(valid_mzeros) > 0:\n",
     "        # Histogram\n",
-    "        ax5.hist(valid_mzeros, bins=min(15, len(valid_mzeros)), \n",
-    "                color='steelblue', alpha=0.7, edgecolor='black')\n",
-    "        \n",
+    "        ax5.hist(\n",
+    "            valid_mzeros,\n",
+    "            bins=min(15, len(valid_mzeros)),\n",
+    "            color=\"steelblue\",\n",
+    "            alpha=0.7,\n",
+    "            edgecolor=\"black\",\n",
+    "        )\n",
+    "\n",
     "        # Mark different estimators\n",
-    "        ax5.axvline(mzero_mean, color='blue', linestyle='-', linewidth=2, label=f'Mean')\n",
-    "        ax5.axvline(mzero_median, color='green', linestyle='--', linewidth=2, label=f'Median')\n",
+    "        ax5.axvline(mzero_mean, color=\"blue\", linestyle=\"-\", linewidth=2, label=\"Mean\")\n",
+    "        ax5.axvline(\n",
+    "            mzero_median, color=\"green\", linestyle=\"--\", linewidth=2, label=\"Median\"\n",
+    "        )\n",
     "        if n_clipped > 0:\n",
-    "            ax5.axvline(mzero_sigclip, color='red', linestyle='-.', linewidth=2, label=f'σ-clip')\n",
+    "            ax5.axvline(\n",
+    "                mzero_sigclip, color=\"red\", linestyle=\"-.\", linewidth=2, label=\"σ-clip\"\n",
+    "            )\n",
     "        if len(valid_mzeros) >= 3:\n",
-    "            ax5.axvline(mzero_trend, color='purple', linestyle=':', linewidth=2, label=f'Trend')\n",
-    "        \n",
-    "        ax5.set_xlabel('mzero', fontsize=10)\n",
-    "        ax5.set_ylabel('Count', fontsize=10)\n",
-    "        ax5.set_title(f'mzero Distribution\\nRange: [{np.min(valid_mzeros):.2f}, {np.max(valid_mzeros):.2f}]', \n",
-    "                     fontsize=10, weight='bold')\n",
+    "            ax5.axvline(\n",
+    "                mzero_trend, color=\"purple\", linestyle=\":\", linewidth=2, label=\"Trend\"\n",
+    "            )\n",
+    "\n",
+    "        ax5.set_xlabel(\"mzero\", fontsize=10)\n",
+    "        ax5.set_ylabel(\"Count\", fontsize=10)\n",
+    "        ax5.set_title(\n",
+    "            f\"mzero Distribution\\nRange: [{np.min(valid_mzeros):.2f}, {np.max(valid_mzeros):.2f}]\",\n",
+    "            fontsize=10,\n",
+    "            weight=\"bold\",\n",
+    "        )\n",
     "        ax5.legend(fontsize=8)\n",
-    "        ax5.grid(True, alpha=0.3, axis='y')\n",
+    "        ax5.grid(True, alpha=0.3, axis=\"y\")\n",
     "    else:\n",
-    "        ax5.text(0.5, 0.5, 'No valid stars', transform=ax5.transAxes, ha='center', va='center')\n",
-    "    \n",
+    "        ax5.text(\n",
+    "            0.5,\n",
+    "            0.5,\n",
+    "            \"No valid stars\",\n",
+    "            transform=ax5.transAxes,\n",
+    "            ha=\"center\",\n",
+    "            va=\"center\",\n",
+    "        )\n",
+    "\n",
     "    # ========== Panel 6: SQM Comparison Table with Overlap Correction ==========\n",
     "    ax6 = fig.add_subplot(gs[3, 0])\n",
-    "    ax6.axis('off')\n",
-    "    \n",
+    "    ax6.axis(\"off\")\n",
+    "\n",
     "    # Compare different methods INCLUDING overlap-corrected\n",
-    "    comparison_data = [['Method', 'mzero', 'SQM', 'Error', 'Note']]\n",
-    "    \n",
+    "    comparison_data = [[\"Method\", \"mzero\", \"SQM\", \"Error\", \"Note\"]]\n",
+    "\n",
     "    if mzero_mean is not None:\n",
-    "        comparison_data.append([\n",
-    "            'Mean',\n",
-    "            f'{mzero_mean:.3f}',\n",
-    "            f'{sqm_val:.2f}',\n",
-    "            f'{sqm_val - info[\"realsqm\"]:+.2f}',\n",
-    "            '← Current'\n",
-    "        ])\n",
-    "        comparison_data.append([\n",
-    "            'Median',\n",
-    "            f'{mzero_median:.3f}',\n",
-    "            f'{sqm_median:.2f}',\n",
-    "            f'{sqm_median - info[\"realsqm\"]:+.2f}',\n",
-    "            ''\n",
-    "        ])\n",
+    "        comparison_data.append(\n",
+    "            [\n",
+    "                \"Mean\",\n",
+    "                f\"{mzero_mean:.3f}\",\n",
+    "                f\"{sqm_val:.2f}\",\n",
+    "                f\"{sqm_val - info['realsqm']:+.2f}\",\n",
+    "                \"← Current\",\n",
+    "            ]\n",
+    "        )\n",
+    "        comparison_data.append(\n",
+    "            [\n",
+    "                \"Median\",\n",
+    "                f\"{mzero_median:.3f}\",\n",
+    "                f\"{sqm_median:.2f}\",\n",
+    "                f\"{sqm_median - info['realsqm']:+.2f}\",\n",
+    "                \"\",\n",
+    "            ]\n",
+    "        )\n",
     "        if n_clipped > 0:\n",
-    "            comparison_data.append([\n",
-    "                'σ-clipped',\n",
-    "                f'{mzero_sigclip:.3f}',\n",
-    "                f'{sqm_sigclip:.2f}',\n",
-    "                f'{sqm_sigclip - info[\"realsqm\"]:+.2f}',\n",
-    "                f'-{n_clipped} star'\n",
-    "            ])\n",
+    "            comparison_data.append(\n",
+    "                [\n",
+    "                    \"σ-clipped\",\n",
+    "                    f\"{mzero_sigclip:.3f}\",\n",
+    "                    f\"{sqm_sigclip:.2f}\",\n",
+    "                    f\"{sqm_sigclip - info['realsqm']:+.2f}\",\n",
+    "                    f\"-{n_clipped} star\",\n",
+    "                ]\n",
+    "            )\n",
     "        if len(valid_mzeros) >= 3:\n",
-    "            comparison_data.append([\n",
-    "                'Trend (all)',\n",
-    "                f'{mzero_trend:.3f}',\n",
-    "                f'{sqm_trend:.2f}',\n",
-    "                f'{sqm_trend - info[\"realsqm\"]:+.2f}',\n",
-    "                f'R²={r_value_all**2:.2f}'\n",
-    "            ])\n",
+    "            comparison_data.append(\n",
+    "                [\n",
+    "                    \"Trend (all)\",\n",
+    "                    f\"{mzero_trend:.3f}\",\n",
+    "                    f\"{sqm_trend:.2f}\",\n",
+    "                    f\"{sqm_trend - info['realsqm']:+.2f}\",\n",
+    "                    f\"R²={r_value_all**2:.2f}\",\n",
+    "                ]\n",
+    "            )\n",
     "            if n_clipped > 0:\n",
-    "                comparison_data.append([\n",
-    "                    'Trend+σ-clip',\n",
-    "                    f'{mzero_trend_sigclip:.3f}',\n",
-    "                    f'{sqm_trend_sigclip:.2f}',\n",
-    "                    f'{sqm_trend_sigclip - info[\"realsqm\"]:+.2f}',\n",
-    "                    f'R²={r_value_clip**2:.2f}'\n",
-    "                ])\n",
-    "        \n",
+    "                comparison_data.append(\n",
+    "                    [\n",
+    "                        \"Trend+σ-clip\",\n",
+    "                        f\"{mzero_trend_sigclip:.3f}\",\n",
+    "                        f\"{sqm_trend_sigclip:.2f}\",\n",
+    "                        f\"{sqm_trend_sigclip - info['realsqm']:+.2f}\",\n",
+    "                        f\"R²={r_value_clip**2:.2f}\",\n",
+    "                    ]\n",
+    "                )\n",
+    "\n",
     "        # Add overlap-corrected result\n",
-    "        if sqm_val_corrected is not None and details_corrected.get('n_stars_excluded_overlaps', 0) > 0:\n",
-    "            n_excl = details_corrected['n_stars_excluded_overlaps']\n",
-    "            comparison_data.append([\n",
-    "                'Overlap-corrected',\n",
-    "                f'{details_corrected[\"mzero\"]:.3f}',\n",
-    "                f'{sqm_val_corrected:.2f}',\n",
-    "                f'{sqm_val_corrected - info[\"realsqm\"]:+.2f}',\n",
-    "                f'-{n_excl} overlap'\n",
-    "            ])\n",
-    "        \n",
-    "        comparison_data.append([\n",
-    "            'Expected',\n",
-    "            '—',\n",
-    "            f'{info[\"realsqm\"]:.2f}',\n",
-    "            '0.00',\n",
-    "            'Target'\n",
-    "        ])\n",
-    "    \n",
-    "    comp_table = ax6.table(cellText=comparison_data, cellLoc='center', loc='center',\n",
-    "                          colWidths=[0.23, 0.18, 0.15, 0.15, 0.29])\n",
+    "        if (\n",
+    "            sqm_val_corrected is not None\n",
+    "            and details_corrected.get(\"n_stars_excluded_overlaps\", 0) > 0\n",
+    "        ):\n",
+    "            n_excl = details_corrected[\"n_stars_excluded_overlaps\"]\n",
+    "            comparison_data.append(\n",
+    "                [\n",
+    "                    \"Overlap-corrected\",\n",
+    "                    f\"{details_corrected['mzero']:.3f}\",\n",
+    "                    f\"{sqm_val_corrected:.2f}\",\n",
+    "                    f\"{sqm_val_corrected - info['realsqm']:+.2f}\",\n",
+    "                    f\"-{n_excl} overlap\",\n",
+    "                ]\n",
+    "            )\n",
+    "\n",
+    "        comparison_data.append(\n",
+    "            [\"Expected\", \"—\", f\"{info['realsqm']:.2f}\", \"0.00\", \"Target\"]\n",
+    "        )\n",
+    "\n",
+    "    comp_table = ax6.table(\n",
+    "        cellText=comparison_data,\n",
+    "        cellLoc=\"center\",\n",
+    "        loc=\"center\",\n",
+    "        colWidths=[0.23, 0.18, 0.15, 0.15, 0.29],\n",
+    "    )\n",
     "    comp_table.auto_set_font_size(False)\n",
     "    comp_table.set_fontsize(8)\n",
     "    comp_table.scale(1, 2.2)\n",
-    "    \n",
+    "\n",
     "    # Style header\n",
     "    for i in range(5):\n",
-    "        comp_table[(0, i)].set_facecolor('#2196F3')\n",
-    "        comp_table[(0, i)].set_text_props(weight='bold', color='white')\n",
-    "    \n",
+    "        comp_table[(0, i)].set_facecolor(\"#2196F3\")\n",
+    "        comp_table[(0, i)].set_text_props(weight=\"bold\", color=\"white\")\n",
+    "\n",
     "    # Highlight best method\n",
     "    if len(comparison_data) > 2:\n",
     "        errors = [abs(float(row[3])) for row in comparison_data[1:-1]]\n",
     "        best_idx = np.argmin(errors) + 1\n",
     "        for j in range(5):\n",
-    "            comp_table[(best_idx, j)].set_facecolor('#C8E6C9')\n",
-    "    \n",
-    "    ax6.set_title('mzero Method Comparison', fontsize=11, weight='bold', pad=20)\n",
-    "    \n",
+    "            comp_table[(best_idx, j)].set_facecolor(\"#C8E6C9\")\n",
+    "\n",
+    "    ax6.set_title(\"mzero Method Comparison\", fontsize=11, weight=\"bold\", pad=20)\n",
+    "\n",
     "    # ========== Panel 7: Background Annuli ==========\n",
     "    ax7 = fig.add_subplot(gs[3, 1])\n",
-    "    \n",
+    "\n",
     "    # Create visualization showing annulus regions\n",
     "    height, width = np_image.shape\n",
     "    y, x = np.ogrid[:height, :width]\n",
     "    annulus_mask_img = np.zeros((height, width), dtype=bool)\n",
     "    for centroid in star_centroids:\n",
     "        cx, cy = centroid\n",
-    "        dist_sq = (x - cx)**2 + (y - cy)**2\n",
+    "        dist_sq = (x - cx) ** 2 + (y - cy) ** 2\n",
     "        star_annulus = (dist_sq > ANNULUS_INNER**2) & (dist_sq <= ANNULUS_OUTER**2)\n",
     "        annulus_mask_img |= star_annulus\n",
-    "    \n",
+    "\n",
     "    annulus_display = np.where(annulus_mask_img, np_image, np.nan)\n",
-    "    ax7.imshow(annulus_display, cmap='viridis', vmin=vmin, vmax=vmax, origin='lower')\n",
-    "    ax7.set_title(f'Background Annuli\\n(median={details[\"background_per_pixel\"]:.1f} ADU)', \n",
-    "                 fontsize=10, weight='bold')\n",
-    "    ax7.set_xlabel('X (pixels)', fontsize=9)\n",
-    "    ax7.set_ylabel('Y (pixels)', fontsize=9)\n",
-    "    \n",
+    "    ax7.imshow(annulus_display, cmap=\"viridis\", vmin=vmin, vmax=vmax, origin=\"lower\")\n",
+    "    ax7.set_title(\n",
+    "        f\"Background Annuli\\n(median={details['background_per_pixel']:.1f} ADU)\",\n",
+    "        fontsize=10,\n",
+    "        weight=\"bold\",\n",
+    "    )\n",
+    "    ax7.set_xlabel(\"X (pixels)\", fontsize=9)\n",
+    "    ax7.set_ylabel(\"Y (pixels)\", fontsize=9)\n",
+    "\n",
     "    # ========== Panel 8: Calculation Summary with Overlap Info ==========\n",
     "    ax8 = fig.add_subplot(gs[3, 2])\n",
-    "    ax8.axis('off')\n",
-    "    \n",
+    "    ax8.axis(\"off\")\n",
+    "\n",
     "    # Find best method\n",
     "    if mzero_mean is not None:\n",
-    "        methods = ['Mean', 'Median', 'σ-clip', 'Trend', 'Trend+σ-clip', 'Overlap-corrected']\n",
-    "        sqm_values = [sqm_val, sqm_median, sqm_sigclip, sqm_trend, sqm_trend_sigclip, sqm_val_corrected]\n",
-    "        errors = [abs(sqm - info['realsqm']) for sqm in sqm_values if sqm is not None]\n",
+    "        methods = [\n",
+    "            \"Mean\",\n",
+    "            \"Median\",\n",
+    "            \"σ-clip\",\n",
+    "            \"Trend\",\n",
+    "            \"Trend+σ-clip\",\n",
+    "            \"Overlap-corrected\",\n",
+    "        ]\n",
+    "        sqm_values = [\n",
+    "            sqm_val,\n",
+    "            sqm_median,\n",
+    "            sqm_sigclip,\n",
+    "            sqm_trend,\n",
+    "            sqm_trend_sigclip,\n",
+    "            sqm_val_corrected,\n",
+    "        ]\n",
+    "        errors = [abs(sqm - info[\"realsqm\"]) for sqm in sqm_values if sqm is not None]\n",
     "        valid_methods = [m for m, sqm in zip(methods, sqm_values) if sqm is not None]\n",
     "        if errors:\n",
     "            best_method = valid_methods[np.argmin(errors)]\n",
     "        else:\n",
-    "            best_method = 'Mean'\n",
+    "            best_method = \"Mean\"\n",
     "    else:\n",
-    "        best_method = 'N/A'\n",
-    "    \n",
-    "    corrected_str = f\"{sqm_val_corrected:.2f}\" if sqm_val_corrected is not None else \"N/A\"\n",
-    "    error_str = f\"{sqm_val_corrected - info['realsqm']:+.2f}\" if sqm_val_corrected is not None else \"N/A\"\n",
+    "        best_method = \"N/A\"\n",
+    "\n",
+    "    corrected_str = (\n",
+    "        f\"{sqm_val_corrected:.2f}\" if sqm_val_corrected is not None else \"N/A\"\n",
+    "    )\n",
+    "    error_str = (\n",
+    "        f\"{sqm_val_corrected - info['realsqm']:+.2f}\"\n",
+    "        if sqm_val_corrected is not None\n",
+    "        else \"N/A\"\n",
+    "    )\n",
     "\n",
     "    summary_text = f\"\"\"CALCULATION SUMMARY\n",
-    "{'='*35}\n",
+    "{\"=\" * 35}\n",
     "\n",
-    "Stars: {details['n_matched_stars']} matched\n",
-    "       {details['n_centroids']} total centroids\n",
+    "Stars: {details[\"n_matched_stars\"]} matched\n",
+    "       {details[\"n_centroids\"]} total centroids\n",
     "\n",
     "OVERLAPS: {len(overlaps)} total\n",
     "  CRITICAL:  {len(critical_overlaps)}\n",
@@ -1955,7 +2250,7 @@
     "Background: Local annuli\n",
     "  Aperture: {APERTURE_RADIUS} px\n",
     "  Annulus: {ANNULUS_INNER}-{ANNULUS_OUTER} px\n",
-    "  Sky: {details['background_per_pixel']:.2f} ADU/px\n",
+    "  Sky: {details[\"background_per_pixel\"]:.2f} ADU/px\n",
     "\n",
     "mzero Statistics:\n",
     "  Mean:      {mzero_mean:.3f} ± {mzero_std:.3f}\n",
@@ -1968,60 +2263,86 @@
     "Trend Analysis:\n",
     "  Slope:     {slope_all:.4f} mag/mag\n",
     "  R²:        {r_value_all**2:.4f}\n",
-    "  Sig?       {'YES' if abs(r_value_all) > 0.5 else 'NO'}\n",
+    "  Sig?       {\"YES\" if abs(r_value_all) > 0.5 else \"NO\"}\n",
     "\n",
     "SQM Results:\n",
     "  Without overlap correction:\n",
     "    Current:   {sqm_val:.2f} mag/arcsec²\n",
-    "    Error:     {sqm_val - info['realsqm']:+.2f}\n",
+    "    Error:     {sqm_val - info[\"realsqm\"]:+.2f}\n",
     "  \n",
     "  With overlap correction:\n",
     "    Corrected: {corrected_str} mag/arcsec²\n",
     "    Error:     {error_str}\n",
-    "    Excluded:  {details_corrected.get('n_stars_excluded_overlaps', 0)} stars\n",
+    "    Excluded:  {details_corrected.get(\"n_stars_excluded_overlaps\", 0)} stars\n",
     "\n",
-    "Expected:    {info['realsqm']:.2f}\n",
+    "Expected:    {info[\"realsqm\"]:.2f}\n",
     "\n",
     "Best Method: {best_method}\n",
     "\"\"\"\n",
-    "    \n",
-    "    ax8.text(0.05, 0.95, summary_text, \n",
-    "            transform=ax8.transAxes, fontsize=7.5, \n",
-    "            verticalalignment='top', fontfamily='monospace',\n",
-    "            bbox=dict(boxstyle='round', facecolor='lightyellow', alpha=0.8))\n",
-    "    \n",
+    "\n",
+    "    ax8.text(\n",
+    "        0.05,\n",
+    "        0.95,\n",
+    "        summary_text,\n",
+    "        transform=ax8.transAxes,\n",
+    "        fontsize=7.5,\n",
+    "        verticalalignment=\"top\",\n",
+    "        fontfamily=\"monospace\",\n",
+    "        bbox=dict(boxstyle=\"round\", facecolor=\"lightyellow\", alpha=0.8),\n",
+    "    )\n",
+    "\n",
     "    plt.tight_layout()\n",
     "    plt.show()\n",
-    "    \n",
+    "\n",
     "    # Print detailed overlap information\n",
     "    if overlaps:\n",
-    "        print(f\"\\nDETAILED OVERLAP INFORMATION:\")\n",
-    "        print(f\"{'='*100}\")\n",
+    "        print(\"\\nDETAILED OVERLAP INFORMATION:\")\n",
+    "        print(f\"{'=' * 100}\")\n",
     "        for overlap in overlaps:\n",
-    "            i, j = overlap['star1_idx'], overlap['star2_idx']\n",
+    "            i, j = overlap[\"star1_idx\"], overlap[\"star2_idx\"]\n",
     "            print(f\"  [{overlap['type']:8}] Stars {i} ↔ {j}: {overlap['description']}\")\n",
-    "            print(f\"              Star {i}: mag={star_mags[i]:.2f}, flux={star_fluxes[i]:.0f} ADU\")\n",
-    "            print(f\"              Star {j}: mag={star_mags[j]:.2f}, flux={star_fluxes[j]:.0f} ADU\")\n",
-    "        print(f\"{'='*100}\\n\")\n",
-    "    \n",
+    "            print(\n",
+    "                f\"              Star {i}: mag={star_mags[i]:.2f}, flux={star_fluxes[i]:.0f} ADU\"\n",
+    "            )\n",
+    "            print(\n",
+    "                f\"              Star {j}: mag={star_mags[j]:.2f}, flux={star_fluxes[j]:.0f} ADU\"\n",
+    "            )\n",
+    "        print(f\"{'=' * 100}\\n\")\n",
+    "\n",
     "    # Print summary\n",
     "    print(f\"\\n✓ Processed {filename}\")\n",
-    "    print(f\"\\n  WITHOUT overlap correction:\")\n",
-    "    print(f\"    SQM (mean):           {sqm_val:.2f} (error: {sqm_val - info['realsqm']:+.2f})\")\n",
-    "    print(f\"    SQM (median):         {sqm_median:.2f} (error: {sqm_median - info['realsqm']:+.2f})\")\n",
-    "    print(f\"    SQM (σ-clipped):      {sqm_sigclip:.2f} (error: {sqm_sigclip - info['realsqm']:+.2f})\")\n",
-    "    print(f\"    SQM (trend):          {sqm_trend:.2f} (error: {sqm_trend - info['realsqm']:+.2f})\")\n",
-    "    print(f\"    SQM (trend+σ-clip):   {sqm_trend_sigclip:.2f} (error: {sqm_trend_sigclip - info['realsqm']:+.2f})\")\n",
-    "    \n",
+    "    print(\"\\n  WITHOUT overlap correction:\")\n",
+    "    print(\n",
+    "        f\"    SQM (mean):           {sqm_val:.2f} (error: {sqm_val - info['realsqm']:+.2f})\"\n",
+    "    )\n",
+    "    print(\n",
+    "        f\"    SQM (median):         {sqm_median:.2f} (error: {sqm_median - info['realsqm']:+.2f})\"\n",
+    "    )\n",
+    "    print(\n",
+    "        f\"    SQM (σ-clipped):      {sqm_sigclip:.2f} (error: {sqm_sigclip - info['realsqm']:+.2f})\"\n",
+    "    )\n",
+    "    print(\n",
+    "        f\"    SQM (trend):          {sqm_trend:.2f} (error: {sqm_trend - info['realsqm']:+.2f})\"\n",
+    "    )\n",
+    "    print(\n",
+    "        f\"    SQM (trend+σ-clip):   {sqm_trend_sigclip:.2f} (error: {sqm_trend_sigclip - info['realsqm']:+.2f})\"\n",
+    "    )\n",
+    "\n",
     "    if sqm_val_corrected is not None:\n",
-    "        print(f\"\\n  WITH overlap correction:\")\n",
-    "        print(f\"    SQM (overlap-corr):   {sqm_val_corrected:.2f} (error: {sqm_val_corrected - info['realsqm']:+.2f})\")\n",
-    "        print(f\"    Stars excluded:       {details_corrected.get('n_stars_excluded_overlaps', 0)}/{details_corrected.get('n_matched_stars_original', 0)}\")\n",
-    "        print(f\"    Improvement:          {(sqm_val_corrected - sqm_val):+.2f} mag/arcsec²\")\n",
-    "    \n",
+    "        print(\"\\n  WITH overlap correction:\")\n",
+    "        print(\n",
+    "            f\"    SQM (overlap-corr):   {sqm_val_corrected:.2f} (error: {sqm_val_corrected - info['realsqm']:+.2f})\"\n",
+    "        )\n",
+    "        print(\n",
+    "            f\"    Stars excluded:       {details_corrected.get('n_stars_excluded_overlaps', 0)}/{details_corrected.get('n_matched_stars_original', 0)}\"\n",
+    "        )\n",
+    "        print(\n",
+    "            f\"    Improvement:          {(sqm_val_corrected - sqm_val):+.2f} mag/arcsec²\"\n",
+    "        )\n",
+    "\n",
     "    print(f\"\\n  Trend: slope={slope_all:.4f}, R²={r_value_all**2:.4f}\")\n",
     "    print(f\"  Best method: {best_method}\")\n",
-    "    \n",
+    "\n",
     "    # Flag issues\n",
     "    issues = []\n",
     "    if any(f <= 0 for f in star_fluxes):\n",
@@ -2031,19 +2352,23 @@
     "        issues.append(f\"⚠️  High mzero scatter: {mzero_std:.3f}\")\n",
     "    if abs(r_value_all) > 0.5:\n",
     "        issues.append(f\"⚠️  Significant magnitude trend: R²={r_value_all**2:.3f}\")\n",
-    "    if abs(sqm_val - info['realsqm']) > 0.5:\n",
-    "        issues.append(f\"⚠️  Large error (no corr): {sqm_val - info['realsqm']:+.2f} mag/arcsec²\")\n",
+    "    if abs(sqm_val - info[\"realsqm\"]) > 0.5:\n",
+    "        issues.append(\n",
+    "            f\"⚠️  Large error (no corr): {sqm_val - info['realsqm']:+.2f} mag/arcsec²\"\n",
+    "        )\n",
     "    if n_clipped > 0:\n",
     "        issues.append(f\"ℹ️  {n_clipped} outliers removed by σ-clipping\")\n",
     "    if overlaps:\n",
-    "        issues.append(f\"⚠️  {len(overlaps)} aperture overlaps detected ({len(overlapping_stars)} stars affected)\")\n",
-    "    \n",
+    "        issues.append(\n",
+    "            f\"⚠️  {len(overlaps)} aperture overlaps detected ({len(overlapping_stars)} stars affected)\"\n",
+    "        )\n",
+    "\n",
     "    if issues:\n",
-    "        print(f\"\\n  Notes:\")\n",
+    "        print(\"\\n  Notes:\")\n",
     "        for issue in issues:\n",
     "            print(f\"  {issue}\")\n",
-    "    \n",
-    "    print(\"\")\n"
+    "\n",
+    "    print(\"\")"
    ]
   },
   {
diff --git a/python/PiFinder/sqm/sqm.py b/python/PiFinder/sqm/sqm.py
index a1250ccbf..599d1d312 100644
--- a/python/PiFinder/sqm/sqm.py
+++ b/python/PiFinder/sqm/sqm.py
@@ -1,9 +1,6 @@
 import numpy as np
 import logging
-from typing import Tuple, Dict, Optional, Any
-from datetime import datetime
-import time
-from PiFinder.state import SQM as SQMState
+from typing import Tuple, Dict, Optional
 from .noise_floor import NoiseFloorEstimator
 
 logger = logging.getLogger("Solver")
@@ -34,36 +31,22 @@ class SQM:
     def __init__(
         self,
         camera_type: str = "imx296",
-        pedestal_from_background: bool = False,
-        use_adaptive_noise_floor: bool = True,
     ):
         """
         Initialize SQM calculator.
 
         Args:
-            camera_type: Camera model (imx296, imx462, imx290, hq) for noise estimation
-            pedestal_from_background: If True, automatically estimate pedestal from
-                median of local backgrounds. Default False (manual pedestal only).
-            use_adaptive_noise_floor: If True, use adaptive noise floor estimation.
-                If False, fall back to manual pedestal parameter. Default True.
+            camera_type: Camera model (imx296, imx462, imx290, hq) for noise estimation.
+                Use "_processed" suffix for 8-bit ISP-processed images.
         """
-        super()
-        self.pedestal_from_background = pedestal_from_background
-        self.use_adaptive_noise_floor = use_adaptive_noise_floor
-
-        # Initialize noise floor estimator if enabled
-        self.noise_estimator: Optional[NoiseFloorEstimator] = None
-        if use_adaptive_noise_floor:
-            self.noise_estimator = NoiseFloorEstimator(
-                camera_type=camera_type,
-                enable_zero_sec_sampling=True,
-                zero_sec_interval=300,  # Every 5 minutes
-            )
-            logger.info(
-                f"SQM initialized with adaptive noise floor estimation (camera: {camera_type})"
-            )
-        else:
-            logger.info("SQM initialized with manual pedestal mode")
+        self.noise_estimator = NoiseFloorEstimator(
+            camera_type=camera_type,
+            enable_zero_sec_sampling=True,
+            zero_sec_interval=300,  # Every 5 minutes
+        )
+        logger.info(
+            f"SQM initialized with adaptive noise floor estimation (camera: {camera_type})"
+        )
 
     def _calc_field_parameters(self, fov_degrees: float) -> None:
         """Calculate field of view parameters."""
@@ -72,43 +55,24 @@ def _calc_field_parameters(self, fov_degrees: float) -> None:
         self.pixels_total = 512**2
         self.arcsec_squared_per_pixel = self.field_arcsec_squared / self.pixels_total
 
-    def _calculate_background(
-        self, image: np.ndarray, centroids: np.ndarray, exclusion_radius: int
-    ) -> float:
+    def _pickering_airmass(self, altitude_deg: float) -> float:
         """
-        Calculate background from star-free regions using median.
+        Calculate airmass using Pickering (2002) formula.
+
+        More accurate than simple 1/sin(alt) near the horizon.
+        Accounts for atmospheric refraction.
+
+        Reference: Pickering, K.A. (2002), "The Southern Limits of the Ancient
+        Star Catalogs", DIO 12, 1-15.
 
         Args:
-            image: Image array
-            centroids: All detected centroids (for masking)
-            exclusion_radius: Radius around each star to exclude (pixels)
+            altitude_deg: Altitude in degrees (must be > 0)
 
         Returns:
-            Background level in ADU per pixel
+            Airmass value (1.0 at zenith, increases toward horizon)
         """
-        height, width = image.shape
-        mask = np.ones((height, width), dtype=bool)
-
-        # Create coordinate grids
-        y, x = np.ogrid[:height, :width]
-
-        # Mask out regions around all stars
-        for cx, cy in centroids:
-            if 0 <= cx < width and 0 <= cy < height:
-                star_mask = (x - cx) ** 2 + (y - cy) ** 2 <= exclusion_radius**2
-                mask &= ~star_mask
-
-        # Calculate median background from unmasked regions
-        if np.sum(mask) > 100:  # Need enough pixels for reliable median
-            background_per_pixel = np.median(image[mask])
-        else:
-            # Fallback to percentile if too many stars
-            background_per_pixel = np.percentile(image, 10)
-            logger.warning(
-                f"Using 10th percentile for background (only {np.sum(mask)} unmasked pixels)"
-            )
-
-        return float(background_per_pixel)
+        h = altitude_deg
+        return 1.0 / np.sin(np.radians(h + 244.0 / (165.0 + 47.0 * h**1.1)))
 
     def _measure_star_flux_with_local_background(
         self,
@@ -117,7 +81,8 @@ def _measure_star_flux_with_local_background(
         aperture_radius: int,
         annulus_inner_radius: int,
         annulus_outer_radius: int,
-    ) -> Tuple[list, list]:
+        saturation_threshold: int = 250,
+    ) -> Tuple[list, list, int]:
         """
         Measure star flux with local background from annulus around each star.
 
@@ -127,15 +92,20 @@ def _measure_star_flux_with_local_background(
             aperture_radius: Aperture radius for star flux in pixels
             annulus_inner_radius: Inner radius of background annulus in pixels
             annulus_outer_radius: Outer radius of background annulus in pixels
+            saturation_threshold: Pixel value threshold for saturation detection (default: 250)
+                                  Stars with any aperture pixel >= this value are marked saturated
 
         Returns:
-            Tuple of (star_fluxes, local_backgrounds) where:
+            Tuple of (star_fluxes, local_backgrounds, n_saturated) where:
                 star_fluxes: Background-subtracted star fluxes (total ADU above local background)
+                            Saturated stars have flux set to -1 to be excluded from mzero calculation
                 local_backgrounds: Local background per pixel for each star (ADU/pixel)
+                n_saturated: Number of stars excluded due to saturation
         """
         height, width = image.shape
         star_fluxes = []
         local_backgrounds = []
+        n_saturated = 0
 
         # Pre-compute squared radii
         aperture_r2 = aperture_radius**2
@@ -177,8 +147,21 @@ def _measure_star_flux_with_local_background(
                     f"Star at ({cx:.0f},{cy:.0f}) has no annulus pixels, using global median"
                 )
 
+            # Check for saturation in aperture
+            aperture_pixels = image_patch[aperture_mask]
+            max_aperture_pixel = (
+                np.max(aperture_pixels) if len(aperture_pixels) > 0 else 0
+            )
+
+            if max_aperture_pixel >= saturation_threshold:
+                # Mark saturated star with flux=-1 to be excluded from mzero calculation
+                star_fluxes.append(-1)
+                local_backgrounds.append(local_bg_per_pixel)
+                n_saturated += 1
+                continue
+
             # Total flux in aperture (includes background)
-            total_flux = np.sum(image_patch[aperture_mask])
+            total_flux = np.sum(aperture_pixels)
 
             # Subtract background contribution
             aperture_area_pixels = np.sum(aperture_mask)
@@ -188,50 +171,56 @@ def _measure_star_flux_with_local_background(
             star_fluxes.append(star_flux)
             local_backgrounds.append(local_bg_per_pixel)
 
-        return star_fluxes, local_backgrounds
+        return star_fluxes, local_backgrounds, n_saturated
 
     def _calculate_mzero(
         self, star_fluxes: list, star_mags: list
     ) -> Tuple[Optional[float], list]:
         """
-        Calculate photometric zero point from calibrated stars.
+        Calculate photometric zero point from calibrated stars using flux-weighted mean.
 
         For point sources: mzero = catalog_mag + 2.5 × log10(total_flux_ADU)
 
         This zero point allows converting any ADU measurement to magnitudes:
             mag = mzero - 2.5 × log10(flux_ADU)
 
+        Uses flux-weighted mean: brighter stars have higher SNR so their
+        mzero estimates are more reliable.
+
         Args:
             star_fluxes: Background-subtracted star fluxes (ADU)
             star_mags: Catalog magnitudes for matched stars
 
         Returns:
-            Tuple of (mean_mzero, list_of_individual_mzeros)
+            Tuple of (weighted_mean_mzero, list_of_individual_mzeros)
             Note: The mzeros list will contain None for stars with invalid flux
         """
         mzeros: list[Optional[float]] = []
+        valid_mzeros = []
+        valid_fluxes = []
 
         for flux, mag in zip(star_fluxes, star_mags):
             if flux <= 0:
-                logger.warning(
-                    f"Skipping star with flux={flux:.1f} ADU (mag={mag:.2f})"
-                )
+                logger.debug(f"Skipping star with flux={flux:.1f} ADU (mag={mag:.2f})")
                 mzeros.append(None)  # Keep array aligned
                 continue
 
             # Calculate zero point: ZP = m + 2.5*log10(F)
             mzero = mag + 2.5 * np.log10(flux)
             mzeros.append(mzero)
-
-        # Filter out None values for statistics calculation
-        valid_mzeros = [mz for mz in mzeros if mz is not None]
+            valid_mzeros.append(mzero)
+            valid_fluxes.append(flux)
 
         if len(valid_mzeros) == 0:
             logger.error("No valid stars for mzero calculation")
             return None, mzeros
 
-        # Return mean and the full mzeros list (which may contain None values)
-        return float(np.mean(valid_mzeros)), mzeros
+        # Flux-weighted mean: brighter stars contribute more
+        valid_mzeros_arr = np.array(valid_mzeros)
+        valid_fluxes_arr = np.array(valid_fluxes)
+        weighted_mzero = float(np.average(valid_mzeros_arr, weights=valid_fluxes_arr))
+
+        return weighted_mzero, mzeros
 
     def _detect_aperture_overlaps(
         self,
@@ -272,7 +261,7 @@ def _detect_aperture_overlaps(
                     excluded_stars.add(i)
                     excluded_stars.add(j)
                     logger.debug(
-                        f"CRITICAL overlap: stars {i} and {j} (d={distance:.1f}px < {2*aperture_radius}px)"
+                        f"CRITICAL overlap: stars {i} and {j} (d={distance:.1f}px < {2 * aperture_radius}px)"
                     )
                 # HIGH: Aperture inside another star's annulus (background contamination)
                 elif distance < aperture_radius + annulus_outer_radius:
@@ -286,22 +275,20 @@ def _detect_aperture_overlaps(
 
     def _atmospheric_extinction(self, altitude_deg: float) -> float:
         """
-        Calculate atmospheric extinction correction to above-atmosphere equivalent.
+        Calculate atmospheric extinction correction.
 
-        Uses simplified airmass model and typical V-band extinction coefficient.
-
-        The atmosphere ALWAYS dims starlight - even at zenith there's 0.28 mag extinction.
-        This correction accounts for the total atmospheric extinction to estimate what
-        the sky brightness would be if measured from above the atmosphere.
+        Uses Pickering (2002) airmass formula for improved accuracy near horizon.
+        Zenith is the reference point (extinction=0), with additional extinction
+        added for lower altitudes.
 
         Args:
             altitude_deg: Altitude of field center in degrees
 
         Returns:
             Extinction correction in magnitudes (add to measured SQM)
-            - At zenith (90°): 0.28 mag (minimum)
-            - At 45°: ~0.40 mag
-            - At 30°: 0.56 mag
+            - At zenith (90°): 0.0 mag (reference point)
+            - At 45°: ~0.12 mag
+            - At 30°: ~0.28 mag
         """
         if altitude_deg <= 0:
             logger.warning(
@@ -309,29 +296,32 @@ def _atmospheric_extinction(self, altitude_deg: float) -> float:
             )
             return 0.0
 
-        # Simplified airmass calculation
-        altitude_rad = np.radians(altitude_deg)
-        airmass = 1.0 / np.sin(altitude_rad)
+        # Use Pickering (2002) airmass formula for better accuracy near horizon
+        airmass = self._pickering_airmass(altitude_deg)
 
-        # Typical V-band extinction: 0.28 mag/airmass at sea level
-        # Total extinction is always present (minimum 0.28 mag at zenith)
-        extinction_correction = 0.28 * airmass
+        # V-band extinction coefficient: 0.28 mag/airmass
+        # Following ASTAP convention: zenith is reference point (extinction=0 at zenith)
+        # Only the ADDITIONAL extinction below zenith is added: k * (airmass - 1)
+        extinction_correction = 0.28 * (airmass - 1)
 
         return extinction_correction
 
+    def _determine_pedestal_source(self) -> str:
+        """Determine the source of the pedestal value for diagnostics."""
+        return "adaptive_noise_floor"
+
     def calculate(
         self,
         centroids: list,
         solution: dict,
         image: np.ndarray,
         exposure_sec: float,
-        bias_image: Optional[np.ndarray] = None,
         altitude_deg: float = 90.0,
         aperture_radius: int = 5,
         annulus_inner_radius: int = 6,
         annulus_outer_radius: int = 14,
-        pedestal: float = 0.0,
         correct_overlaps: bool = False,
+        saturation_threshold: int = 250,
     ) -> Tuple[Optional[float], Dict]:
         """
         Calculate SQM (Sky Quality Meter) value using local background annuli.
@@ -340,17 +330,13 @@ def calculate(
             centroids: All detected centroids (unused, kept for compatibility)
             solution: Tetra3 solution dict with 'FOV', 'matched_centroids', 'matched_stars'
             image: Image array (uint8 or float)
-            exposure_sec: Exposure time in seconds (required for adaptive noise floor)
-            bias_image: Optional bias/dark frame for pedestal calculation (default: None)
+            exposure_sec: Exposure time in seconds (required for noise floor estimation)
             altitude_deg: Altitude of field center for extinction correction (default: 90 = zenith)
             aperture_radius: Radius for star photometry in pixels (default: 5)
             annulus_inner_radius: Inner radius of background annulus in pixels (default: 6)
             annulus_outer_radius: Outer radius of background annulus in pixels (default: 14)
-            pedestal: Bias/pedestal level to subtract from background (default: 0)
-                     Only used if use_adaptive_noise_floor=False
-                     If bias_image is provided and pedestal=0, pedestal is calculated from bias_image
             correct_overlaps: If True, exclude stars with overlapping apertures/annuli (default: False)
-                            Excludes CRITICAL and HIGH overlaps to prevent contamination
+            saturation_threshold: Pixel value threshold for saturation detection (default: 250)
 
         Returns:
             Tuple of (sqm_value, details_dict) where:
@@ -358,17 +344,12 @@ def calculate(
                 details_dict: Dictionary with intermediate values for diagnostics
 
         Example:
-            # Using local annulus backgrounds (handles uneven backgrounds)
             sqm_value, details = sqm_calculator.calculate(
                 centroids=all_centroids,
                 solution=tetra3_solution,
                 image=np_image,
-                bias_image=bias_frame,
+                exposure_sec=0.5,
                 altitude_deg=45.0,
-                aperture_radius=5,
-                annulus_inner_radius=6,
-                annulus_outer_radius=14,
-                correct_overlaps=True  # Exclude overlapping stars
             )
 
             if sqm_value:
@@ -423,7 +404,7 @@ def calculate(
 
                 logger.info(
                     f"Overlap correction: excluded {n_stars_excluded}/{n_stars_original} stars "
-                    f"({n_stars_excluded*100//n_stars_original}%), using {len(valid_indices)} stars"
+                    f"({n_stars_excluded * 100 // n_stars_original}%), using {len(valid_indices)} stars"
                 )
 
                 if len(valid_indices) < 3:
@@ -432,61 +413,52 @@ def calculate(
                     )
                     return None, {}
 
-        # 0. Determine noise floor / pedestal
-        noise_floor_details: Dict[str, Any] = {}
+        # 0. Determine noise floor / pedestal using adaptive estimation
+        noise_floor, noise_floor_details = self.noise_estimator.estimate_noise_floor(
+            image=image,
+            exposure_sec=exposure_sec,
+            percentile=5.0,
+        )
+        # Pedestal = bias_offset + dark_current_contribution
+        # - Bias offset: electronic pedestal, systematic offset - SUBTRACT
+        # - Dark current mean: thermal electrons, systematic offset - SUBTRACT
+        # - Read noise: random fluctuation around 0 - do NOT subtract
+        # For processed images, dark_current_contribution is ~0 (ISP handles it)
+        bias_offset = noise_floor_details.get("bias_offset", 0.0)
+        dark_current_contrib = noise_floor_details.get("dark_current_contribution", 0.0)
+        pedestal = bias_offset + dark_current_contrib
 
-        if self.use_adaptive_noise_floor and self.noise_estimator is not None:
-            # Use adaptive noise floor estimation
-            noise_floor, noise_floor_details = (
-                self.noise_estimator.estimate_noise_floor(
-                    image=image,
-                    exposure_sec=exposure_sec,
-                    percentile=5.0,
-                )
-            )
-            pedestal = noise_floor
+        logger.debug(
+            f"Adaptive noise floor: {noise_floor:.1f} ADU, "
+            f"pedestal={pedestal:.1f} (bias={bias_offset:.1f} + dark={dark_current_contrib:.1f}) "
+            f"(dark_px={noise_floor_details['dark_pixel_smoothed']:.1f}, "
+            f"theory={noise_floor_details['theoretical_floor']:.1f}, "
+            f"valid={noise_floor_details['is_valid']})"
+        )
 
+        # Check if zero-sec sample requested
+        if noise_floor_details.get("request_zero_sec_sample"):
             logger.info(
-                f"Adaptive noise floor: {noise_floor:.1f} ADU "
-                f"(dark_px={noise_floor_details['dark_pixel_smoothed']:.1f}, "
-                f"theory={noise_floor_details['theoretical_floor']:.1f}, "
-                f"valid={noise_floor_details['is_valid']})"
+                "Zero-second calibration sample requested by noise estimator "
+                "(will be captured in next cycle)"
             )
 
-            # Check if zero-sec sample requested
-            if noise_floor_details.get("request_zero_sec_sample"):
-                logger.info(
-                    "Zero-second calibration sample requested by noise estimator "
-                    "(will be captured in next cycle)"
-                )
-        else:
-            # Use manual pedestal (legacy mode)
-            if bias_image is not None and pedestal == 0.0:
-                pedestal = float(np.median(bias_image))
-                logger.debug(f"Pedestal from bias: {pedestal:.2f} ADU")
-            elif pedestal > 0:
-                logger.debug(f"Using manual pedestal: {pedestal:.2f} ADU")
-            else:
-                logger.debug("No pedestal applied")
-
         # 1. Measure star fluxes with local background from annulus
-        star_fluxes, local_backgrounds = self._measure_star_flux_with_local_background(
-            image,
-            matched_centroids_arr,
-            aperture_radius,
-            annulus_inner_radius,
-            annulus_outer_radius,
+        star_fluxes, local_backgrounds, n_saturated = (
+            self._measure_star_flux_with_local_background(
+                image,
+                matched_centroids_arr,
+                aperture_radius,
+                annulus_inner_radius,
+                annulus_outer_radius,
+                saturation_threshold,
+            )
         )
 
-        # 1a. Estimate pedestal from median local background if enabled and not already set
-        if (
-            self.pedestal_from_background
-            and pedestal == 0.0
-            and len(local_backgrounds) > 0
-        ):
-            pedestal = float(np.median(local_backgrounds))
-            logger.debug(
-                f"Pedestal estimated from median(local_backgrounds): {pedestal:.2f} ADU"
+        if n_saturated > 0:
+            logger.info(
+                f"Excluded {n_saturated}/{len(matched_centroids_arr)} saturated stars "
+                f"(threshold={saturation_threshold})"
             )
 
         # 2. Calculate sky background from median of local backgrounds
@@ -516,16 +488,25 @@ def calculate(
         # 5. Convert background to flux density (ADU per arcsec²)
         background_flux_density = background_corrected / self.arcsec_squared_per_pixel
 
-        # 6. Calculate raw SQM
+        # 6. Calculate SQM (before extinction correction)
         if background_flux_density <= 0:
             logger.error(f"Invalid background flux density: {background_flux_density}")
             return None, {}
 
-        sqm_raw = mzero - 2.5 * np.log10(background_flux_density)
+        sqm_uncorrected = mzero - 2.5 * np.log10(background_flux_density)
 
-        # 7. Apply atmospheric extinction correction
-        extinction_correction = self._atmospheric_extinction(altitude_deg)
-        sqm_final = sqm_raw + extinction_correction
+        # 7. Apply atmospheric extinction correction (ASTAP convention)
+        # Following ASTAP: zenith is reference point where extinction = 0
+        # Only ADDITIONAL extinction below zenith is added: 0.28 * (airmass - 1)
+        # This allows comparing measurements at different altitudes
+        extinction_for_altitude = self._atmospheric_extinction(
+            altitude_deg
+        )  # 0.28*(airmass-1)
+
+        # Main SQM value: no extinction correction (raw measurement)
+        sqm_final = sqm_uncorrected
+        # Altitude-corrected value: adds extinction for altitude comparison
+        sqm_altitude_corrected = sqm_uncorrected + extinction_for_altitude
 
         # Filter out None values for statistics in diagnostics
         valid_mzeros_for_stats = [mz for mz in mzeros if mz is not None]
@@ -540,24 +521,12 @@ def calculate(
             "n_matched_stars_original": n_stars_original,
             "overlap_correction_enabled": correct_overlaps,
             "n_stars_excluded_overlaps": n_stars_excluded,
+            "n_stars_excluded_saturation": n_saturated,
+            "saturation_threshold": saturation_threshold,
             "background_per_pixel": background_per_pixel,
             "background_method": "local_annulus",
             "pedestal": pedestal,
-            "pedestal_source": (
-                "adaptive_noise_floor"
-                if self.use_adaptive_noise_floor and self.noise_estimator is not None
-                else (
-                    "bias_image"
-                    if bias_image is not None
-                    else (
-                        "median_local_backgrounds"
-                        if pedestal > 0
-                        and bias_image is None
-                        and self.pedestal_from_background
-                        else ("manual" if pedestal > 0 else "none")
-                    )
-                )
-            ),
+            "pedestal_source": self._determine_pedestal_source(),
             "noise_floor_details": noise_floor_details if noise_floor_details else None,
             "exposure_sec": exposure_sec,
             "background_corrected": background_corrected,
@@ -572,10 +541,11 @@ def calculate(
                 float(np.min(valid_mzeros_for_stats)),
                 float(np.max(valid_mzeros_for_stats)),
             ),
-            "sqm_raw": sqm_raw,
+            "sqm_uncorrected": sqm_uncorrected,
             "altitude_deg": altitude_deg,
-            "extinction_correction": extinction_correction,
+            "extinction_for_altitude": extinction_for_altitude,
             "sqm_final": sqm_final,
+            "sqm_altitude_corrected": sqm_altitude_corrected,
             # Per-star details for diagnostics
             "star_centroids": matched_centroids_arr.tolist(),
             "star_mags": star_mags,
@@ -587,102 +557,8 @@ def calculate(
         logger.debug(
             f"SQM: mzero={mzero:.2f}±{np.std(valid_mzeros_for_stats):.2f}, "
             f"bg={background_flux_density:.6f} ADU/arcsec², pedestal={pedestal:.2f}, "
-            f"raw={sqm_raw:.2f}, extinction={extinction_correction:.2f}, final={sqm_final:.2f}"
+            f"raw={sqm_uncorrected:.2f}, ext_alt={extinction_for_altitude:.2f}, "
+            f"final={sqm_final:.2f}, alt_corr={sqm_altitude_corrected:.2f}"
         )
 
         return sqm_final, details
-
-
-def update_sqm_if_needed(
-    shared_state,
-    sqm_calculator: SQM,
-    centroids: list,
-    solution: dict,
-    image: np.ndarray,
-    exposure_sec: float,
-    altitude_deg: float,
-    calculation_interval_seconds: float = 5.0,
-    aperture_radius: int = 5,
-    annulus_inner_radius: int = 6,
-    annulus_outer_radius: int = 14,
-) -> bool:
-    """
-    Check if SQM needs updating and calculate/store new value if needed.
-
-    This function encapsulates all the logic for time-based SQM updates:
-    - Checks if enough time has passed since last update
-    - Calculates new SQM value if needed
-    - Updates shared state with new SQM object
-    - Handles all timestamp conversions and error cases
-
-    Args:
-        shared_state: SharedStateObj instance to read/write SQM state
-        sqm_calculator: SQM calculator instance
-        centroids: List of detected star centroids
-        solution: Tetra3 solve solution with matched stars
-        image: Raw image array
-        exposure_sec: Exposure time in seconds (required for adaptive noise floor)
-        altitude_deg: Altitude in degrees for extinction correction
-        calculation_interval_seconds: Minimum time between calculations (default: 5.0)
-        aperture_radius: Aperture radius for photometry (default: 5)
-        annulus_inner_radius: Inner annulus radius (default: 6)
-        annulus_outer_radius: Outer annulus radius (default: 14)
-
-    Returns:
-        bool: True if SQM was calculated and updated, False otherwise
-    """
-    # Get current SQM state from shared state
-    current_sqm = shared_state.sqm()
-    current_time = time.time()
-
-    # Check if we should calculate SQM:
-    # - No previous calculation (last_update is None), OR
-    # - Enough time has passed since last update
-    should_calculate = current_sqm.last_update is None
-
-    if current_sqm.last_update is not None:
-        try:
-            last_update_time = datetime.fromisoformat(
-                current_sqm.last_update
-            ).timestamp()
-            should_calculate = (
-                current_time - last_update_time
-            ) >= calculation_interval_seconds
-        except (ValueError, AttributeError):
-            # If timestamp parsing fails, recalculate
-            logger.warning("Failed to parse SQM timestamp, recalculating")
-            should_calculate = True
-
-    if not should_calculate:
-        return False
-
-    # Calculate new SQM value
-    try:
-        sqm_value, _ = sqm_calculator.calculate(
-            centroids=centroids,
-            solution=solution,
-            image=image,
-            exposure_sec=exposure_sec,
-            altitude_deg=altitude_deg,
-            aperture_radius=aperture_radius,
-            annulus_inner_radius=annulus_inner_radius,
-            annulus_outer_radius=annulus_outer_radius,
-        )
-
-        if sqm_value is not None:
-            # Create new SQM state object
-            new_sqm_state = SQMState(
-                value=sqm_value,
-                source="Calculated",
-                last_update=datetime.now().isoformat(),
-            )
-            shared_state.set_sqm(new_sqm_state)
-            logger.debug(f"SQM: {sqm_value:.2f} mag/arcsec²")
-            return True
-        else:
-            logger.warning("SQM calculation returned None")
-            return False
-
-    except Exception as e:
-        logger.error(f"SQM calculation failed: {e}", exc_info=True)
-        return False
diff --git a/python/PiFinder/state.py b/python/PiFinder/state.py
index 03a979855..b854dc5a0 100644
--- a/python/PiFinder/state.py
+++ b/python/PiFinder/state.py
@@ -16,7 +16,6 @@
 from typing import Optional
 from dataclasses import dataclass, asdict
 import json
-from timezonefinder import TimezoneFinder
 
 logger = logging.getLogger("SharedState")
 
@@ -146,19 +145,13 @@ class SQM:
     Sky Quality Meter - represents the sky brightness measurement.
     """
 
-    value: float = (
-        20.15  # mag/arcsec² - default typical dark sky value (processed 8-bit)
-    )
-    value_raw: Optional[float] = (
-        None  # mag/arcsec² - from raw 16-bit pipeline (more accurate)
-    )
+    value: float = 20.15  # mag/arcsec² - default typical dark sky value
     source: str = "None"  # "None", "Calculated", "Manual", etc.
     last_update: Optional[str] = None  # ISO timestamp of last update
 
     def __str__(self):
-        raw_str = f", raw={self.value_raw:.2f}" if self.value_raw is not None else ""
         return (
-            f"SQM(value={self.value:.2f} mag/arcsec²{raw_str}, "
+            f"SQM(value={self.value:.2f} mag/arcsec², "
             f"source={self.source}, "
             f"last_update={self.last_update or 'Never'})"
         )
@@ -244,7 +237,7 @@ def from_json(cls, json_str):
 
 
 class SharedStateObj:
-    def __init__(self):
+    def __init__(self) -> None:
         self.__power_state = 1
         # self.__solve_state
         # None = No solve attempted yet
@@ -264,6 +257,10 @@ def __init__(self):
         self.__imu = None
         self.__location: Location = Location()
         self.__sqm: SQM = SQM()
+        self.__noise_floor: float = (
+            10.0  # Adaptive noise floor in ADU (default fallback)
+        )
+        self.__sqm_details: dict = {}  # Full SQM calculation details for calibration
         self.__datetime = None
         self.__datetime_time = None
         self.__screen = None
@@ -274,7 +271,7 @@ def __init__(self):
         self.__cam_raw = None
         # Are we prepared to do alt/az math
         # We need gps lock and datetime
-        self.__tz_finder = TimezoneFinder()
+        self.__tz_finder = None
 
     def serialize(self, output_file):
         with open(output_file, "wb") as f:
@@ -352,6 +349,10 @@ def set_location(self, v):
         # if value is not none, set the timezone
         # before saving the value
         if v:
+            if self.__tz_finder is None:
+                from timezonefinder import TimezoneFinder
+
+                self.__tz_finder = TimezoneFinder()
             v.timezone = self.__tz_finder.timezone_at(lat=v.lat, lng=v.lon)
         self.__location = v
 
@@ -363,6 +364,22 @@ def set_sqm(self, sqm: SQM):
         """Update the SQM value"""
         self.__sqm = sqm
 
+    def noise_floor(self) -> float:
+        """Return the adaptive noise floor in ADU"""
+        return self.__noise_floor
+
+    def set_noise_floor(self, v: float):
+        """Update the adaptive noise floor (from SQM calculator)"""
+        self.__noise_floor = v
+
+    def sqm_details(self) -> dict:
+        """Return the full SQM calculation details"""
+        return self.__sqm_details
+
+    def set_sqm_details(self, v: dict):
+        """Update the SQM calculation details"""
+        self.__sqm_details = v
+
     def get_sky_brightness(self):
         """Return just the numeric SQM value for convenience"""
         return self.__sqm.value
diff --git a/python/PiFinder/sys_utils.py b/python/PiFinder/sys_utils.py
index 1760edc38..37f1970a5 100644
--- a/python/PiFinder/sys_utils.py
+++ b/python/PiFinder/sys_utils.py
@@ -1,411 +1,592 @@
-import glob
+"""
+NixOS system utilities for PiFinder.
+
+Uses:
+- NetworkManager GLib bindings (gi.repository.NM) for WiFi management
+- python-pam for password verification
+- D-Bus for hostname/reboot/shutdown
+- stdlib zipfile for backup/restore
+- NixOS specialisations for camera switching
+- systemd service for software updates
+"""
+
+import os
 import re
-from typing import Dict, Any
+import subprocess
+import logging
+from pathlib import Path
+from typing import Optional
 
-import sh
-from sh import wpa_cli, unzip, su, passwd
+import dbus
+import pam
+import gi
 
-import socket
-from PiFinder import utils
-import logging
+gi.require_version("NM", "1.0")
+from gi.repository import GLib, NM  # noqa: E402
 
-BACKUP_PATH = "/home/pifinder/PiFinder_data/PiFinder_backup.zip"
+from PiFinder.sys_utils_base import (  # noqa: E402
+    NetworkBase,
+    BACKUP_PATH,  # noqa: F401
+    remove_backup,  # noqa: F401
+    backup_userdata,  # noqa: F401
+    restore_userdata,  # noqa: F401
+    restart_pifinder,  # noqa: F401
+)
 
-logger = logging.getLogger("SysUtils")
+AP_CONNECTION_NAME = "PiFinder-AP"
 
+logger = logging.getLogger("SysUtils.NixOS")
 
-class Network:
-    """
-    Provides wifi network info
-    """
 
-    def __init__(self):
-        self.wifi_txt = f"{utils.pifinder_dir}/wifi_status.txt"
-        with open(self.wifi_txt, "r") as wifi_f:
-            self._wifi_mode = wifi_f.read()
+# ---------------------------------------------------------------------------
+# Internal helpers
+# ---------------------------------------------------------------------------
 
-        self.populate_wifi_networks()
 
-    def populate_wifi_networks(self) -> None:
-        wpa_supplicant_path = "/etc/wpa_supplicant/wpa_supplicant.conf"
-        self._wifi_networks = []
-        try:
-            with open(wpa_supplicant_path, "r") as wpa_conf:
-                contents = wpa_conf.readlines()
-        except IOError as e:
-            logger.error(f"Error reading wpa_supplicant.conf: {e}")
-            return
+def _run(cmd: list[str], **kwargs) -> subprocess.CompletedProcess:
+    """Run a command, logging failures."""
+    result = subprocess.run(cmd, capture_output=True, text=True, **kwargs)
+    if result.returncode != 0:
+        logger.error(
+            "Command %s failed (rc=%d): %s",
+            cmd,
+            result.returncode,
+            result.stderr.strip(),
+        )
+    return result
 
-        self._wifi_networks = Network._parse_wpa_supplicant(contents)
 
-    @staticmethod
-    def _parse_wpa_supplicant(contents: list[str]) -> list:
-        """
-        Parses wpa_supplicant.conf to get current config
-        """
-        wifi_networks = []
-        network_dict: Dict[str, Any] = {}
-        network_id = 0
-        in_network_block = False
-        for line in contents:
-            line = line.strip()
-            if line.startswith("network={"):
-                in_network_block = True
-                network_dict = {
-                    "id": network_id,
-                    "ssid": None,
-                    "psk": None,
-                    "key_mgmt": None,
-                }
+def _nm_client() -> NM.Client:
+    """Create a NetworkManager client (synchronous)."""
+    return NM.Client.new(None)
 
-            elif line == "}" and in_network_block:
-                in_network_block = False
-                wifi_networks.append(network_dict)
-                network_id += 1
 
-            elif in_network_block:
-                match = re.match(r"(\w+)=(.+)", line)
-                if match:
-                    key, value = match.groups()
-                    if key in network_dict:
-                        network_dict[key] = value.strip('"')
+def _nm_run_async(async_fn, *args):
+    """
+    Run an async NM operation synchronously by spinning a local GLib MainLoop.
+    """
+    loop = GLib.MainLoop.new(None, False)
+    state = {"result": None, "error": None}
 
-        return wifi_networks
+    def callback(source, async_result, _user_data):
+        try:
+            method_name = async_fn.__name__.replace("_async", "_finish")
+            finish_fn = getattr(source, method_name)
+            state["result"] = finish_fn(async_result)
+        except Exception as e:
+            state["error"] = e
+        finally:
+            loop.quit()
 
-    def get_wifi_networks(self):
-        return self._wifi_networks
+    async_fn(*args, callback, None)
+    loop.run()
 
-    def delete_wifi_network(self, network_id):
-        """
-        Immediately deletes a wifi network
-        """
-        self._wifi_networks.pop(network_id)
+    if state["error"]:
+        raise state["error"]
+    return state["result"]
 
-        with open("/etc/wpa_supplicant/wpa_supplicant.conf", "r") as wpa_conf:
-            wpa_contents = list(wpa_conf)
 
-        with open("/etc/wpa_supplicant/wpa_supplicant.conf", "w") as wpa_conf:
-            in_networks = False
-            for line in wpa_contents:
-                if not in_networks:
-                    if line.startswith("network={"):
-                        in_networks = True
-                    else:
-                        wpa_conf.write(line)
+def _get_system_bus() -> dbus.SystemBus:
+    return dbus.SystemBus()
 
-            for network in self._wifi_networks:
-                ssid = network["ssid"]
-                key_mgmt = network["key_mgmt"]
-                psk = network["psk"]
 
-                wpa_conf.write("\nnetwork={\n")
-                wpa_conf.write(f'\tssid="{ssid}"\n')
-                if key_mgmt == "WPA-PSK":
-                    wpa_conf.write(f'\tpsk="{psk}"\n')
-                wpa_conf.write(f"\tkey_mgmt={key_mgmt}\n")
+# ---------------------------------------------------------------------------
+# Network class — WiFi management via NM GLib bindings
+# ---------------------------------------------------------------------------
 
-                wpa_conf.write("}\n")
 
+class Network(NetworkBase):
+    """
+    Provides wifi network info via NetworkManager GLib bindings (libnm).
+    """
+
+    def __init__(self):
+        self._client = _nm_client()
+        self._wifi_networks: list[dict] = []
+        self._wifi_mode = self._detect_wifi_mode()
+        self.populate_wifi_networks()
+
+    def _detect_wifi_mode(self) -> str:
+        """Detect whether we're in AP or Client mode."""
+        for ac in self._client.get_active_connections():
+            if ac.get_id() == AP_CONNECTION_NAME:
+                return "AP"
+        return "Client"
+
+    def populate_wifi_networks(self) -> None:
+        """Get saved WiFi connections from NetworkManager."""
+        self._wifi_networks = []
+        network_id = 0
+        for conn in self._client.get_connections():
+            s_wifi = conn.get_setting_wireless()
+            if s_wifi is None:
+                continue
+            if conn.get_id() == AP_CONNECTION_NAME:
+                continue
+            ssid_bytes = s_wifi.get_ssid()
+            ssid = ssid_bytes.get_data().decode("utf-8") if ssid_bytes else ""
+            self._wifi_networks.append(
+                {
+                    "id": network_id,
+                    "ssid": ssid,
+                    "psk": None,
+                    "key_mgmt": "WPA-PSK",
+                }
+            )
+            network_id += 1
+
+    def delete_wifi_network(self, network_id):
+        """Delete a saved WiFi connection."""
+        if network_id < 0 or network_id >= len(self._wifi_networks):
+            logger.error("Invalid network_id: %d", network_id)
+            return
+        ssid = self._wifi_networks[network_id]["ssid"]
+        for conn in self._client.get_connections():
+            if conn.get_id() == ssid:
+                try:
+                    _nm_run_async(conn.delete_async, None)
+                except Exception as e:
+                    logger.error("Failed to delete connection '%s': %s", ssid, e)
+                break
         self.populate_wifi_networks()
 
     def add_wifi_network(self, ssid, key_mgmt, psk=None):
-        """
-        Add a wifi network
-        """
-        with open("/etc/wpa_supplicant/wpa_supplicant.conf", "a") as wpa_conf:
-            wpa_conf.write("\nnetwork={\n")
-            wpa_conf.write(f'\tssid="{ssid}"\n')
-            if key_mgmt == "WPA-PSK":
-                wpa_conf.write(f'\tpsk="{psk}"\n')
-            wpa_conf.write(f"\tkey_mgmt={key_mgmt}\n")
+        """Add and connect to a WiFi network."""
+        profile = NM.SimpleConnection.new()
+
+        s_con = NM.SettingConnection.new()
+        s_con.set_property(NM.SETTING_CONNECTION_ID, ssid)
+        s_con.set_property(NM.SETTING_CONNECTION_TYPE, "802-11-wireless")
+        s_con.set_property(NM.SETTING_CONNECTION_AUTOCONNECT, True)
+        profile.add_setting(s_con)
+
+        s_wifi = NM.SettingWireless.new()
+        s_wifi.set_property(
+            NM.SETTING_WIRELESS_SSID,
+            GLib.Bytes.new(ssid.encode("utf-8")),
+        )
+        s_wifi.set_property(NM.SETTING_WIRELESS_MODE, "infrastructure")
+        profile.add_setting(s_wifi)
+
+        if key_mgmt == "WPA-PSK" and psk:
+            s_wsec = NM.SettingWirelessSecurity.new()
+            s_wsec.set_property(NM.SETTING_WIRELESS_SECURITY_KEY_MGMT, "wpa-psk")
+            s_wsec.set_property(NM.SETTING_WIRELESS_SECURITY_PSK, psk)
+            profile.add_setting(s_wsec)
+
+        s_ip4 = NM.SettingIP4Config.new()
+        s_ip4.set_property(NM.SETTING_IP_CONFIG_METHOD, "auto")
+        profile.add_setting(s_ip4)
 
-            wpa_conf.write("}\n")
+        try:
+            _nm_run_async(
+                self._client.add_and_activate_connection_async,
+                profile,
+                self._client.get_device_by_iface("wlan0"),
+                None,
+                None,
+            )
+        except Exception as e:
+            logger.error("Failed to add WiFi network '%s': %s", ssid, e)
 
         self.populate_wifi_networks()
-        if self._wifi_mode == "Client":
-            # Restart the supplicant
-            wpa_cli("reconfigure")
-
-    def get_ap_name(self):
-        with open("/etc/hostapd/hostapd.conf", "r") as conf:
-            for line in conf:
-                if line.startswith("ssid="):
-                    return line[5:-1]
-        return "UNKN"
-
-    def set_ap_name(self, ap_name):
+
+    def get_ap_name(self) -> str:
+        """Get the current AP SSID from the PiFinder-AP profile."""
+        for conn in self._client.get_connections():
+            if conn.get_id() == AP_CONNECTION_NAME:
+                s_wifi = conn.get_setting_wireless()
+                if s_wifi:
+                    ssid_bytes = s_wifi.get_ssid()
+                    if ssid_bytes:
+                        return ssid_bytes.get_data().decode("utf-8")
+        return "PiFinderAP"
+
+    def set_ap_name(self, ap_name: str) -> None:
+        """Change the AP SSID."""
         if ap_name == self.get_ap_name():
             return
-        with open("/tmp/hostapd.conf", "w") as new_conf:
-            with open("/etc/hostapd/hostapd.conf", "r") as conf:
-                for line in conf:
-                    if line.startswith("ssid="):
-                        line = f"ssid={ap_name}\n"
-                    new_conf.write(line)
-        sh.sudo("cp", "/tmp/hostapd.conf", "/etc/hostapd/hostapd.conf")
-
-    def get_host_name(self):
-        return socket.gethostname()
+        for conn in self._client.get_connections():
+            if conn.get_id() == AP_CONNECTION_NAME:
+                s_wifi = conn.get_setting_wireless()
+                if s_wifi:
+                    s_wifi.set_property(
+                        NM.SETTING_WIRELESS_SSID,
+                        GLib.Bytes.new(ap_name.encode("utf-8")),
+                    )
+                    try:
+                        _nm_run_async(conn.commit_changes_async, True, None)
+                    except Exception as e:
+                        logger.error("Failed to update AP SSID: %s", e)
+                return
 
     def get_connected_ssid(self) -> str:
-        """
-        Returns the SSID of the connected wifi network or
-        None if not connected or in AP mode
-        """
+        """Returns the SSID of the connected wifi network."""
         if self.wifi_mode() == "AP":
             return ""
-        # get output from iwgetid
-        try:
-            iwgetid = sh.Command("iwgetid")
-            _t = iwgetid(_ok_code=(0, 255)).strip()
-            return _t.split(":")[-1].strip('"')
-        except sh.CommandNotFound:
-            return "ssid_not_found"
+        device = self._client.get_device_by_iface("wlan0")
+        if device is None:
+            return ""
+        ac = device.get_active_connection()
+        if ac is None:
+            return ""
+        conn = ac.get_connection()
+        if conn is None:
+            return ""
+        s_wifi = conn.get_setting_wireless()
+        if s_wifi is None:
+            return ""
+        ssid_bytes = s_wifi.get_ssid()
+        if ssid_bytes is None:
+            return ""
+        return ssid_bytes.get_data().decode("utf-8")
 
-    def set_host_name(self, hostname) -> None:
-        if hostname == self.get_host_name():
-            return
-        _result = sh.sudo("hostnamectl", "set-hostname", hostname)
+    _HOSTNAME_RE = re.compile(r"^[a-zA-Z0-9]([a-zA-Z0-9-]{0,61}[a-zA-Z0-9])?$")
 
-    def wifi_mode(self):
-        return self._wifi_mode
+    def set_host_name(self, hostname: str) -> None:
+        """Set kernel hostname and update avahi mDNS announcement.
 
-    def set_wifi_mode(self, mode):
-        if mode == self._wifi_mode:
+        NixOS makes /etc/hostname read-only (nix store symlink), so we set
+        the kernel hostname directly and persist to a file that a boot
+        service reads on startup.
+        """
+        hostname = hostname.strip()
+        if not self._HOSTNAME_RE.match(hostname):
+            logger.warning("Invalid hostname rejected: %r", hostname)
             return
-        if mode == "AP":
-            go_wifi_ap()
-
-        if mode == "Client":
-            go_wifi_cli()
-
-    def local_ip(self):
-        if self._wifi_mode == "AP":
-            return "10.10.10.1"
-
-        s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        if hostname == self.get_host_name():
+            return
+        subprocess.run(["sudo", "hostname", hostname], check=False)
+        result = subprocess.run(["sudo", "avahi-set-host-name", hostname], check=False)
+        if result.returncode != 0:
+            logger.warning(
+                "avahi-set-host-name failed (rc=%d), restarting avahi-daemon",
+                result.returncode,
+            )
+            subprocess.run(
+                ["sudo", "systemctl", "restart", "avahi-daemon.service"],
+                check=False,
+            )
+        data_dir = Path(os.environ.get("PIFINDER_DATA", "/home/pifinder/PiFinder_data"))
+        (data_dir / "hostname").write_text(hostname)
+
+    def _go_ap(self) -> None:
+        """Activate the AP connection."""
+        self._activate_connection(AP_CONNECTION_NAME)
+
+    def _go_client(self) -> None:
+        """Deactivate the AP connection (fall back to client)."""
+        self._deactivate_connection(AP_CONNECTION_NAME)
+
+    def _activate_connection(self, name: str) -> None:
+        """Activate a saved connection by name."""
+        conn = None
+        for c in self._client.get_connections():
+            if c.get_id() == name:
+                conn = c
+                break
+        if conn is None:
+            logger.error("Connection '%s' not found", name)
+            return
+        device = self._client.get_device_by_iface("wlan0")
         try:
-            s.connect(("192.255.255.255", 1))
-            ip = s.getsockname()[0]
-        except Exception:
-            ip = "NONE"
-        finally:
-            s.close()
-        return ip
+            _nm_run_async(
+                self._client.activate_connection_async,
+                conn,
+                device,
+                None,
+                None,
+            )
+        except Exception as e:
+            logger.error("Failed to activate '%s': %s", name, e)
+
+    def _deactivate_connection(self, name: str) -> None:
+        """Deactivate an active connection by name."""
+        for ac in self._client.get_active_connections():
+            if ac.get_id() == name:
+                try:
+                    _nm_run_async(
+                        self._client.deactivate_connection_async,
+                        ac,
+                        None,
+                    )
+                except Exception as e:
+                    logger.error("Failed to deactivate '%s': %s", name, e)
+                return
+        logger.warning("No active connection named '%s' to deactivate", name)
+
+
+# ---------------------------------------------------------------------------
+# Module-level WiFi switching (called by callbacks.py and status.py)
+# ---------------------------------------------------------------------------
+
+_network_instance: Optional[Network] = None
+
+
+def _get_network() -> Network:
+    global _network_instance
+    if _network_instance is None:
+        _network_instance = Network()
+    return _network_instance
 
 
 def go_wifi_ap():
     logger.info("SYS: Switching to AP")
-    sh.sudo("/home/pifinder/PiFinder/switch-ap.sh")
+    net = _get_network()
+    net.set_wifi_mode("AP")
     return True
 
 
 def go_wifi_cli():
     logger.info("SYS: Switching to Client")
-    sh.sudo("/home/pifinder/PiFinder/switch-cli.sh")
+    net = _get_network()
+    net.set_wifi_mode("Client")
     return True
 
 
-def remove_backup():
-    """
-    Removes backup file
-    """
-    sh.sudo("rm", BACKUP_PATH, _ok_code=(0, 1))
+# ---------------------------------------------------------------------------
+# System control (systemctl subprocess + D-Bus for reboot/shutdown)
+# ---------------------------------------------------------------------------
 
 
-def backup_userdata():
-    """
-    Back up userdata to a single zip file for later
-    restore.  Returns the path to the zip file.
+def restart_system() -> None:
+    """Restart the system via D-Bus to login1."""
+    logger.info("SYS: Initiating System Restart")
+    try:
+        bus = _get_system_bus()
+        login1 = bus.get_object(
+            "org.freedesktop.login1",
+            "/org/freedesktop/login1",
+        )
+        manager = dbus.Interface(login1, "org.freedesktop.login1.Manager")
+        manager.Reboot(False)
+    except dbus.DBusException as e:
+        logger.error("D-Bus reboot failed, falling back to subprocess: %s", e)
+        _run(["sudo", "shutdown", "-r", "now"])
 
-    Backs up:
-        config.json
-        observations.db
-        obslist/*
-    """
 
-    remove_backup()
+def shutdown() -> None:
+    """Shut down the system via D-Bus to login1."""
+    logger.info("SYS: Initiating Shutdown")
+    try:
+        bus = _get_system_bus()
+        login1 = bus.get_object(
+            "org.freedesktop.login1",
+            "/org/freedesktop/login1",
+        )
+        manager = dbus.Interface(login1, "org.freedesktop.login1.Manager")
+        manager.PowerOff(False)
+    except dbus.DBusException as e:
+        logger.error("D-Bus shutdown failed, falling back to subprocess: %s", e)
+        _run(["sudo", "shutdown", "now"])
 
-    _zip = sh.Command("zip")
-    _zip(
-        BACKUP_PATH,
-        "/home/pifinder/PiFinder_data/config.json",
-        "/home/pifinder/PiFinder_data/observations.db",
-        glob.glob("/home/pifinder/PiFinder_data/obslists/*"),
-    )
 
-    return BACKUP_PATH
+# ---------------------------------------------------------------------------
+# Software updates — async upgrade via systemd service
+# ---------------------------------------------------------------------------
 
+UPGRADE_STATE_IDLE = "idle"
+UPGRADE_STATE_RUNNING = "running"
+UPGRADE_STATE_SUCCESS = "success"
+UPGRADE_STATE_FAILED = "failed"
 
-def restore_userdata(zip_path):
-    """
-    Compliment to backup_userdata
-    restores userdata
-    OVERWRITES existing data!
-    """
-    unzip("-d", "/", "-o", zip_path)
+UPGRADE_REF_FILE = Path("/run/pifinder/upgrade-ref")
+UPGRADE_STATUS_FILE = Path("/run/pifinder/upgrade-status")
 
 
-def restart_pifinder() -> None:
-    """
-    Uses systemctl to restart the PiFinder
-    service
-    """
-    logger.info("SYS: Restarting PiFinder")
-    sh.sudo("systemctl", "restart", "pifinder")
+def start_upgrade(ref: str = "release") -> bool:
+    """Start pifinder-upgrade.service with a specific git ref."""
+    try:
+        UPGRADE_REF_FILE.write_text(ref)
+    except OSError as e:
+        logger.error("Failed to write upgrade ref file: %s", e)
+        return False
+
+    # Clean stale status from previous run
+    UPGRADE_STATUS_FILE.unlink(missing_ok=True)
+
+    _run(["sudo", "systemctl", "reset-failed", "pifinder-upgrade.service"])
+    result = _run(
+        [
+            "sudo",
+            "systemctl",
+            "start",
+            "--no-block",
+            "pifinder-upgrade.service",
+        ]
+    )
+    return result.returncode == 0
 
 
-def restart_system() -> None:
-    """
-    Restarts the system
+def get_upgrade_state() -> str:
+    """Poll upgrade status file written by the upgrade service."""
+    try:
+        status = UPGRADE_STATUS_FILE.read_text().strip()
+    except FileNotFoundError:
+        # Service hasn't written status yet — check if it's still starting
+        result = _run(["systemctl", "is-active", "pifinder-upgrade.service"])
+        svc = result.stdout.strip()
+        if svc in ("activating", "active"):
+            return UPGRADE_STATE_RUNNING
+        if svc == "failed":
+            return UPGRADE_STATE_FAILED
+        return UPGRADE_STATE_IDLE
+
+    if status == "success":
+        return UPGRADE_STATE_SUCCESS
+    elif status == "failed":
+        return UPGRADE_STATE_FAILED
+    elif status.startswith("downloading") or status in ("activating", "rebooting"):
+        return UPGRADE_STATE_RUNNING
+    return UPGRADE_STATE_IDLE
+
+
+def get_upgrade_progress() -> dict:
+    """Return structured upgrade progress for UI display.
+
+    Returns dict with keys:
+      phase: "downloading" | "activating" | "rebooting" | "success" | "failed" | ""
+      done: int (paths downloaded so far)
+      total: int (total paths to download)
+      percent: int (0-100)
     """
-    logger.info("SYS: Initiating System Restart")
-    sh.sudo("shutdown", "-r", "now")
+    try:
+        raw = UPGRADE_STATUS_FILE.read_text().strip()
+    except FileNotFoundError:
+        return {"phase": "", "done": 0, "total": 0, "percent": 0}
 
+    # "downloading 5/42" format
+    if raw.startswith("downloading "):
+        parts = raw.split(" ", 1)[1].split("/")
+        try:
+            done, total = int(parts[0]), int(parts[1])
+            pct = int(done * 100 / total) if total > 0 else 0
+            return {
+                "phase": "downloading",
+                "done": done,
+                "total": total,
+                "percent": pct,
+            }
+        except (ValueError, IndexError):
+            return {"phase": "downloading", "done": 0, "total": 0, "percent": 0}
+    if raw == "activating":
+        return {"phase": "activating", "done": 0, "total": 0, "percent": 100}
+    if raw == "rebooting":
+        return {"phase": "rebooting", "done": 0, "total": 0, "percent": 100}
+    if raw == "success":
+        return {"phase": "success", "done": 0, "total": 0, "percent": 100}
+    if raw == "failed":
+        return {"phase": "failed", "done": 0, "total": 0, "percent": 0}
+    return {"phase": "", "done": 0, "total": 0, "percent": 0}
+
+
+def get_upgrade_log_tail(lines: int = 3) -> str:
+    """Last N lines from upgrade journal for UI display."""
+    result = _run(
+        [
+            "journalctl",
+            "-u",
+            "pifinder-upgrade.service",
+            "-n",
+            str(lines),
+            "--no-pager",
+            "-o",
+            "cat",
+        ]
+    )
+    return result.stdout.strip() if result.returncode == 0 else ""
 
-def shutdown() -> None:
-    """
-    shuts down the system
-    """
-    logger.info("SYS: Initiating Shutdown")
-    sh.sudo("shutdown", "now")
 
+def update_software(ref: str = "release") -> bool:
+    """Start the upgrade service (non-blocking).
 
-def update_software():
-    """
-    Uses systemctl to git pull and then restart
-    service
+    The service downloads, sets the boot profile, and reboots.
+    UI should poll get_upgrade_progress() for status.
     """
-    logger.info("SYS: Running update")
-    sh.bash("/home/pifinder/PiFinder/pifinder_update.sh")
-    return True
+    return start_upgrade(ref=ref)
 
 
-def verify_password(username, password):
-    """
-    Checks the provided password against the provided user
-    password
-    """
-    result = su(username, "-c", "echo", _in=f"{password}\n", _ok_code=(0, 1))
-    if result.exit_code == 0:
-        return True
-    else:
+# ---------------------------------------------------------------------------
+# Password management (python-pam + chpasswd)
+# ---------------------------------------------------------------------------
+
+
+def verify_password(username: str, password: str) -> bool:
+    """Verify a password against PAM."""
+    p = pam.pam()
+    return p.authenticate(username, password, service="pifinder")
+
+
+def change_password(username: str, current_password: str, new_password: str) -> bool:
+    """Change the user password via chpasswd."""
+    if not verify_password(username, current_password):
         return False
+    result = subprocess.run(
+        ["sudo", "chpasswd"],
+        input=f"{username}:{new_password}\n",
+        capture_output=True,
+        text=True,
+    )
+    return result.returncode == 0
+
+
+# ---------------------------------------------------------------------------
+# Camera switching (specialisations + reboot)
+# ---------------------------------------------------------------------------
 
+CAMERA_TYPE_FILE = "/var/lib/pifinder/camera-type"
 
-def change_password(username, current_password, new_password):
+
+def switch_camera(cam_type: str) -> None:
     """
-    Changes the PiFinder User password
+    Switch camera via NixOS specialisation.
+    Requires reboot (dtoverlay change).
     """
-    result = passwd(
-        username,
-        _in=f"{current_password}\n{new_password}\n{new_password}\n",
-        _ok_code=(0, 10),
-    )
+    logger.info("SYS: Switching camera to %s via specialisation", cam_type)
+    result = _run(["sudo", "pifinder-switch-camera", cam_type])
+    if result.returncode != 0:
+        logger.error("SYS: Camera switch failed: %s", result.stderr)
 
-    if result.exit_code == 0:
-        return True
-    else:
-        return False
+
+def get_camera_type() -> list[str]:
+    try:
+        with open(CAMERA_TYPE_FILE) as f:
+            return [f.read().strip()]
+    except FileNotFoundError:
+        return ["imx462"]
 
 
 def switch_cam_imx477() -> None:
     logger.info("SYS: Switching cam to imx477")
-    sh.sudo("python", "-m", "PiFinder.switch_camera", "imx477")
+    switch_camera("imx477")
 
 
 def switch_cam_imx296() -> None:
     logger.info("SYS: Switching cam to imx296")
-    sh.sudo("python", "-m", "PiFinder.switch_camera", "imx296")
+    switch_camera("imx296")
 
 
 def switch_cam_imx462() -> None:
     logger.info("SYS: Switching cam to imx462")
-    sh.sudo("python", "-m", "PiFinder.switch_camera", "imx462")
+    switch_camera("imx462")
 
 
-def check_and_sync_gpsd_config(baud_rate: int) -> bool:
-    """
-    Checks if GPSD configuration matches the desired baud rate,
-    and updates it only if necessary.
+# ---------------------------------------------------------------------------
+# GPSD config (declarative on NixOS — no-ops)
+# ---------------------------------------------------------------------------
 
-    Args:
-        baud_rate: The desired baud rate (9600 or 115200)
 
-    Returns:
-        True if configuration was updated, False if already correct
+def check_and_sync_gpsd_config(baud_rate: int) -> bool:
     """
-    logger.info(f"SYS: Checking GPSD config for baud rate {baud_rate}")
-
-    try:
-        # Read current config
-        with open("/etc/default/gpsd", "r") as f:
-            content = f.read()
-
-        # Determine expected GPSD_OPTIONS
-        if baud_rate == 115200:
-            # NOTE: the space before -s in the next line is really needed
-            expected_options = 'GPSD_OPTIONS=" -s 115200"'
-        else:
-            expected_options = 'GPSD_OPTIONS=""'
-
-        # Check if update is needed
-        current_match = re.search(r"^GPSD_OPTIONS=.*$", content, re.MULTILINE)
-        if current_match:
-            current_options = current_match.group(0)
-            if current_options == expected_options:
-                logger.info("SYS: GPSD config already correct, no update needed")
-                return False
-
-        # Update is needed
-        logger.info(f"SYS: GPSD config mismatch, updating to {expected_options}")
-        update_gpsd_config(baud_rate)
-        return True
-
-    except Exception as e:
-        logger.error(f"SYS: Error checking/syncing GPSD config: {e}")
-        return False
-
-
-def update_gpsd_config(baud_rate: int) -> None:
+    On NixOS, GPSD config is managed declaratively via services.nix.
+    This is a no-op.
     """
-    Updates the GPSD configuration file with the specified baud rate
-    and restarts the GPSD service.
+    logger.info("SYS: GPSD baud rate %d — managed by NixOS configuration", baud_rate)
+    return False
 
-    Args:
-        baud_rate: The baud rate to configure (9600 or 115200)
-    """
-    logger.info(f"SYS: Updating GPSD config with baud rate {baud_rate}")
 
-    try:
-        # Read the current config
-        with open("/etc/default/gpsd", "r") as f:
-            lines = f.readlines()
-
-        # Update GPSD_OPTIONS line
-        updated_lines = []
-        for line in lines:
-            if line.startswith("GPSD_OPTIONS="):
-                if baud_rate == 115200:
-                    # NOTE: the space before -s in the next line is really needed
-                    updated_lines.append('GPSD_OPTIONS=" -s 115200"\n')
-                else:
-                    updated_lines.append('GPSD_OPTIONS=""\n')
-            else:
-                updated_lines.append(line)
-
-        # Write the updated config to a temporary file
-        with open("/tmp/gpsd.conf", "w") as f:
-            f.writelines(updated_lines)
-
-        # Copy the temp file to the actual location with sudo
-        sh.sudo("cp", "/tmp/gpsd.conf", "/etc/default/gpsd")
-
-        # Restart GPSD service
-        sh.sudo("systemctl", "restart", "gpsd")
-
-        logger.info("SYS: GPSD configuration updated and service restarted")
-
-    except Exception as e:
-        logger.error(f"SYS: Error updating GPSD config: {e}")
-        raise
+def update_gpsd_config(baud_rate: int) -> None:
+    """On NixOS, GPSD configuration is declarative. This is a no-op."""
+    logger.info(
+        "SYS: GPSD config is managed declaratively on NixOS (baud=%d)", baud_rate
+    )
diff --git a/python/PiFinder/sys_utils_base.py b/python/PiFinder/sys_utils_base.py
new file mode 100644
index 000000000..0366c13b3
--- /dev/null
+++ b/python/PiFinder/sys_utils_base.py
@@ -0,0 +1,149 @@
+"""
+Abstract base for PiFinder system utilities.
+
+Defines the public API contract and shared implementations used by all
+platform backends (Debian, NixOS, fake/testing).
+"""
+
+import logging
+import socket
+import zipfile
+from abc import ABC, abstractmethod
+from pathlib import Path
+
+from PiFinder import utils
+
+BACKUP_PATH = str(utils.data_dir / "PiFinder_backup.zip")
+
+logger = logging.getLogger("SysUtils")
+
+
+# ---------------------------------------------------------------------------
+# Network ABC — shared + abstract methods
+# ---------------------------------------------------------------------------
+
+
+class NetworkBase(ABC):
+    """Base class for platform-specific Network implementations."""
+
+    _wifi_mode: str = "Client"
+    _wifi_networks: list = []
+
+    def get_host_name(self) -> str:
+        return socket.gethostname()
+
+    def local_ip(self) -> str:
+        if self._wifi_mode == "AP":
+            return "10.10.10.1"
+        s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        try:
+            s.connect(("192.255.255.255", 1))
+            ip = s.getsockname()[0]
+        except Exception:
+            ip = "NONE"
+        finally:
+            s.close()
+        return ip
+
+    def wifi_mode(self) -> str:
+        return self._wifi_mode
+
+    def get_wifi_networks(self):
+        return self._wifi_networks
+
+    def set_wifi_mode(self, mode: str) -> None:
+        if mode == self._wifi_mode:
+            return
+        if mode == "AP":
+            self._go_ap()
+        elif mode == "Client":
+            self._go_client()
+        self._wifi_mode = mode
+
+    @abstractmethod
+    def _go_ap(self) -> None: ...
+
+    @abstractmethod
+    def _go_client(self) -> None: ...
+
+    @abstractmethod
+    def populate_wifi_networks(self) -> None: ...
+
+    @abstractmethod
+    def delete_wifi_network(self, network_id) -> None: ...
+
+    @abstractmethod
+    def add_wifi_network(self, ssid, key_mgmt, psk=None) -> None: ...
+
+    @abstractmethod
+    def get_ap_name(self) -> str: ...
+
+    @abstractmethod
+    def set_ap_name(self, ap_name: str) -> None: ...
+
+    @abstractmethod
+    def get_connected_ssid(self) -> str: ...
+
+    @abstractmethod
+    def set_host_name(self, hostname: str) -> None: ...
+
+
+# ---------------------------------------------------------------------------
+# Backup / restore (stdlib zipfile — portable across all platforms)
+# ---------------------------------------------------------------------------
+
+
+def remove_backup() -> None:
+    """Removes backup file."""
+    path = Path(BACKUP_PATH)
+    if path.exists():
+        path.unlink()
+
+
+def backup_userdata() -> str:
+    """
+    Back up userdata to a single zip file.
+
+    Backs up:
+        config.json
+        observations.db
+        obslists/*
+    """
+    remove_backup()
+
+    files = [
+        utils.data_dir / "config.json",
+        utils.data_dir / "observations.db",
+    ]
+    for p in utils.data_dir.glob("obslists/*"):
+        files.append(p)
+
+    with zipfile.ZipFile(BACKUP_PATH, "w", zipfile.ZIP_DEFLATED) as zf:
+        for filepath in files:
+            filepath = Path(filepath)
+            if filepath.exists():
+                zf.write(filepath, filepath.relative_to("/"))
+
+    return BACKUP_PATH
+
+
+def restore_userdata(zip_path: str) -> None:
+    """
+    Restore userdata from a zip backup.
+    OVERWRITES existing data!
+    """
+    with zipfile.ZipFile(zip_path, "r") as zf:
+        zf.extractall("/")
+
+
+# ---------------------------------------------------------------------------
+# Service control (shared across Debian + NixOS)
+# ---------------------------------------------------------------------------
+
+
+def restart_pifinder() -> None:
+    """Restart the PiFinder service via systemctl."""
+    import subprocess
+
+    logger.info("SYS: Restarting PiFinder")
+    subprocess.run(["sudo", "systemctl", "restart", "pifinder"])
diff --git a/python/PiFinder/sys_utils_fake.py b/python/PiFinder/sys_utils_fake.py
index efe6f1405..2afc27730 100644
--- a/python/PiFinder/sys_utils_fake.py
+++ b/python/PiFinder/sys_utils_fake.py
@@ -1,129 +1,80 @@
-import socket
 import logging
 
-BACKUP_PATH = "/home/pifinder/PiFinder_data/PiFinder_backup.zip"
+from PiFinder.sys_utils_base import (
+    NetworkBase,
+    BACKUP_PATH,
+)
 
 logger = logging.getLogger("SysUtils.Fake")
 
 
-class Network:
+class Network(NetworkBase):
     """
-    Provides wifi network info
+    Fake network for testing/development.
     """
 
     def __init__(self):
-        pass
+        self._wifi_mode = "Client"
+        self._wifi_networks: list = []
 
-    def populate_wifi_networks(self):
-        """
-        Parses wpa_supplicant.conf to get current config
-        """
+    def populate_wifi_networks(self) -> None:
         pass
 
-    def get_wifi_networks(self):
-        return ""
-
-    def delete_wifi_network(self, network_id):
-        """
-        Immediately deletes a wifi network
-        """
+    def delete_wifi_network(self, network_id) -> None:
         pass
 
-    def add_wifi_network(self, ssid, key_mgmt, psk=None):
-        """
-        Add a wifi network
-        """
+    def add_wifi_network(self, ssid, key_mgmt, psk=None) -> None:
         pass
 
-    def get_ap_name(self):
+    def get_ap_name(self) -> str:
         return "UNKN"
 
-    def set_ap_name(self, ap_name):
+    def set_ap_name(self, ap_name: str) -> None:
         pass
 
-    def get_host_name(self):
-        return socket.gethostname()
-
-    def get_connected_ssid(self):
-        """
-        Returns the SSID of the connected wifi network or
-        None if not connected or in AP mode
-        """
-        return "UNKN"
-
-    def set_host_name(self, hostname):
-        if hostname == self.get_host_name():
-            return
-
-    def wifi_mode(self):
+    def get_connected_ssid(self) -> str:
         return "UNKN"
 
-    def set_wifi_mode(self, mode):
+    def set_host_name(self, hostname: str) -> None:
         pass
 
-    def local_ip(self):
-        return "NONE"
+    def _go_ap(self) -> None:
+        logger.info("SYS: Fake switching to AP")
 
+    def _go_client(self) -> None:
+        logger.info("SYS: Fake switching to Client")
 
-def remove_backup():
-    """
-    Removes backup file
-    """
-    pass
 
+def remove_backup() -> None:
+    pass
 
-def backup_userdata():
-    """
-    Back up userdata to a single zip file for later
-    restore.  Returns the path to the zip file.
 
-    Backs up:
-        config.json
-        observations.db
-        obslist/*
-    """
+def backup_userdata() -> str:
     return BACKUP_PATH
 
 
-def restore_userdata(zip_path):
-    """
-    Compliment to backup_userdata
-    restores userdata
-    OVERWRITES existing data!
-    """
+def restore_userdata(zip_path) -> None:
     pass
 
 
-def shutdown():
-    """
-    shuts down the Pi
-    """
+def shutdown() -> None:
     logger.info("SYS: Initiating Shutdown")
-    return True
 
 
-def update_software():
-    """
-    Uses systemctl to git pull and then restart
-    service
-    """
-    logger.info("SYS: Running update")
+def update_software(ref: str = "release"):
+    logger.info("SYS: Running update (ref=%s)", ref)
     return True
 
 
-def restart_pifinder():
-    """
-    Uses systemctl to restart the PiFinder
-    service
-    """
+def get_upgrade_progress() -> dict:
+    return {"phase": "", "done": 0, "total": 0, "percent": 0}
+
+
+def restart_pifinder() -> None:
     logger.info("SYS: Restarting PiFinder")
-    return True
 
 
-def restart_system():
-    """
-    Restarts the system
-    """
+def restart_system() -> None:
     logger.info("SYS: Initiating System Restart")
 
 
@@ -138,25 +89,33 @@ def go_wifi_cli():
 
 
 def verify_password(username, password):
-    """
-    Checks the provided password against the provided user
-    password
-    """
     return True
 
 
 def change_password(username, current_password, new_password):
-    """
-    Changes the PiFinder User password
-    """
     return False
 
 
+def get_camera_type() -> list[str]:
+    return ["imx462"]
+
+
 def switch_cam_imx477() -> None:
     logger.info("SYS: Switching cam to imx477")
-    logger.info('sh.sudo("python", "-m", "PiFinder.switch_camera", "imx477")')
 
 
 def switch_cam_imx296() -> None:
     logger.info("SYS: Switching cam to imx296")
-    logger.info('sh.sudo("python", "-m", "PiFinder.switch_camera", "imx296")')
+
+
+def switch_cam_imx462() -> None:
+    logger.info("SYS: Switching cam to imx462")
+
+
+def check_and_sync_gpsd_config(baud_rate: int) -> bool:
+    logger.info("SYS: Checking GPSD config for baud rate %d (fake)", baud_rate)
+    return False
+
+
+def update_gpsd_config(baud_rate: int) -> None:
+    logger.info("SYS: Updating GPSD config with baud rate %d (fake)", baud_rate)
diff --git a/python/PiFinder/ui/base.py b/python/PiFinder/ui/base.py
index 53a0f0363..85ed1b83e 100644
--- a/python/PiFinder/ui/base.py
+++ b/python/PiFinder/ui/base.py
@@ -25,6 +25,69 @@ def _(a) -> Any:
         return a
 
 
+class RotatingInfoDisplay:
+    """Alternates between constellation and SQM with cross-fade animation."""
+
+    def __init__(self, shared_state, interval=3.0, fade_speed=0.15):
+        self.shared_state = shared_state
+        self.interval = interval
+        self.fade_speed = fade_speed
+        self.show_sqm = False
+        self.last_switch = time.time()
+        self.progress = 1.0  # 1.0 = stable, <1.0 = transitioning
+
+    def _get_text(self, use_sqm):
+        if use_sqm:
+            sqm = self.shared_state.sqm()
+            return f"{sqm.value:.1f}" if sqm and sqm.value else "---"
+        else:
+            sol = self.shared_state.solution()
+            return sol.get("constellation", "---") if sol else "---"
+
+    def update(self):
+        """Update state, returns (current_text, previous_text, progress)."""
+        now = time.time()
+        if now - self.last_switch >= self.interval:
+            self.show_sqm = not self.show_sqm
+            self.last_switch = now
+            self.progress = 0.0
+        if self.progress < 1.0:
+            self.progress = min(1.0, self.progress + self.fade_speed)
+        return (
+            self._get_text(self.show_sqm),
+            self._get_text(not self.show_sqm),
+            self.progress,
+        )
+
+    def draw(self, draw, x, y, font, colors, max_brightness=255, inverted=False):
+        """Draw with cross-fade animation. inverted=True for dark text on light bg."""
+        current, previous, progress = self.update()
+        if progress < 1.0:
+            fade_out = progress < 0.5
+            t = progress * 2 if fade_out else (progress - 0.5) * 2
+            if inverted:
+                brightness = (
+                    int(max_brightness * t)
+                    if fade_out
+                    else int(max_brightness * (1 - t))
+                )
+            else:
+                brightness = (
+                    int(max_brightness * (1 - t))
+                    if fade_out
+                    else int(max_brightness * t)
+                )
+            text = previous if fade_out else current
+            draw.text((x, y), text, font=font, fill=colors.get(brightness))
+        else:
+            draw.text(
+                (x, y),
+                current,
+                font=font,
+                fill=colors.get(0 if inverted else max_brightness),
+            )
+
+
 class UIModule:
     __title__ = "BASE"
     __help_name__ = ""
@@ -97,6 +160,9 @@ def __init__(
         # anim timer stuff
         self.last_update_time = time.time()
 
+        # Rotating info: alternates between constellation and SQM value
+        self._rotating_display = RotatingInfoDisplay(self.shared_state)
+
     def active(self):
         """
         Called when a module becomes active
@@ -196,6 +262,29 @@ def message(self, message, timeout: float = 2, size=(5, 44, 123, 84)):
 
         self.ui_state.set_message_timeout(timeout + time.time())
 
+    def _draw_titlebar_rotating_info(self, x, y, fg):
+        """Draw rotating constellation/SQM in title bar (dark text on gray bg)."""
+        self._rotating_display.draw(
+            self.draw,
+            x,
+            y,
+            self.fonts.bold.font,
+            self.colors,
+            max_brightness=64,
+            inverted=True,
+        )
+
+    def draw_rotating_info(self, x=10, y=92, font=None):
+        """Draw rotating constellation/SQM display with cross-fade."""
+        self._rotating_display.draw(
+            self.draw,
+            x,
+            y,
+            font or self.fonts.bold.font,
+            self.colors,
+            max_brightness=255,
+        )
+
     def screen_update(self, title_bar=True, button_hints=True) -> None:
         """
         called to trigger UI updates
@@ -267,13 +356,11 @@ def screen_update(self, title_bar=True, button_hints=True) -> None:
                         )
 
                     if len(self.title) < 9:
-                        # draw the constellation
-                        constellation = solution["constellation"]
-                        self.draw.text(
-                            (self.display_class.resX * 0.54, 1),
-                            constellation,
-                            font=self.fonts.bold.font,
-                            fill=fg if self._unmoved else self.colors.get(32),
+                        # Draw rotating constellation/SQM wheel (replaces static constellation)
+                        self._draw_titlebar_rotating_info(
+                            x=int(self.display_class.resX * 0.54),
+                            y=1,
+                            fg=fg if self._unmoved else self.colors.get(32),
                         )
                 else:
                     # no solve yet....
diff --git a/python/PiFinder/ui/callbacks.py b/python/PiFinder/ui/callbacks.py
index 8c1840442..00eb426d5 100644
--- a/python/PiFinder/ui/callbacks.py
+++ b/python/PiFinder/ui/callbacks.py
@@ -201,21 +201,7 @@ def switch_cam_imx462(ui_module: UIModule) -> None:
 
 
 def get_camera_type(ui_module: UIModule) -> list[str]:
-    cam_id = "000"
-
-    # read config.txt into a list
-    with open("/boot/config.txt", "r") as boot_in:
-        boot_lines = list(boot_in)
-
-    # Look for the line without a comment...
-    for line in boot_lines:
-        if line.startswith("dtoverlay=imx"):
-            cam_id = line[10:16]
-            # imx462 uses imx290 driver
-            if cam_id == "imx290":
-                cam_id = "imx462"
-
-    return [cam_id]
+    return sys_utils.get_camera_type()
 
 
 def switch_language(ui_module: UIModule) -> None:
diff --git a/python/PiFinder/ui/console.py b/python/PiFinder/ui/console.py
index 2c3471ecf..c349ee50a 100644
--- a/python/PiFinder/ui/console.py
+++ b/python/PiFinder/ui/console.py
@@ -35,7 +35,7 @@ def __init__(self, *args, **kwargs):
         self.dirty = True
         self.welcome = True
 
-        # load welcome image to screen
+        # Load welcome image as startup backdrop
         root_dir = os.path.realpath(
             os.path.join(os.path.dirname(__file__), "..", "..", "..")
         )
@@ -87,6 +87,13 @@ def write(self, line):
         self.scroll_offset = 0
         self.dirty = True
 
+    def finish_startup(self):
+        """End the startup splash phase and clear the welcome backdrop."""
+        self.welcome = False
+        self.clear_screen()
+        self.dirty = True
+        self.update()
+
     def active(self):
         self.welcome = False
         self.dirty = True
diff --git a/python/PiFinder/ui/exp_sweep.py b/python/PiFinder/ui/exp_sweep.py
index 77115bda9..00ef7398a 100644
--- a/python/PiFinder/ui/exp_sweep.py
+++ b/python/PiFinder/ui/exp_sweep.py
@@ -45,8 +45,8 @@ def __init__(self, *args, **kwargs):
         self.start_time = None
         self.sweep_dir = None  # Track the actual sweep directory
         self.initial_file_count = None  # Files that existed before we started
-        self.total_images = 100  # Expected number of images
-        self.estimated_duration = 240  # 4 minutes estimated
+        self.total_images = 20  # Expected number of images
+        self.estimated_duration = 60  # ~1 minute estimated
 
     def active(self):
         """Called when module becomes active"""
@@ -153,13 +153,13 @@ def _draw_confirm(self):
 
         self.draw.text(
             (10, 65),
-            "100 images",
+            "20 images",
             font=self.fonts.base.font,
             fill=self.colors.get(192),
         )
         self.draw.text(
             (10, 77),
-            "~4 minutes",
+            "~1 minute",
             font=self.fonts.base.font,
             fill=self.colors.get(192),
         )
diff --git a/python/PiFinder/ui/fonts.py b/python/PiFinder/ui/fonts.py
index 4ae93464a..664d2ef39 100644
--- a/python/PiFinder/ui/fonts.py
+++ b/python/PiFinder/ui/fonts.py
@@ -43,7 +43,7 @@ def __init__(
         huge_size=35,
         screen_width=128,
     ):
-        font_path = str(Path(Path.cwd(), "../fonts"))
+        font_path = str(Path(__file__).parent.parent.parent.parent / "fonts")
         boldttf = str(Path(font_path, "RobotoMonoNerdFontMono-Bold.ttf"))
         regularttf = str(Path(font_path, "RobotoMonoNerdFontMono-Regular.ttf"))
 
diff --git a/python/PiFinder/ui/lm_entry.py b/python/PiFinder/ui/lm_entry.py
new file mode 100644
index 000000000..71dbb5344
--- /dev/null
+++ b/python/PiFinder/ui/lm_entry.py
@@ -0,0 +1,208 @@
+#!/usr/bin/python
+# -*- coding:utf-8 -*-
+"""
+Limiting Magnitude Entry UI
+
+Allows user to enter a fixed limiting magnitude value (e.g., 14.5)
+with one decimal place precision.
+"""
+
+from PIL import Image, ImageDraw
+from PiFinder.ui.base import UIModule
+
+
+class UILMEntry(UIModule):
+    """
+    UI for entering limiting magnitude value
+
+    Controls:
+    - 0-9: Enter digits
+    - Up/Down: Move cursor left/right between digits
+    - -: Delete digit (backspace)
+    - Right: Accept (save and return)
+    - Left: Cancel (discard and return)
+    """
+
+    def __init__(self, *args, **kwargs):
+        super().__init__(*args, **kwargs)
+
+        self.config_option = self.item_definition.get(
+            "config_option", "obj_chart_lm_fixed"
+        )
+
+        # Start with placeholder/blank value for user to fill in
+        # Store as string for editing: format is "  .  " (spaces for digits)
+        self.digits = [" ", " ", ".", " "]  # Two digits, decimal, one digit
+
+        # Cursor position (0-3 for "XX.X" format)
+        # Position 2 is the decimal point (not editable)
+        self.cursor_pos = 0
+
+        self.width = 128
+        self.height = 128
+        self.screen = Image.new("RGB", (self.width, self.height), "black")
+
+    def update(self, force=False):
+        """Render the LM entry screen"""
+        self.screen = Image.new("RGB", (self.width, self.height), "black")
+        draw = ImageDraw.Draw(self.screen)
+
+        # Title
+        title = "Set Limiting Mag"
+        title_bbox = draw.textbbox((0, 0), title, font=self.fonts.base.font)
+        title_width = title_bbox[2] - title_bbox[0]
+        title_x = (self.width - title_width) // 2
+        draw.text(
+            (title_x, 5), title, font=self.fonts.base.font, fill=self.colors.get(128)
+        )
+
+        # Display current value with cursor
+        value_y = (self.height - self.fonts.large.height) // 2 - 10
+
+        # Use fixed-width spacing for consistent alignment
+        char_width = self.fonts.large.width  # Fixed character width
+        total_width = char_width * len(self.digits)
+
+        # Center the entire value
+        start_x = (self.width - total_width) // 2
+
+        # Draw each character
+        for i, char in enumerate(self.digits):
+            x_pos = start_x + (i * char_width)
+
+            # Display character or underscore for empty
+            display_char = char if char != " " else "_"
+
+            # Highlight cursor position (but not the decimal point)
+            if i == self.cursor_pos and char != ".":
+                # Draw filled rectangle background
+                draw.rectangle(
+                    [
+                        x_pos - 2,
+                        value_y - 2,
+                        x_pos + char_width + 2,
+                        value_y + self.fonts.large.height + 2,
+                    ],
+                    fill=self.colors.get(255),
+                    outline=self.colors.get(255),
+                    width=2,
+                )
+                # Draw text in inverse color
+                text_color = self.colors.get(0)
+            else:
+                text_color = self.colors.get(255)
+
+            draw.text(
+                (x_pos, value_y),
+                display_char,
+                font=self.fonts.large.font,
+                fill=text_color,
+            )
+
+        # Icons (matching radec_entry style)
+        arrow_icons = "󰹺"
+        left_icon = ""
+        right_icon = ""
+
+        # Legends at bottom (two lines)
+        bar_y = self.height - (self.fonts.base.height * 2) - 4
+
+        # Draw separator line
+        draw.line(
+            [(2, bar_y), (self.width - 2, bar_y)], fill=self.colors.get(128), width=1
+        )
+
+        # Line 1: Navigation
+        line1 = f"{arrow_icons}Nav"
+        draw.text(
+            (2, bar_y + 2), line1, font=self.fonts.base.font, fill=self.colors.get(128)
+        )
+
+        # Line 2: Actions
+        line2 = f"{left_icon}Cancel {right_icon}Save -Del"
+        draw.text(
+            (2, bar_y + 12), line2, font=self.fonts.base.font, fill=self.colors.get(128)
+        )
+
+        return self.screen, None
+
+    def key_up(self):
+        """Move cursor left"""
+        if self.cursor_pos > 0:
+            self.cursor_pos -= 1
+            # Skip over decimal point
+            if self.cursor_pos == 2:
+                self.cursor_pos = 1
+        return True
+
+    def key_down(self):
+        """Move cursor right"""
+        if self.cursor_pos < 3:
+            self.cursor_pos += 1
+            # Skip over decimal point
+            if self.cursor_pos == 2:
+                self.cursor_pos = 3
+        return True
+
+    def key_number(self, number):
+        """Enter digit 0-9 at cursor position"""
+        if 0 <= number <= 9:
+            # Don't allow editing the decimal point
+            if self.cursor_pos == 2:
+                return False
+
+            # Replace digit at cursor position
+            self.digits[self.cursor_pos] = str(number)
+
+            # Move cursor to next position after entering digit
+            if self.cursor_pos < 3:
+                self.cursor_pos += 1
+                # Skip over decimal point
+                if self.cursor_pos == 2:
+                    self.cursor_pos = 3
+
+            return True
+        return False
+
+    def key_minus(self):
+        """Delete digit at cursor position (replace with space)"""
+        if self.cursor_pos == 2:
+            # Can't delete decimal point
+            return False
+
+        # Replace with space (blank)
+        self.digits[self.cursor_pos] = " "
+        return True
+
+    def key_left(self):
+        """Cancel - return without saving"""
+        return True
+
+    def key_right(self):
+        """Accept - save value and exit"""
+        try:
+            value_str = "".join(self.digits).strip()
+
+            if value_str.replace(".", "").replace(" ", "") == "":
+                return False
+
+            value_str = value_str.replace(" ", "0")
+            final_value = float(value_str)
+
+            if final_value < 5.0 or final_value > 20.0:
+                return False
+
+            self.config_object.set_option(self.config_option, final_value)
+            self.config_object.set_option("obj_chart_lm_mode", "fixed")
+
+            # Exit: LM entry -> LM menu -> back to chart
+            if self.remove_from_stack:
+                self.remove_from_stack()
+                self.remove_from_stack()
+            return True
+        except ValueError:
+            return False
+
+    def active(self):
+        """Called when screen becomes active"""
+        return False
diff --git a/python/PiFinder/ui/log.py b/python/PiFinder/ui/log.py
index a095aca17..e7e867f9f 100644
--- a/python/PiFinder/ui/log.py
+++ b/python/PiFinder/ui/log.py
@@ -6,7 +6,7 @@
 
 """
 
-from PiFinder import cat_images
+from PiFinder.object_images import get_display_image
 from PiFinder import obslog
 from PiFinder.ui.marking_menus import MarkingMenuOption, MarkingMenu
 from PiFinder.ui.base import UIModule
@@ -47,8 +47,22 @@ def __init__(self, *args, **kwargs):
         roll = 0
         if solution:
             roll = solution["Roll"]
-        self.object_image = cat_images.get_display_image(
-            self.object, "POSS", 1, roll, self.display_class, burn_in=False
+
+        # Get chart generator singleton for Gaia chart support
+        from PiFinder.object_images.gaia_chart import get_gaia_chart_generator
+
+        chart_gen = get_gaia_chart_generator(self.config_object, self.shared_state)
+
+        self.object_image = get_display_image(
+            self.object,
+            "POSS",
+            1,
+            roll,
+            self.display_class,
+            burn_in=False,
+            config_object=self.config_object,
+            shared_state=self.shared_state,
+            chart_generator=chart_gen,
         )
 
         self.menu_index = 1  # Observability
diff --git a/python/PiFinder/ui/marking_menus.py b/python/PiFinder/ui/marking_menus.py
index 62481dcd9..19391cffc 100644
--- a/python/PiFinder/ui/marking_menus.py
+++ b/python/PiFinder/ui/marking_menus.py
@@ -11,7 +11,7 @@
 
 from PIL import Image, ImageDraw, ImageChops
 from PiFinder.ui.fonts import Font
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 from PiFinder.displays import DisplayBase
 
 
@@ -35,7 +35,9 @@ class MarkingMenu:
     down: MarkingMenuOption
     left: MarkingMenuOption
     right: MarkingMenuOption
-    up: MarkingMenuOption = MarkingMenuOption(label="HELP")
+    up: MarkingMenuOption = field(
+        default_factory=lambda: MarkingMenuOption(label="HELP")
+    )
 
     def select_none(self):
         self.up.selected = False
diff --git a/python/PiFinder/ui/menu_manager.py b/python/PiFinder/ui/menu_manager.py
index 8db58dc32..4e8fcc278 100644
--- a/python/PiFinder/ui/menu_manager.py
+++ b/python/PiFinder/ui/menu_manager.py
@@ -146,7 +146,7 @@ def __init__(
 
     def screengrab(self):
         self.ss_count += 1
-        filename = f"{self.stack[-1].__uuid__}_{self.ss_count :0>3}_{self.stack[-1].title.replace('/','-')}"
+        filename = f"{self.stack[-1].__uuid__}_{self.ss_count:0>3}_{self.stack[-1].title.replace('/', '-')}"
         ss_imagepath = self.ss_path + f"/{filename}.png"
         ss = self.shared_state.screen().copy()
         ss.save(ss_imagepath)
diff --git a/python/PiFinder/ui/menu_structure.py b/python/PiFinder/ui/menu_structure.py
index 75dfecb0d..1be118896 100644
--- a/python/PiFinder/ui/menu_structure.py
+++ b/python/PiFinder/ui/menu_structure.py
@@ -14,6 +14,7 @@
 from PiFinder.ui.equipment import UIEquipment
 from PiFinder.ui.location_list import UILocationList
 from PiFinder.ui.radec_entry import UIRADecEntry
+from PiFinder.ui.lm_entry import UILMEntry
 import PiFinder.ui.callbacks as callbacks
 
 
@@ -48,7 +49,6 @@ def _(key: str) -> Any:
                     "name": _("Align"),
                     "class": UIAlign,
                     "stateful": True,
-                    "preload": True,
                 },
                 {
                     "name": _("GPS Status"),
@@ -60,7 +60,6 @@ def _(key: str) -> Any:
             "name": _("Chart"),
             "class": UIChart,
             "stateful": True,
-            "preload": True,
         },
         {
             "name": _("Objects"),
@@ -823,6 +822,117 @@ def _(key: str) -> Any:
                         },
                     ],
                 },
+                {
+                    "name": _("Obj Chart..."),
+                    "class": UITextMenu,
+                    "select": "single",
+                    "label": "obj_chart_settings",
+                    "items": [
+                        {
+                            "name": _("Crosshair"),
+                            "class": UITextMenu,
+                            "select": "single",
+                            "label": "obj_chart_crosshair",
+                            "config_option": "obj_chart_crosshair",
+                            "items": [
+                                {
+                                    "name": _("Off"),
+                                    "value": "off",
+                                },
+                                {
+                                    "name": _("On"),
+                                    "value": "on",
+                                },
+                                {
+                                    "name": _("Pulse"),
+                                    "value": "pulse",
+                                },
+                                {
+                                    "name": _("Fade"),
+                                    "value": "fade",
+                                },
+                            ],
+                        },
+                        {
+                            "name": _("Style"),
+                            "class": UITextMenu,
+                            "select": "single",
+                            "label": "obj_chart_style",
+                            "config_option": "obj_chart_crosshair_style",
+                            "items": [
+                                {
+                                    "name": _("Simple"),
+                                    "value": "simple",
+                                },
+                                {
+                                    "name": _("Circle"),
+                                    "value": "circle",
+                                },
+                                {
+                                    "name": _("Bullseye"),
+                                    "value": "bullseye",
+                                },
+                                {
+                                    "name": _("Brackets"),
+                                    "value": "brackets",
+                                },
+                                {
+                                    "name": _("Dots"),
+                                    "value": "dots",
+                                },
+                                {
+                                    "name": _("Cross"),
+                                    "value": "cross",
+                                },
+                            ],
+                        },
+                        {
+                            "name": _("Speed"),
+                            "class": UITextMenu,
+                            "select": "single",
+                            "label": "obj_chart_speed",
+                            "config_option": "obj_chart_crosshair_speed",
+                            "items": [
+                                {
+                                    "name": _("Fast (1s)"),
+                                    "value": "1.0",
+                                },
+                                {
+                                    "name": _("Medium (2s)"),
+                                    "value": "2.0",
+                                },
+                                {
+                                    "name": _("Slow (3s)"),
+                                    "value": "3.0",
+                                },
+                                {
+                                    "name": _("Very Slow (4s)"),
+                                    "value": "4.0",
+                                },
+                            ],
+                        },
+                        {
+                            "name": _("Set LM"),
+                            "class": UITextMenu,
+                            "select": "single",
+                            "label": "obj_chart_lm",
+                            "config_option": "obj_chart_lm_mode",
+                            "items": [
+                                {
+                                    "name": _("Auto"),
+                                    "value": "auto",
+                                },
+                                {
+                                    "name": _("Fixed"),
+                                    "value": "fixed",
+                                    "class": UILMEntry,
+                                    "mode": "lm_entry",
+                                    "config_option": "obj_chart_lm_fixed",
+                                },
+                            ],
+                        },
+                    ],
+                },
                 {
                     "name": _("Camera Exp"),
                     "class": UITextMenu,
diff --git a/python/PiFinder/ui/object_details.py b/python/PiFinder/ui/object_details.py
index edf13f9d7..68b844b1a 100644
--- a/python/PiFinder/ui/object_details.py
+++ b/python/PiFinder/ui/object_details.py
@@ -6,7 +6,9 @@
 
 """
 
-from PiFinder import cat_images
+from PiFinder.object_images import get_display_image
+from PiFinder.object_images.image_base import ImageType
+from PiFinder.object_images.star_catalog import CatalogState
 from PiFinder.ui.marking_menus import MarkingMenuOption, MarkingMenu
 from PiFinder.obj_types import OBJ_TYPES
 from PiFinder.ui.align import align_on_radec
@@ -23,15 +25,76 @@
 import functools
 
 from PiFinder.db.observations_db import ObservationsDatabase
+from PIL import Image, ImageDraw
+import logging
 import numpy as np
 import time
 
+logger = logging.getLogger("PiFinder.UIObjectDetails")
 
 # Constants for display modes
 DM_DESC = 0  # Display mode for description
 DM_LOCATE = 1  # Display mode for LOCATE
-DM_POSS = 2  # Display mode for POSS
-DM_SDSS = 3  # Display mode for SDSS
+DM_IMAGE = 2  # Display mode for images (POSS or Gaia chart)
+
+
+class EyepieceInput:
+    """
+    Handles custom eyepiece focal length input (1-99mm)
+    """
+
+    def __init__(self):
+        self.focal_length_mm = 0
+        self.digits = []
+        self.last_input_time = 0
+
+    def append_digit(self, digit: int) -> bool:
+        """
+        Append a digit to the input.
+        Returns True if input is complete (2 digits or auto-timeout)
+        """
+        import time
+
+        self.digits.append(digit)
+        self.last_input_time = time.time()
+
+        # Update focal length
+        if len(self.digits) == 1:
+            self.focal_length_mm = digit
+        else:
+            self.focal_length_mm = self.digits[0] * 10 + self.digits[1]
+
+        # Auto-complete after 2 digits
+        return len(self.digits) >= 2
+
+    def is_complete(self) -> bool:
+        """Check if input has timed out (1.5 seconds)"""
+        import time
+
+        if len(self.digits) == 0:
+            return False
+        if len(self.digits) >= 2:
+            return True
+        return time.time() - self.last_input_time > 1.5
+
+    def reset(self):
+        """Clear the input"""
+        self.digits = []
+        self.focal_length_mm = 0
+        self.last_input_time = 0
+
+    def has_input(self) -> bool:
+        """Check if any digits have been entered"""
+        return len(self.digits) > 0
+
+    def __str__(self):
+        """Return display string for popup"""
+        if len(self.digits) == 0:
+            return "__"
+        elif len(self.digits) == 1:
+            return f"{self.digits[0]}_"
+        else:
+            return f"{self.digits[0]}{self.digits[1]}"
 
 
 class UIObjectDetails(UIModule):
@@ -48,13 +111,24 @@ def __init__(self, *args, **kwargs):
 
         self.screen_direction = self.config_object.get_option("screen_direction")
         self.mount_type = self.config_object.get_option("mount_type")
+        self._chart_gen = None  # Cached chart generator instance
         self.object = self.item_definition["object"]
         self.object_list = self.item_definition["object_list"]
         self.object_display_mode = DM_LOCATE
         self.object_image = None
+        self._chart_generator = None  # Active generator for progressive chart updates
+        self._is_showing_loading_chart = (
+            False  # Track if showing "Loading..." for Gaia chart
+        )
+        self._force_gaia_chart = (
+            False  # Toggle: force Gaia chart even if POSS image exists
+        )
+        self.eyepiece_input = EyepieceInput()  # Custom eyepiece input handler
+        self.eyepiece_input_display = False  # Show eyepiece input popup
+        self._custom_eyepiece = None  # Reference to custom eyepiece object in equipment list (None = not active)
 
-        # Marking Menu - Just default help for now
-        self.marking_menu = MarkingMenu(
+        # Default Marking Menu
+        self._default_marking_menu = MarkingMenu(
             left=MarkingMenuOption(),
             right=MarkingMenuOption(),
             down=MarkingMenuOption(
@@ -68,6 +142,14 @@ def __init__(self, *args, **kwargs):
             ),
         )
 
+        # Gaia Chart Marking Menu - Settings access
+        self._gaia_chart_marking_menu = MarkingMenu(
+            up=MarkingMenuOption(label=_("SETTINGS"), menu_jump="obj_chart_settings"),
+            right=MarkingMenuOption(label=_("CROSS"), menu_jump="obj_chart_crosshair"),
+            down=MarkingMenuOption(label=_("STYLE"), menu_jump="obj_chart_style"),
+            left=MarkingMenuOption(label=_("LM"), menu_jump="obj_chart_lm"),
+        )
+
         # Used for displaying obsevation counts
         self.observations_db = ObservationsDatabase()
 
@@ -107,6 +189,15 @@ def __init__(self, *args, **kwargs):
         self.active()  # fill in activation time
         self.update_object_info()
 
+    @property
+    def marking_menu(self):
+        """
+        Return appropriate marking menu based on current view mode
+        """
+        if self._is_gaia_chart:
+            return self._gaia_chart_marking_menu
+        return self._default_marking_menu
+
     def _layout_designator(self):
         """
         Generates designator layout object
@@ -144,6 +235,13 @@ def update_object_info(self):
         """
         Generates object text and loads object images
         """
+        # logger.info(f">>> update_object_info() called for {self.object.display_name if self.object else 'None'}")
+
+        # CRITICAL: Clear loading flag at START to prevent recursive update() calls
+        # during generator consumption. If we don't do this, calling self.update()
+        # while consuming yields will trigger update() -> update_object_info() recursion.
+        self._is_showing_loading_chart = False
+
         # Title...
         self.title = self.object.display_name
 
@@ -217,19 +315,85 @@ def update_object_info(self):
         if solution:
             roll = solution["Roll"]
 
+        # Calculate magnification and TFOV using current active eyepiece (custom or configured)
         magnification = self.config_object.equipment.calc_magnification()
-        self.object_image = cat_images.get_display_image(
+        tfov = self.config_object.equipment.calc_tfov()
+        eyepiece_text = str(self.config_object.equipment.active_eyepiece)
+
+        if self._custom_eyepiece is not None:
+            logger.info(
+                f">>> Using custom eyepiece: {eyepiece_text}, tfov={tfov}, mag={magnification}"
+            )
+        else:
+            logger.info(
+                f">>> Using configured eyepiece: {eyepiece_text}, tfov={tfov}, mag={magnification}"
+            )
+
+        # Get or create chart generator (owned by UI layer)
+        logger.info(">>> Getting chart generator...")
+        chart_gen = self._get_gaia_chart_generator()
+        logger.info(
+            f">>> Chart generator obtained, state: {chart_gen.get_catalog_state() if chart_gen else 'None'}"
+        )
+
+        logger.info(
+            f">>> Calling get_display_image with force_gaia_chart={self._force_gaia_chart}"
+        )
+
+        # get_display_image returns either an image directly (POSS) or a generator (Gaia chart)
+        result = get_display_image(
             self.object,
-            str(self.config_object.equipment.active_eyepiece),
-            self.config_object.equipment.calc_tfov(),
+            eyepiece_text,
+            tfov,
             roll,
             self.display_class,
-            burn_in=self.object_display_mode in [DM_POSS, DM_SDSS],
+            burn_in=self.object_display_mode == DM_IMAGE,
             magnification=magnification,
+            config_object=self.config_object,
+            shared_state=self.shared_state,
+            chart_generator=chart_gen,  # Pass our chart generator to object_images
+            force_chart=self._force_gaia_chart,  # Toggle state
+        )
+
+        # Check if it's a generator (progressive Gaia chart) or direct image (POSS)
+        if hasattr(result, "__iter__") and hasattr(result, "__next__"):
+            # It's a generator - store it for progressive consumption by update()
+            logger.info(
+                ">>> get_display_image returned GENERATOR, storing for progressive updates..."
+            )
+            self._chart_generator = result
+            self.object_image = None  # Will be set by first yield
+        else:
+            # Direct image (POSS)
+            logger.info(f">>> get_display_image returned direct image: {type(result)}")
+            self._chart_generator = None
+            self.object_image = result
+
+        logger.info(
+            f">>> update_object_info() complete, self.object_image is now: {type(self.object_image)}"
+        )
+
+        # Track if we're showing a "Loading..." placeholder for chart
+        self._is_showing_loading_chart = (
+            self.object_image is not None
+            and hasattr(self.object_image, "image_type")
+            and self.object_image.image_type == ImageType.LOADING
+        )
+
+    @property
+    def _is_gaia_chart(self):
+        """Check if currently displaying a Gaia chart"""
+        return (
+            self.object_image is not None
+            and hasattr(self.object_image, "image_type")
+            and self.object_image.image_type == ImageType.GAIA_CHART
         )
 
     def active(self):
         self.activation_time = time.time()
+        # Regenerate object info when returning to this screen
+        # This ensures config changes (like LM) are applied
+        self.update_object_info()
 
     def _check_catalog_initialized(self):
         code = self.object.catalog_code
@@ -239,6 +403,320 @@ def _check_catalog_initialized(self):
         catalog = self.catalogs.get_catalog_by_code(code)
         return catalog and catalog.initialized
 
+    def _get_pulse_factor(self):
+        """
+        Calculate current pulse factor for animations
+        Returns tuple: (pulse_factor, size_multiplier, color_intensity)
+        - pulse_factor: 0.0 to 1.0 sine wave
+        - size_multiplier: factor to multiply sizes by (0.6 to 1.0 for smoother animation)
+        - color_intensity: brightness value (48 to 128 for more visible change)
+        """
+        import time
+        import numpy as np
+
+        # Get pulse period from config (default 2.0 seconds)
+        pulse_period = float(
+            self.config_object.get_option("obj_chart_crosshair_speed", "2.0")
+        )
+
+        t = time.time() % pulse_period
+        # Sine wave for smooth pulsation (0.0 to 1.0 range)
+        pulse_factor = 0.5 + 0.5 * np.sin(2 * np.pi * t / pulse_period)
+
+        # Size multiplier: 0.6 to 1.0 (smaller range, smoother looking)
+        size_multiplier = 0.6 + 0.4 * pulse_factor
+
+        # Color intensity: 48 to 128 (brighter and more visible)
+        color_intensity = int(48 + 80 * pulse_factor)
+
+        return pulse_factor, size_multiplier, color_intensity
+
+    def _get_fade_factor(self):
+        """
+        Calculate current fade factor for animations
+        Returns color_intensity that fades from 0 to 128
+        - Crosshair stays at minimum size
+        - Only brightness changes
+        """
+        import time
+        import numpy as np
+
+        # Get fade period from config (default 2.0 seconds)
+        fade_period = float(
+            self.config_object.get_option("obj_chart_crosshair_speed", "2.0")
+        )
+
+        t = time.time() % fade_period
+        # Sine wave for smooth fading (0.0 to 1.0 range)
+        fade_factor = 0.5 + 0.5 * np.sin(2 * np.pi * t / fade_period)
+
+        # Color intensity: 0 to 128 (fade from invisible to half brightness)
+        # Use round instead of int for better distribution
+        color_intensity = round(128 * fade_factor)
+
+        return color_intensity
+
+    def _draw_crosshair_simple(self, mode="off"):
+        """
+        Draw simple crosshair with 4 lines and center gap using inverted pixels
+
+        Args:
+            mode: Animation mode - "off", "pulse", or "fade" (fade not supported for inverted pixels)
+        """
+        import numpy as np
+
+        width, height = self.display_class.resolution
+        cx, cy = int(width / 2.0), int(height / 2.0)
+
+        if mode == "pulse":
+            pulse_factor, _, _ = self._get_pulse_factor()
+            # Size pulsates from 7 down to 4 pixels (inverted - more steps)
+            outer = int(
+                7.0 - (3.0 * pulse_factor)
+            )  # 7.0 down to 4.0 (smooth animation)
+        else:
+            # Fixed size (fade mode not supported for inverted pixels)
+            outer = 5
+
+        inner = 3  # Fixed gap (slightly larger center hole)
+
+        # Get screen buffer as numpy array for pixel manipulation
+        pixels = np.array(self.screen)
+
+        # Invert crosshair pixels (red channel only) for visibility
+        # Horizontal lines (left and right of center)
+        for x in range(max(0, cx - outer), max(0, cx - inner)):
+            if 0 <= x < width and 0 <= cy < height:
+                pixels[cy, x, 0] = 255 - pixels[cy, x, 0]
+        for x in range(min(width, cx + inner), min(width, cx + outer)):
+            if 0 <= x < width and 0 <= cy < height:
+                pixels[cy, x, 0] = 255 - pixels[cy, x, 0]
+
+        # Vertical lines (top and bottom of center)
+        for y in range(max(0, cy - outer), max(0, cy - inner)):
+            if 0 <= y < height and 0 <= cx < width:
+                pixels[y, cx, 0] = 255 - pixels[y, cx, 0]
+        for y in range(min(height, cy + inner), min(height, cy + outer)):
+            if 0 <= y < height and 0 <= cx < width:
+                pixels[y, cx, 0] = 255 - pixels[y, cx, 0]
+
+        # Update screen buffer with inverted pixels
+        self.screen = Image.fromarray(pixels, mode="RGB")
+        # Re-create draw object since we replaced the image
+        self.draw = ImageDraw.Draw(self.screen)
+
+    def _draw_crosshair_circle(self, mode="off"):
+        """
+        Draw circle reticle
+
+        Args:
+            mode: Animation mode - "off", "pulse", or "fade"
+        """
+        width, height = self.display_class.resolution
+        cx, cy = width / 2.0, height / 2.0
+
+        if mode == "pulse":
+            pulse_factor, _, color_intensity = self._get_pulse_factor()
+            radius = 8.0 - (4.0 * pulse_factor)  # 8.0 down to 4.0 (smooth animation)
+        elif mode == "fade":
+            color_intensity = self._get_fade_factor()
+            radius = 4  # Fixed minimum size
+        else:
+            color_intensity = 64
+            radius = 4  # Smaller fixed size
+
+        # Draw directly on screen
+        marker_color = (color_intensity, 0, 0)
+        bbox = [cx - radius, cy - radius, cx + radius, cy + radius]
+        self.draw.ellipse(bbox, outline=marker_color, width=1)
+
+    def _draw_crosshair_bullseye(self, mode="off"):
+        """
+        Draw concentric circles (bullseye)
+
+        Args:
+            mode: Animation mode - "off", "pulse", or "fade"
+        """
+        width, height = self.display_class.resolution
+        cx, cy = width / 2.0, height / 2.0
+
+        if mode == "pulse":
+            pulse_factor, _, color_intensity = self._get_pulse_factor()
+            # Pulsate from larger to smaller (smooth animation)
+            radii = [
+                4.0 - (2.0 * pulse_factor),
+                8.0 - (4.0 * pulse_factor),
+                12.0 - (6.0 * pulse_factor),
+            ]  # 4→2, 8→4, 12→6
+        elif mode == "fade":
+            color_intensity = self._get_fade_factor()
+            radii = [2, 4, 6]  # Fixed minimum radii
+        else:
+            color_intensity = 64
+            radii = [2, 4, 6]  # Smaller fixed radii
+
+        # Draw directly on screen
+        marker_color = (color_intensity, 0, 0)
+        for radius in radii:
+            bbox = [cx - radius, cy - radius, cx + radius, cy + radius]
+            self.draw.ellipse(bbox, outline=marker_color, width=1)
+
+    def _draw_crosshair_brackets(self, mode="off"):
+        """
+        Draw corner brackets (frame corners)
+
+        Args:
+            mode: Animation mode - "off", "pulse", or "fade"
+        """
+        width, height = self.display_class.resolution
+        cx, cy = int(width / 2.0), int(height / 2.0)
+
+        if mode == "pulse":
+            pulse_factor, _, color_intensity = self._get_pulse_factor()
+            size = int(8.0 - (4.0 * pulse_factor))  # 8.0 down to 4.0 (smooth animation)
+            length = int(
+                5.0 - (2.0 * pulse_factor)
+            )  # 5.0 down to 3.0 (smooth animation)
+        elif mode == "fade":
+            color_intensity = self._get_fade_factor()
+            size = 4  # Fixed minimum size
+            length = 3  # Fixed minimum length
+        else:
+            color_intensity = 64
+            size = 4  # Smaller distance from center to bracket corner
+            length = 3  # Shorter bracket arms
+
+        # Draw directly on screen
+        marker_color = (color_intensity, 0, 0)
+
+        # Top-left bracket
+        self.draw.line(
+            [cx - size, cy - size, cx - size + length, cy - size],
+            fill=marker_color,
+            width=1,
+        )
+        self.draw.line(
+            [cx - size, cy - size, cx - size, cy - size + length],
+            fill=marker_color,
+            width=1,
+        )
+
+        # Top-right bracket
+        self.draw.line(
+            [cx + size - length, cy - size, cx + size, cy - size],
+            fill=marker_color,
+            width=1,
+        )
+        self.draw.line(
+            [cx + size, cy - size, cx + size, cy - size + length],
+            fill=marker_color,
+            width=1,
+        )
+
+        # Bottom-left bracket
+        self.draw.line(
+            [cx - size, cy + size, cx - size + length, cy + size],
+            fill=marker_color,
+            width=1,
+        )
+        self.draw.line(
+            [cx - size, cy + size - length, cx - size, cy + size],
+            fill=marker_color,
+            width=1,
+        )
+
+        # Bottom-right bracket
+        self.draw.line(
+            [cx + size - length, cy + size, cx + size, cy + size],
+            fill=marker_color,
+            width=1,
+        )
+        self.draw.line(
+            [cx + size, cy + size - length, cx + size, cy + size],
+            fill=marker_color,
+            width=1,
+        )
+
+    def _draw_crosshair_dots(self, mode="off"):
+        """
+        Draw four corner dots
+
+        Args:
+            mode: Animation mode - "off", "pulse", or "fade"
+        """
+        width, height = self.display_class.resolution
+        cx, cy = width / 2.0, height / 2.0
+
+        if mode == "pulse":
+            pulse_factor, _, color_intensity = self._get_pulse_factor()
+            distance = 8.0 - (4.0 * pulse_factor)  # 8 down to 4 (smooth animation)
+            dot_size = 3.0 - (1.5 * pulse_factor)  # 3 down to 1 (smooth animation)
+        elif mode == "fade":
+            color_intensity = self._get_fade_factor()
+            distance = 4  # Fixed minimum distance
+            dot_size = 1  # Fixed minimum size
+        else:
+            color_intensity = 64
+            distance = 4  # Smaller distance from center to dots
+            dot_size = 1  # Smaller dot radius
+
+        # Draw directly on screen
+        marker_color = (color_intensity, 0, 0)
+
+        # Four corner dots
+        positions = [
+            (cx - distance, cy - distance),  # Top-left
+            (cx + distance, cy - distance),  # Top-right
+            (cx - distance, cy + distance),  # Bottom-left
+            (cx + distance, cy + distance),  # Bottom-right
+        ]
+
+        for x, y in positions:
+            bbox = [x - dot_size, y - dot_size, x + dot_size, y + dot_size]
+            self.draw.ellipse(bbox, fill=marker_color)
+
+    def _draw_crosshair_cross(self, mode="off"):
+        """
+        Draw full cross (lines extend across entire screen)
+
+        Args:
+            mode: Animation mode - "off", "pulse", or "fade"
+        """
+        width, height = self.display_class.resolution
+        cx, cy = width / 2.0, height / 2.0
+
+        if mode == "pulse":
+            pulse_factor, _, color_intensity = self._get_pulse_factor()
+        elif mode == "fade":
+            color_intensity = self._get_fade_factor()
+        else:
+            color_intensity = 64
+
+        # Draw directly on screen
+        marker_color = (color_intensity, 0, 0)
+
+        # Horizontal line
+        self.draw.line([0, cy, width, cy], fill=marker_color, width=1)
+        # Vertical line
+        self.draw.line([cx, 0, cx, height], fill=marker_color, width=1)
+
+    def _draw_fov_circle(self):
+        """
+        Draw FOV circle to show eyepiece field of view boundary
+        Matches the POSS view circular crop
+        """
+        width, height = self.display_class.resolution
+        cx, cy = width / 2.0, height / 2.0
+
+        # Use slightly smaller than screen to show the boundary
+        # Screen is typically 128x128, so use radius that fits within screen
+        radius = min(width, height) / 2.0 - 2  # Leave 2 pixel margin
+
+        # Draw subtle circle
+        marker_color = self.colors.get(32)  # Very dim, just to show boundary
+        bbox = [cx - radius, cy - radius, cx + radius, cy + radius]
+        self.draw.ellipse(bbox, outline=marker_color, width=1)
+
     def _render_pointing_instructions(self):
         # Pointing Instructions
         if self.shared_state.solution() is None:
@@ -354,14 +832,14 @@ def _render_pointing_instructions(self):
         if point_az < 1:
             self.draw.text(
                 self.az_anchor,
-                f"{az_arrow}{point_az : >5.2f}",
+                f"{az_arrow}{point_az: >5.2f}",
                 font=self.fonts.huge.font,
                 fill=self.colors.get(indicator_color),
             )
         else:
             self.draw.text(
                 self.az_anchor,
-                f"{az_arrow}{point_az : >5.1f}",
+                f"{az_arrow}{point_az: >5.1f}",
                 font=self.fonts.huge.font,
                 fill=self.colors.get(indicator_color),
             )
@@ -382,32 +860,166 @@ def _render_pointing_instructions(self):
         if point_alt < 1:
             self.draw.text(
                 self.alt_anchor,
-                f"{alt_arrow}{point_alt : >5.2f}",
+                f"{alt_arrow}{point_alt: >5.2f}",
                 font=self.fonts.huge.font,
                 fill=self.colors.get(indicator_color),
             )
         else:
             self.draw.text(
                 self.alt_anchor,
-                f"{alt_arrow}{point_alt : >5.1f}",
+                f"{alt_arrow}{point_alt: >5.1f}",
                 font=self.fonts.huge.font,
                 fill=self.colors.get(indicator_color),
             )
 
+    def _get_gaia_chart_generator(self):
+        """Get the global chart generator singleton"""
+        from PiFinder.object_images.gaia_chart import get_gaia_chart_generator
+        import logging
+
+        logger = logging.getLogger("ObjectDetails")
+
+        chart_gen = get_gaia_chart_generator(self.config_object, self.shared_state)
+        logger.info(f">>> _get_gaia_chart_generator returning: {chart_gen}")
+        return chart_gen
+
+    def _apply_custom_eyepiece(self):
+        """Apply the custom eyepiece focal length and update display"""
+        from PiFinder.equipment import Eyepiece
+
+        # Capture the focal length before resetting
+        focal_length = self.eyepiece_input.focal_length_mm
+
+        # Reset input state FIRST to prevent recursion in update()
+        self.eyepiece_input.reset()
+        self.eyepiece_input_display = False
+
+        # Apply the custom eyepiece
+        if focal_length > 0:
+            logger.info(f">>> Applying custom eyepiece: {focal_length}mm")
+
+            # Remove old custom eyepiece if it exists
+            if (
+                self._custom_eyepiece is not None
+                and self._custom_eyepiece in self.config_object.equipment.eyepieces
+            ):
+                logger.info(
+                    f">>> Removing old custom eyepiece: {self._custom_eyepiece}"
+                )
+                self.config_object.equipment.eyepieces.remove(self._custom_eyepiece)
+
+            # Create and add new custom eyepiece
+            self._custom_eyepiece = Eyepiece(
+                make="Custom",
+                name=f"{focal_length}mm",
+                focal_length_mm=focal_length,
+                afov=50,  # Default AFOV for custom eyepiece
+                field_stop=0,
+            )
+            self.config_object.equipment.eyepieces.append(self._custom_eyepiece)
+            self.config_object.equipment.active_eyepiece_index = (
+                len(self.config_object.equipment.eyepieces) - 1
+            )
+            logger.info(
+                f">>> Added custom eyepiece to equipment list: {self._custom_eyepiece}"
+            )
+
+            self.update_object_info()
+            self.update()
+        else:
+            logger.warning(f">>> Invalid focal length: {focal_length}mm, not applying")
+
     def update(self, force=True):
-        # Clear Screen
-        self.clear_screen()
+        import logging
+
+        logger = logging.getLogger("ObjectDetails")
+
+        # Check for eyepiece input timeout
+        if self.eyepiece_input_display and self.eyepiece_input.is_complete():
+            # Auto-complete the input
+            self._apply_custom_eyepiece()
+
+        # If we have a chart generator, consume one yield to get the next progressive update
+        if hasattr(self, "_chart_generator") and self._chart_generator is not None:
+            try:
+                next_image = next(self._chart_generator)
+                # logger.debug(f">>> update(): Consumed next chart yield: {type(next_image)}")
+                self.object_image = next_image
+
+            except StopIteration:
+                logger.info(">>> update(): Chart generator exhausted")
+                self._chart_generator = None  # Generator exhausted
+
+        # Update loading flag based on current image
+        if self.object_image is not None:
+            self._is_showing_loading_chart = (
+                hasattr(self.object_image, "image_type")
+                and self.object_image.image_type == ImageType.LOADING
+            )
 
-        # paste image
-        if self.object_display_mode in [DM_POSS, DM_SDSS]:
+        # Check if we're showing "Loading..." for a Gaia chart
+        # and if catalog is now ready, regenerate the image
+        if self._is_showing_loading_chart:
+            try:
+                # Use cached chart generator to preserve catalog state
+                chart_gen = self._get_gaia_chart_generator()
+                state = chart_gen.get_catalog_state()
+                # logger.debug(f">>> Update check: catalog state = {state}")
+
+                if state == CatalogState.READY:
+                    # Catalog ready! Regenerate display
+                    # logger.info(">>> Catalog READY! Regenerating image...")
+                    self._is_showing_loading_chart = False
+                    self.update_object_info()
+            except Exception as e:
+                logger.error(f">>> Update check failed: {e}", exc_info=True)
+                pass
+        # Clear screen
+        self.draw.rectangle(
+            [0, 0, self.display_class.resX, self.display_class.resY],
+            fill=self.colors.get(0),
+        )
+
+        if self.object_display_mode == DM_IMAGE and self.object_image:
             self.screen.paste(self.object_image)
 
+            # If showing Gaia chart, draw crosshair based on config
+            is_chart = (
+                self.object_image is not None
+                and hasattr(self.object_image, "image_type")
+                and self.object_image.image_type == ImageType.GAIA_CHART
+            )
+            if is_chart:
+                crosshair_mode = self.config_object.get_option("obj_chart_crosshair")
+                crosshair_style = self.config_object.get_option(
+                    "obj_chart_crosshair_style"
+                )
+
+                if crosshair_mode != "off":
+                    style_methods = {
+                        "simple": self._draw_crosshair_simple,
+                        "circle": self._draw_crosshair_circle,
+                        "bullseye": self._draw_crosshair_bullseye,
+                        "brackets": self._draw_crosshair_brackets,
+                        "dots": self._draw_crosshair_dots,
+                        "cross": self._draw_crosshair_cross,
+                    }
+
+                    draw_method = style_methods.get(
+                        crosshair_style, self._draw_crosshair_simple
+                    )
+                    draw_method(mode=crosshair_mode)
+
+                    if crosshair_mode in ["pulse", "fade"]:
+                        pass
+
         if self.object_display_mode == DM_DESC or self.object_display_mode == DM_LOCATE:
             # catalog and entry field i.e. NGC-311
             self.refresh_designator()
             desc_available_lines = 4
-            desig = self.texts["designator"]
-            desig.draw((0, 20))
+            desig = self.texts.get("designator")
+            if desig:
+                desig.draw((0, 20))
 
             # Object TYPE and Constellation i.e. 'Galaxy    PER'
             typeconst = self.texts.get("type-const")
@@ -452,7 +1064,16 @@ def update(self, force=True):
                 desc.set_available_lines(desc_available_lines)
                 desc.draw((0, posy))
 
-        return self.screen_update()
+        # Display eyepiece input popup if active
+        if self.eyepiece_input_display:
+            self.message(
+                f"{str(self.eyepiece_input)}mm",
+                0.1,
+                [30, 10, 93, 40],
+            )
+
+        result = self.screen_update()
+        return result
 
     def cycle_display_mode(self):
         """
@@ -494,6 +1115,40 @@ def mm_cancel(self, _marking_menu, _menu_item) -> bool:
         """
         return True
 
+    def mm_toggle_crosshair(self, _marking_menu, _menu_item) -> bool:
+        """
+        Cycle through crosshair modes: off -> on -> pulse -> off
+        """
+        current_mode = self.config_object.get_option("obj_chart_crosshair")
+        modes = ["off", "on", "pulse"]
+        current_index = modes.index(current_mode) if current_mode in modes else 0
+        next_index = (current_index + 1) % len(modes)
+        self.config_object.set_option("obj_chart_crosshair", modes[next_index])
+        return False  # Don't exit, just update
+
+    def mm_cycle_style(self, _marking_menu, _menu_item) -> bool:
+        """
+        Cycle through crosshair styles
+        """
+        current_style = self.config_object.get_option("obj_chart_crosshair_style")
+        styles = ["simple", "circle", "bullseye", "brackets", "dots", "cross"]
+        current_index = styles.index(current_style) if current_style in styles else 0
+        next_index = (current_index + 1) % len(styles)
+        self.config_object.set_option("obj_chart_crosshair_style", styles[next_index])
+        return False  # Don't exit, just update
+
+    def mm_toggle_lm_mode(self, _marking_menu, _menu_item) -> bool:
+        """
+        Toggle between auto and fixed LM mode
+        """
+        current_mode = self.config_object.get_option("obj_chart_lm_mode")
+        new_mode = "fixed" if current_mode == "auto" else "auto"
+        self.config_object.set_option("obj_chart_lm_mode", new_mode)
+        # If switching to auto, regenerate the chart with new calculation
+        if new_mode == "auto":
+            self.update_object_info()
+        return False  # Don't exit, just update
+
     def mm_align(self, _marking_menu, _menu_item) -> bool:
         """
         Called from marking menu to align on curent object
@@ -526,9 +1181,14 @@ def key_left(self):
 
     def key_right(self):
         """
-        When right is pressed, move to
-        logging screen
+        When right is pressed, move to logging screen
+        Or, if eyepiece input is active, complete the input
         """
+        # If eyepiece input is active, complete it
+        if self.eyepiece_input_display:
+            self._apply_custom_eyepiece()
+            return True
+
         self.maybe_add_to_recents()
         if self.shared_state.solution() is None:
             return
@@ -540,7 +1200,66 @@ def key_right(self):
         self.add_to_stack(object_item_definition)
 
     def change_fov(self, direction):
-        self.config_object.equipment.cycle_eyepieces(direction)
+        """
+        Change field of view by cycling eyepieces.
+        If a custom eyepiece is active, jump to the nearest configured eyepiece and remove custom.
+        """
+        if self._custom_eyepiece is not None:
+            # Custom eyepiece is active - remove it and find nearest configured eyepiece
+            logger.info(">>> Custom eyepiece active, switching to configured eyepieces")
+            custom_focal_length = self._custom_eyepiece.focal_length_mm
+
+            # Remove custom eyepiece from equipment list
+            if self._custom_eyepiece in self.config_object.equipment.eyepieces:
+                self.config_object.equipment.eyepieces.remove(self._custom_eyepiece)
+            self._custom_eyepiece = None
+
+            # Get configured eyepieces (now that custom is removed)
+            eyepieces = self.config_object.equipment.eyepieces
+            if not eyepieces:
+                return
+
+            # Sort eyepieces by focal length
+            sorted_eyepieces = sorted(eyepieces, key=lambda e: e.focal_length_mm)
+
+            if direction > 0:
+                # Find next larger eyepiece (smaller magnification)
+                for ep in sorted_eyepieces:
+                    if ep.focal_length_mm > custom_focal_length:
+                        self.config_object.equipment.active_eyepiece_index = (
+                            eyepieces.index(ep)
+                        )
+                        logger.info(f">>> Jumped to next larger: {ep}")
+                        break
+                else:
+                    # No larger eyepiece found, wrap to smallest
+                    self.config_object.equipment.active_eyepiece_index = (
+                        eyepieces.index(sorted_eyepieces[0])
+                    )
+                    logger.info(f">>> Wrapped to smallest: {sorted_eyepieces[0]}")
+            else:
+                # Find next smaller eyepiece (larger magnification)
+                for i in range(len(sorted_eyepieces) - 1, -1, -1):
+                    ep = sorted_eyepieces[i]
+                    if ep.focal_length_mm < custom_focal_length:
+                        self.config_object.equipment.active_eyepiece_index = (
+                            eyepieces.index(ep)
+                        )
+                        logger.info(f">>> Jumped to next smaller: {ep}")
+                        break
+                else:
+                    # No smaller eyepiece found, wrap to largest
+                    self.config_object.equipment.active_eyepiece_index = (
+                        eyepieces.index(sorted_eyepieces[-1])
+                    )
+                    logger.info(f">>> Wrapped to largest: {sorted_eyepieces[-1]}")
+        else:
+            # Normal eyepiece cycling
+            self.config_object.equipment.cycle_eyepieces(direction)
+            logger.info(
+                f">>> Normal cycle to: {self.config_object.equipment.active_eyepiece}"
+            )
+
         self.update_object_info()
         self.update()
 
@@ -561,3 +1280,60 @@ def key_minus(self):
                 typeconst.next()
         else:
             self.change_fov(-1)
+
+    def key_number(self, number):
+        """
+        Handle number key presses
+        When viewing image (DM_IMAGE):
+        - 0: Toggle between POSS image and Gaia chart (only if no input active)
+        - 1-9: Start custom eyepiece input
+        - After first digit, 0-9 adds second digit or completes input
+        """
+        logger.info(f">>> key_number({number}) called")
+
+        # Only handle custom eyepiece input in image display modes
+        if self.object_display_mode != DM_IMAGE:
+            return
+
+        # Special case: 0 when no input is active toggles POSS/chart
+        if number == 0 and not self.eyepiece_input_display:
+            logger.info(
+                f">>> Toggling _force_gaia_chart (was: {self._force_gaia_chart})"
+            )
+            # Toggle the flag
+            self._force_gaia_chart = not self._force_gaia_chart
+            logger.info(f">>> _force_gaia_chart now: {self._force_gaia_chart}")
+
+            # Reload image with new setting
+            logger.info(">>> Calling update_object_info()...")
+            self.update_object_info()
+            logger.info(
+                f">>> After update_object_info(), self.object_image type: {type(self.object_image)}, size: {self.object_image.size if self.object_image else None}"
+            )
+            logger.info(">>> Calling update()...")
+            update_result = self.update()
+            logger.info(f">>> update() returned: {type(update_result)}")
+            logger.info(">>> key_number(0) complete")
+            return True
+
+        # Handle custom eyepiece input (1-9 to start, 0-9 for second digit)
+        if number >= 1 or (number == 0 and self.eyepiece_input_display):
+            logger.info(f">>> Adding digit {number} to eyepiece input")
+            is_complete = self.eyepiece_input.append_digit(number)
+            self.eyepiece_input_display = True
+            logger.info(
+                f">>> After adding digit: focal_length={self.eyepiece_input.focal_length_mm}mm, complete={is_complete}, display='{self.eyepiece_input}'"
+            )
+
+            if is_complete:
+                # Two digits entered, apply immediately
+                logger.info(
+                    f">>> Input complete, applying {self.eyepiece_input.focal_length_mm}mm"
+                )
+                self._apply_custom_eyepiece()
+            else:
+                # Show popup with current input
+                logger.info(">>> Input incomplete, showing popup")
+                self.update()
+
+            return True
diff --git a/python/PiFinder/ui/preview.py b/python/PiFinder/ui/preview.py
index bac4ce300..d47689664 100644
--- a/python/PiFinder/ui/preview.py
+++ b/python/PiFinder/ui/preview.py
@@ -20,6 +20,7 @@
 from PiFinder.ui.ui_utils import outline_text
 
 sys.path.append(str(utils.tetra3_dir))
+sys.path.append(str(utils.tetra3_dir / "tetra3"))
 
 
 class UIPreview(UIModule):
diff --git a/python/PiFinder/ui/software.py b/python/PiFinder/ui/software.py
index b0892889b..76c27552a 100644
--- a/python/PiFinder/ui/software.py
+++ b/python/PiFinder/ui/software.py
@@ -1,239 +1,960 @@
 #!/usr/bin/python
 # -*- coding:utf-8 -*-
 """
-This module contains all the UI Module classes
+UI modules for software updates, channel selection, and release notes.
 
+Channels:
+  - stable:   GitHub Releases (non-prerelease, >= MIN_NIXOS_VERSION)
+  - beta:     GitHub Pre-releases (>= MIN_NIXOS_VERSION)
+  - unstable: main branch + open PRs labeled 'testable'
 """
 
-import time
+import logging
+import re
+from typing import Dict, List, Optional
+
 import requests
 
 from PiFinder import utils
 from PiFinder.ui.base import UIModule
+from PiFinder.ui.ui_utils import TextLayouter, TextLayouterScroll
 
 sys_utils = utils.get_sys_utils()
+logger = logging.getLogger("UISoftware")
+
+GITHUB_REPO = "brickbots/PiFinder"
+GITHUB_RELEASES_URL = f"https://api.github.com/repos/{GITHUB_REPO}/releases"
+GITHUB_PULLS_URL = f"https://api.github.com/repos/{GITHUB_REPO}/pulls"
+GITHUB_RAW_URL = f"https://raw.githubusercontent.com/{GITHUB_REPO}"
+MIN_NIXOS_VERSION = "2.5.0"
+REQUEST_TIMEOUT = 10
+_PR_VERSION_RE = re.compile(r"^PR#(\d+)-")
 
 
-def update_needed(current_version: str, repo_version: str) -> bool:
+def _parse_version(version_str: str) -> tuple:
     """
-    Returns true if an update is available
+    Parse a version string like '2.4.0' or '2.5.0-beta.1'
+    into a comparable tuple.  Pre-release tags sort below
+    the same numeric version (2.5.0-beta.1 < 2.5.0).
+    """
+    version_str = version_str.strip()
+    if "-" in version_str:
+        numeric_part, pre_release = version_str.split("-", 1)
+    else:
+        numeric_part = version_str
+        pre_release = None
+
+    parts = numeric_part.split(".")
+    major, minor, patch = int(parts[0]), int(parts[1]), int(parts[2])
 
-    Update is available if semvar of repo_version is > current_version
-    Also returns True on error to allow be biased towards allowing
-    updates if issues
+    if pre_release is None:
+        return (major, minor, patch, 1, "")
+    else:
+        return (major, minor, patch, 0, pre_release)
+
+
+def _meets_min_version(version_str: str) -> bool:
+    """Check if a version string is >= MIN_NIXOS_VERSION."""
+    try:
+        ver = _parse_version(version_str)
+        minimum = _parse_version(MIN_NIXOS_VERSION)
+        return ver >= minimum
+    except Exception:
+        return False
+
+
+def _version_from_tag(tag: str) -> str:
+    """Strip leading 'v' from a tag name to get the version string."""
+    return tag.lstrip("v")
+
+
+def _fetch_build_json(ref: str) -> Optional[dict]:
+    """
+    Fetch pifinder-build.json for a given git ref (sha or tag).
+    Returns dict with 'store_path' and 'version', or None if unavailable.
     """
+    url = f"{GITHUB_RAW_URL}/{ref}/pifinder-build.json"
     try:
-        _tmp_split = current_version.split(".")
-        current_version_compare = (
-            int(_tmp_split[0]),
-            int(_tmp_split[1]),
-            int(_tmp_split[2]),
-        )
+        res = requests.get(url, timeout=REQUEST_TIMEOUT)
+        if res.status_code == 200:
+            data = res.json()
+            if data.get("store_path"):
+                return data
+    except (requests.exceptions.RequestException, ValueError):
+        pass
+    return None
+
 
-        _tmp_split = repo_version.split(".")
-        repo_version_compare = (
-            int(_tmp_split[0]),
-            int(_tmp_split[1]),
-            int(_tmp_split[2]),
+def _fetch_github_releases() -> tuple[list[dict], list[dict]]:
+    """
+    Fetch releases from GitHub API.
+    Returns (stable_entries, beta_entries) sorted newest-first.
+    Only includes entries that have a pifinder-build.json with a store path.
+    """
+    stable: list[dict] = []
+    beta: list[dict] = []
+    try:
+        res = requests.get(
+            GITHUB_RELEASES_URL,
+            timeout=REQUEST_TIMEOUT,
+            headers={"Accept": "application/vnd.github.v3+json"},
         )
+        if res.status_code != 200:
+            logger.warning("GitHub releases API returned %d", res.status_code)
+            return stable, beta
+
+        for release in res.json():
+            if release.get("draft"):
+                continue
+            tag = release.get("tag_name", "")
+            version = _version_from_tag(tag)
+            if not _meets_min_version(version):
+                continue
+
+            build = _fetch_build_json(tag)
+            if build is None:
+                continue
+
+            entry = {
+                "label": tag,
+                "ref": build["store_path"],
+                "notes": release.get("body") or None,
+                "version": build.get("version", version),
+                "subtitle": release.get("name", tag),
+            }
+
+            if release.get("prerelease"):
+                beta.append(entry)
+            else:
+                stable.append(entry)
+
+    except requests.exceptions.RequestException as e:
+        logger.warning("Could not fetch GitHub releases: %s", e)
+
+    return stable, beta
+
+
+def _fetch_testable_prs() -> list[dict]:
+    """
+    Fetch open PRs with the 'testable' label.
+    Returns list of unstable entries (main branch prepended by caller).
+    Only includes PRs that have a pifinder-build.json with a store path.
+    """
+    entries: list[dict] = []
+    try:
+        res = requests.get(
+            GITHUB_PULLS_URL,
+            params={"state": "open", "labels": "testable"},
+            timeout=REQUEST_TIMEOUT,
+            headers={"Accept": "application/vnd.github.v3+json"},
+        )
+        if res.status_code != 200:
+            logger.warning("GitHub pulls API returned %d", res.status_code)
+            return entries
+
+        for pr in res.json():
+            labels = [lbl.get("name", "") for lbl in pr.get("labels", [])]
+            if "testable" not in labels:
+                continue
+            number = pr.get("number", 0)
+            title = pr.get("title", "")
+            sha = pr.get("head", {}).get("sha", "")
+            body = pr.get("body") or None
+
+            build = _fetch_build_json(sha)
+            if build is None:
+                continue
+
+            short_sha = sha[:7]
+            entries.append(
+                {
+                    "label": f"PR#{number}-{short_sha}",
+                    "ref": build["store_path"],
+                    "notes": body,
+                    "version": build.get("version"),
+                    "subtitle": title,
+                }
+            )
 
-        # tuples compare in significance from first to last element
-        return repo_version_compare > current_version_compare
+    except requests.exceptions.RequestException as e:
+        logger.warning("Could not fetch testable PRs: %s", e)
+
+    return entries
 
-    except Exception:
-        return True
+
+def _fetch_main_entry() -> Optional[dict]:
+    """
+    Fetch pifinder-build.json for the main branch.
+    Returns an entry dict or None if unavailable.
+    """
+    build = _fetch_build_json("main")
+    if build is None:
+        return None
+    return {
+        "label": build.get("version") or "main",
+        "ref": build["store_path"],
+        "notes": None,
+        "version": build.get("version"),
+        "subtitle": "main branch",
+    }
+
+
+def _fetch_pr_title(pr_number: int) -> Optional[str]:
+    """Fetch the title of a single PR by number."""
+    url = f"https://api.github.com/repos/{GITHUB_REPO}/pulls/{pr_number}"
+    try:
+        res = requests.get(
+            url,
+            timeout=REQUEST_TIMEOUT,
+            headers={"Accept": "application/vnd.github.v3+json"},
+        )
+        if res.status_code == 200:
+            return res.json().get("title")
+    except requests.exceptions.RequestException:
+        pass
+    return None
 
 
 class UISoftware(UIModule):
     """
-    UI for updating software versions
+    Software update UI.
+
+    Phases:
+      loading   - animated "Checking for updates..."
+      browse    - header (version + channel selector) + scrollable version list
+      confirm   - selected version details + Install / Notes / Cancel
+      upgrading - progress bar with download progress, then reboot
+      failed    - update failed + Retry / Cancel
     """
 
     __title__ = "SOFTWARE"
+    MAX_VISIBLE = 4
 
     def __init__(self, *args, **kwargs) -> None:
         super().__init__(*args, **kwargs)
-        self.version_txt = f"{utils.pifinder_dir}/version.txt"
         self.wifi_txt = f"{utils.pifinder_dir}/wifi_status.txt"
-        with open(self.wifi_txt, "r") as wfs:
-            self._wifi_mode = wfs.read()
-        with open(self.version_txt, "r") as ver:
-            self._software_version = ver.read()
+        with open(self.wifi_txt, "r") as f:
+            self._wifi_mode = f.read().strip()
+        self._software_version = utils.get_version()
+        self._software_subtitle: Optional[str] = None
+
+        self._channels: Dict[str, List[dict]] = {}
+        self._channel_names: List[str] = []
+        self._channel_index = 0
+
+        self._version_list: List[dict] = []
+        self._list_index = 0
+        self._scroll_offset = 0
 
-        self._release_version = "-.-.-"
+        self._phase = "loading"
+        self._focus = "channel"  # "channel" or "list" (browse phase)
         self._elipsis_count = 0
-        self._go_for_update = False
-        self._option_select = "Update"
 
-    def get_release_version(self):
-        """
-        Fetches current release version from
-        github, sets class variable if found
+        self._selected_version: Optional[dict] = None
+        self._confirm_options: List[str] = []
+        self._confirm_index = 0
+
+        self._fail_option = "Retry"
+        self._unstable_unlocked = self.config_object.get_option(
+            "software_unstable_unlocked"
+        )
+        self._unstable_entries: List[dict] = []
+        self._square_count = 0
+
+        self._scrollers: Dict[str, TextLayouterScroll] = {}
+        self._scroller_phase: Optional[str] = None
+        self._scroller_index: Optional[int] = None
+
+    def active(self):
+        super().active()
+        self._phase = "loading"
+        self._elipsis_count = 0
+        self._focus = "channel"
+        self._channel_index = 0
+        self._list_index = 0
+        self._scroll_offset = 0
+        self._selected_version = None
+        self._scrollers = {}
+        self._scroller_phase = None
+        self._scroller_index = None
+
+    # ------------------------------------------------------------------
+    # Data
+    # ------------------------------------------------------------------
+
+    def _fetch_channels(self):
+        stable, beta = _fetch_github_releases()
+
+        self._channels = {
+            "stable": stable,
+            "beta": beta,
+        }
+
+        if self._unstable_unlocked:
+            self._unstable_entries = self._fetch_unstable_entries()
+            self._channels["unstable"] = self._unstable_entries
+
+        # Try to find subtitle for current version from fetched entries
+        self._software_subtitle = self._find_current_subtitle()
+
+        self._channel_names = list(self._channels.keys())
+        self._channel_index = 0
+        self._refresh_version_list()
+        self._phase = "browse"
+
+    def _find_current_subtitle(self) -> Optional[str]:
+        """Find a subtitle for the current version.
+
+        Checks fetched channel entries first, then falls back to
+        a direct PR title fetch for PR builds.
         """
-        try:
-            res = requests.get(
-                "https://raw.githubusercontent.com/brickbots/PiFinder/release/version.txt"
-            )
-        except requests.exceptions.ConnectionError:
-            print("Could not connect to github")
-            self._release_version = "Unknown"
+        for entries in self._channels.values():
+            for entry in entries:
+                if entry.get("version") == self._software_version:
+                    return entry.get("subtitle")
+
+        m = _PR_VERSION_RE.match(self._software_version)
+        if m:
+            return _fetch_pr_title(int(m.group(1)))
+
+        return None
+
+    def _fetch_unstable_entries(self) -> list[dict]:
+        unstable: list[dict] = []
+        main_entry = _fetch_main_entry()
+        if main_entry:
+            unstable.append(main_entry)
+        unstable.extend(_fetch_testable_prs())
+        return unstable
+
+    def _refresh_version_list(self):
+        if not self._channel_names:
+            self._version_list = []
             return
+        channel = self._channel_names[self._channel_index]
+        entries = self._channels.get(channel, [])
+        self._version_list = [
+            e for e in entries if e.get("version") != self._software_version
+        ]
+        self._list_index = 0
+        self._scroll_offset = 0
+        self._scrollers = {}
+        self._scroller_phase = None
+        self._scroller_index = None
+
+    def _get_scrollspeed_config(self):
+        scroll_dict = {
+            "Off": 0,
+            "Fast": TextLayouterScroll.FAST,
+            "Med": TextLayouterScroll.MEDIUM,
+            "Slow": TextLayouterScroll.SLOW,
+        }
+        scrollspeed = self.config_object.get_option("text_scroll_speed", "Med")
+        return scroll_dict[scrollspeed]
+
+    def _get_scroller(self, key: str, text: str, font, color, width: int):
+        """Get or create a cached scroller, reset cache on phase/index change."""
+        phase_index = (self._phase, self._list_index)
+        if (self._scroller_phase, self._scroller_index) != phase_index:
+            self._scrollers = {}
+            self._scroller_phase = self._phase
+            self._scroller_index = self._list_index
+
+        if key not in self._scrollers:
+            self._scrollers[key] = TextLayouterScroll(
+                text,
+                draw=self.draw,
+                color=color,
+                font=font,
+                width=width,
+                scrollspeed=self._get_scrollspeed_config(),
+            )
+        return self._scrollers[key]
+
+    # ------------------------------------------------------------------
+    # Drawing helpers
+    # ------------------------------------------------------------------
+
+    def _draw_separator(self, y):
+        self.draw.line([(0, y), (127, y)], fill=self.colors.get(64))
+
+    def _draw_loading(self):
+        y = self.display_class.titlebar_height + 2
+        ver_scroller = self._get_scroller(
+            "loading_ver",
+            self._software_version,
+            self.fonts.bold,
+            self.colors.get(255),
+            self.fonts.bold.line_length,
+        )
+        ver_scroller.draw((0, y))
+        dots = "." * (self._elipsis_count // 10)
+        self.draw.text(
+            (10, 90),
+            _("Checking for"),
+            font=self.fonts.large.font,
+            fill=self.colors.get(255),
+        )
+        self.draw.text(
+            (10, 105),
+            _("updates{elipsis}").format(elipsis=dots),
+            font=self.fonts.large.font,
+            fill=self.colors.get(255),
+        )
+        self._elipsis_count += 1
+        if self._elipsis_count > 39:
+            self._elipsis_count = 0
+
+    def _draw_wifi_warning(self):
+        y = self.display_class.titlebar_height + 2
+        ver_scroller = self._get_scroller(
+            "wifi_ver",
+            self._software_version,
+            self.fonts.bold,
+            self.colors.get(255),
+            self.fonts.bold.line_length,
+        )
+        ver_scroller.draw((0, y))
+        self.draw.text(
+            (10, 90),
+            _("WiFi must be"),
+            font=self.fonts.large.font,
+            fill=self.colors.get(255),
+        )
+        self.draw.text(
+            (10, 105),
+            _("client mode"),
+            font=self.fonts.large.font,
+            fill=self.colors.get(255),
+        )
 
-        if res.status_code == 200:
-            self._release_version = res.text[:-1]
+    def _draw_browse(self):
+        y = self.display_class.titlebar_height + 2
+
+        # Current version
+        ver_scroller = self._get_scroller(
+            "browse_cur_ver",
+            self._software_version,
+            self.fonts.bold,
+            self.colors.get(255),
+            self.fonts.bold.line_length,
+        )
+        ver_scroller.draw((0, y))
+        y += 12
+        if self._software_subtitle:
+            sub_scroller = self._get_scroller(
+                "browse_cur_sub",
+                self._software_subtitle,
+                self.fonts.base,
+                self.colors.get(128),
+                self.fonts.base.line_length,
+            )
+            sub_scroller.draw((0, y))
+            y += 12
         else:
-            self._release_version = "Unknown"
+            y += 2
 
-    def update_software(self):
-        self.message(_("Updating..."), 10)
-        if sys_utils.update_software():
-            self.message(_("Ok! Restarting"), 10)
-            sys_utils.restart_system()
+        # Channel selector
+        channel_name = (
+            self._channel_names[self._channel_index].capitalize()
+            if self._channel_names
+            else "---"
+        )
+        if self._focus == "channel":
+            self.draw.text(
+                (0, y),
+                self._RIGHT_ARROW,
+                font=self.fonts.bold.font,
+                fill=self.colors.get(255),
+            )
+            self.draw.text(
+                (10, y),
+                channel_name,
+                font=self.fonts.bold.font,
+                fill=self.colors.get(255),
+            )
         else:
-            self.message(_("Error on Upd"), 3)
+            self.draw.text(
+                (10, y),
+                channel_name,
+                font=self.fonts.base.font,
+                fill=self.colors.get(128),
+            )
+        y += 14
+
+        self._draw_separator(y)
+        y += 4
+
+        # Version list
+        if not self._version_list:
+            self.draw.text(
+                (10, y + 10),
+                _("No versions"),
+                font=self.fonts.base.font,
+                fill=self.colors.get(128),
+            )
+            self.draw.text(
+                (10, y + 22),
+                _("available"),
+                font=self.fonts.base.font,
+                fill=self.colors.get(128),
+            )
+            return
+
+        label_width = self.fonts.base.line_length - 2
+        current_y = y
+        for i in range(len(self._version_list)):
+            idx = self._scroll_offset + i
+            if idx >= len(self._version_list):
+                break
+            entry = self._version_list[idx]
+            label = entry["label"]
+            subtitle = entry.get("subtitle", "")
+
+            if self._focus == "list" and idx == self._list_index:
+                if current_y + 24 > 128:
+                    break
+                self.draw.text(
+                    (0, current_y),
+                    self._RIGHT_ARROW,
+                    font=self.fonts.bold.font,
+                    fill=self.colors.get(255),
+                )
+                scroller = self._get_scroller(
+                    "browse_label",
+                    label,
+                    self.fonts.bold,
+                    self.colors.get(255),
+                    label_width,
+                )
+                scroller.draw((10, current_y))
+                current_y += 12
+                if subtitle:
+                    sub_scroller = self._get_scroller(
+                        "browse_sub",
+                        subtitle,
+                        self.fonts.base,
+                        self.colors.get(128),
+                        label_width,
+                    )
+                    sub_scroller.draw((10, current_y))
+                current_y += 12
+            else:
+                if current_y + 12 > 128:
+                    break
+                self.draw.text(
+                    (10, current_y),
+                    label[:label_width],
+                    font=self.fonts.base.font,
+                    fill=self.colors.get(192),
+                )
+                current_y += 12
+
+    def _draw_confirm(self):
+        y = self.display_class.titlebar_height + 2
 
-    def update(self, force=False):
-        time.sleep(1 / 30)
-        self.clear_screen()
-        draw_pos = self.display_class.titlebar_height + 2
         self.draw.text(
-            (0, draw_pos),
-            _("Wifi Mode: {}").format(self._wifi_mode),
+            (0, y),
+            _("Update to:"),
             font=self.fonts.base.font,
             fill=self.colors.get(128),
         )
-        draw_pos += 15
+        y += 14
 
-        self.draw.text(
-            (0, draw_pos),
-            _("Current Version"),
-            font=self.fonts.bold.font,
-            fill=self.colors.get(128),
+        label_width = self.fonts.base.line_length
+        version_label = (
+            self._selected_version.get("version") or self._selected_version["label"]
         )
-        draw_pos += 10
-
+        scroller = self._get_scroller(
+            "confirm_label",
+            version_label,
+            self.fonts.bold,
+            self.colors.get(255),
+            label_width,
+        )
+        scroller.draw((0, y))
+        y += 12
+
+        subtitle = self._selected_version.get("subtitle", "")
+        if subtitle:
+            sub_scroller = self._get_scroller(
+                "confirm_sub",
+                subtitle,
+                self.fonts.base,
+                self.colors.get(128),
+                label_width,
+            )
+            sub_scroller.draw((0, y))
+        y += 14
+
+        self._draw_separator(y)
+        y += 4
+
+        for i, opt in enumerate(self._confirm_options):
+            item_y = y + i * 12
+            if i == self._confirm_index:
+                self.draw.text(
+                    (0, item_y),
+                    self._RIGHT_ARROW,
+                    font=self.fonts.bold.font,
+                    fill=self.colors.get(255),
+                )
+                self.draw.text(
+                    (10, item_y),
+                    _(opt),
+                    font=self.fonts.bold.font,
+                    fill=self.colors.get(255),
+                )
+            else:
+                self.draw.text(
+                    (10, item_y),
+                    _(opt),
+                    font=self.fonts.base.font,
+                    fill=self.colors.get(192),
+                )
+
+    def _draw_failed(self):
+        y = self.display_class.titlebar_height + 20
         self.draw.text(
-            (10, draw_pos),
-            f"{self._software_version}",
+            (10, y),
+            _("Update failed!"),
             font=self.fonts.bold.font,
-            fill=self.colors.get(192),
+            fill=self.colors.get(255),
         )
-        draw_pos += 16
+        y += 20
+        for label in ("Retry", "Cancel"):
+            if self._fail_option == label:
+                self.draw.text(
+                    (0, y),
+                    self._RIGHT_ARROW,
+                    font=self.fonts.bold.font,
+                    fill=self.colors.get(255),
+                )
+            self.draw.text(
+                (10, y),
+                _(label),
+                font=self.fonts.bold.font,
+                fill=self.colors.get(255),
+            )
+            y += 12
+
+    # ------------------------------------------------------------------
+    # Main update loop
+    # ------------------------------------------------------------------
+
+    def update(self, force=False):
+        self.clear_screen()
+
+        if self._phase == "upgrading":
+            self._draw_upgrading()
+            return self.screen_update()
+
+        if self._phase == "failed":
+            self._draw_failed()
+            return self.screen_update()
+
+        if self._wifi_mode != "Client":
+            self._draw_wifi_warning()
+            return self.screen_update()
+
+        if self._phase == "loading":
+            if self._elipsis_count > 30:
+                self._fetch_channels()
+                # phase is now "browse", fall through
+            else:
+                self._draw_loading()
+                return self.screen_update()
+
+        if self._phase == "browse":
+            self._draw_browse()
+        elif self._phase == "confirm":
+            self._draw_confirm()
+
+        return self.screen_update()
+
+    # ------------------------------------------------------------------
+    # Key handlers
+    # ------------------------------------------------------------------
+
+    def _reset_unlock(self):
+        self._square_count = 0
+
+    def key_up(self):
+        self._reset_unlock()
+        if self._phase == "upgrading":
+            return
+        if self._phase == "failed":
+            self._fail_option = "Cancel" if self._fail_option == "Retry" else "Retry"
+        elif self._phase == "browse":
+            if self._focus == "list":
+                if self._list_index == 0:
+                    self._focus = "channel"
+                else:
+                    self._list_index -= 1
+                    if self._list_index < self._scroll_offset:
+                        self._scroll_offset = self._list_index
+        elif self._phase == "confirm":
+            if self._confirm_index > 0:
+                self._confirm_index -= 1
+
+    def key_down(self):
+        self._reset_unlock()
+        if self._phase == "upgrading":
+            return
+        if self._phase == "failed":
+            self._fail_option = "Cancel" if self._fail_option == "Retry" else "Retry"
+        elif self._phase == "browse":
+            if self._focus == "channel":
+                if self._version_list:
+                    self._focus = "list"
+                    self._list_index = 0
+                    self._scroll_offset = 0
+            elif self._focus == "list":
+                if self._list_index < len(self._version_list) - 1:
+                    self._list_index += 1
+                    if self._list_index >= self._scroll_offset + self.MAX_VISIBLE:
+                        self._scroll_offset = self._list_index - self.MAX_VISIBLE + 1
+        elif self._phase == "confirm":
+            if self._confirm_index < len(self._confirm_options) - 1:
+                self._confirm_index += 1
+
+    def key_right(self):
+        self._reset_unlock()
+        if self._phase == "upgrading":
+            return
+        if self._phase == "failed":
+            if self._fail_option == "Retry":
+                self._phase = "confirm"
+                self.update_software()
+            else:
+                self.remove_from_stack()
+        elif self._phase == "browse":
+            if self._focus == "channel" and self._channel_names:
+                self._channel_index = (self._channel_index + 1) % len(
+                    self._channel_names
+                )
+                self._refresh_version_list()
+            elif self._focus == "list" and self._version_list:
+                self._selected_version = self._version_list[self._list_index]
+                self._confirm_options = ["Install"]
+                if self._selected_version.get("notes"):
+                    self._confirm_options.append("Notes")
+                self._confirm_options.append("Cancel")
+                self._confirm_index = 0
+                self._phase = "confirm"
+        elif self._phase == "confirm":
+            opt = self._confirm_options[self._confirm_index]
+            if opt == "Install":
+                self.update_software()
+            elif opt == "Notes":
+                notes = self._selected_version.get("notes")
+                if notes:
+                    self.add_to_stack({"class": UIReleaseNotes, "notes_text": notes})
+            elif opt == "Cancel":
+                self._phase = "browse"
+
+    def key_left(self):
+        self._reset_unlock()
+        if self._phase == "upgrading":
+            return False
+        if self._phase == "confirm":
+            self._phase = "browse"
+            return False
+        return True
+
+    def key_square(self):
+        self._square_count += 1
+        if self._square_count >= 7 and not self._unstable_unlocked:
+            self._unstable_unlocked = True
+            self.config_object.set_option("software_unstable_unlocked", True)
+            self._unstable_entries = self._fetch_unstable_entries()
+            self._channels["unstable"] = self._unstable_entries
+            self._channel_names = list(self._channels.keys())
+            self.message(_("Unstable\nunlocked"), 1)
+
+    def key_number(self, number):
+        self._square_count = 0
+
+    # ------------------------------------------------------------------
+    # Update action
+    # ------------------------------------------------------------------
+
+    def update_software(self):
+        if not self._selected_version:
+            return
+        self._phase = "upgrading"
+        self.clear_screen()
+        self._draw_upgrading()
+        self.screen_update()
+
+        ref = self._selected_version.get("ref") or "release"
+        if not sys_utils.update_software(ref=ref):
+            self._phase = "failed"
+            self._fail_option = "Retry"
+
+    def _draw_upgrading(self):
+        y = self.display_class.titlebar_height + 2
+
+        progress = sys_utils.get_upgrade_progress()
+        phase = progress["phase"]
+        pct = progress["percent"]
+        done = progress["done"]
+        total = progress["total"]
+
+        if phase == "failed":
+            self._phase = "failed"
+            self._fail_option = "Retry"
+            return
+
+        # Title
+        if phase == "rebooting":
+            label = _("Rebooting...")
+        elif phase == "activating":
+            label = _("Activating...")
+        else:
+            label = _("Downloading...")
 
         self.draw.text(
-            (0, draw_pos),
-            _("Release Version"),
+            (0, y),
+            label,
             font=self.fonts.bold.font,
-            fill=self.colors.get(128),
+            fill=self.colors.get(255),
+        )
+        y += 20
+
+        # Progress bar
+        bar_x, bar_w, bar_h = 4, 120, 12
+        # Background fill so bar is always visible
+        self.draw.rectangle(
+            [bar_x, y, bar_x + bar_w, y + bar_h],
+            fill=self.colors.get(48),
+            outline=self.colors.get(128),
         )
-        draw_pos += 10
+        fill_w = int(bar_w * pct / 100)
+        if fill_w > 0:
+            self.draw.rectangle(
+                [bar_x + 1, y + 1, bar_x + fill_w, y + bar_h - 1],
+                fill=self.colors.get(255),
+            )
 
+        # Percentage centered on bar
+        pct_text = f"{pct}%"
+        pct_bbox = self.fonts.base.font.getbbox(pct_text)
+        pct_w = pct_bbox[2] - pct_bbox[0]
+        pct_h = pct_bbox[3] - pct_bbox[1]
+        pct_x = bar_x + (bar_w - pct_w) // 2
+        pct_y = y + (bar_h - pct_h) // 2 - pct_bbox[1]
         self.draw.text(
-            (10, draw_pos),
-            f"{self._release_version}",
-            font=self.fonts.bold.font,
-            fill=self.colors.get(192),
+            (pct_x, pct_y),
+            pct_text,
+            font=self.fonts.base.font,
+            fill=self.colors.get(0) if pct > 45 else self.colors.get(192),
         )
+        y += bar_h + 6
 
-        if self._wifi_mode != "Client":
+        # Path count below bar
+        if phase == "downloading" and total > 0:
+            path_text = f"{done}/{total} paths"
             self.draw.text(
-                (10, 90),
-                _("WiFi must be"),
-                font=self.fonts.large.font,
-                fill=self.colors.get(255),
+                (4, y),
+                path_text,
+                font=self.fonts.base.font,
+                fill=self.colors.get(128),
             )
-            self.draw.text(
-                (10, 105),
-                _("client mode"),
-                font=self.fonts.large.font,
-                fill=self.colors.get(255),
-            )
-            return self.screen_update()
 
-        if self._release_version == "-.-.-":
-            # check elipsis count here... if we are at >30 check for
-            # release versions
-            if self._elipsis_count > 30:
-                self.get_release_version()
+
+class UIReleaseNotes(UIModule):
+    """
+    Scrollable release notes viewer.
+    Accepts markdown text directly via notes_text in item_definition.
+    """
+
+    __title__ = "NOTES"
+
+    def __init__(self, *args, **kwargs) -> None:
+        super().__init__(*args, **kwargs)
+        self._notes_text = self.item_definition.get("notes_text", "")
+        self._loaded = False
+        self._text_layout = TextLayouter(
+            "",
+            draw=self.draw,
+            color=self.colors.get(255),
+            colors=self.colors,
+            font=self.fonts.base,
+            available_lines=9,
+        )
+
+    def active(self):
+        super().active()
+        if not self._loaded:
+            self._load_notes()
+
+    def _load_notes(self):
+        """Process notes text for display."""
+        if self._notes_text:
+            text = _strip_markdown(self._notes_text)
+            self._text_layout.set_text(text)
+            self._loaded = True
+        else:
+            self._loaded = True
+
+    def update(self, force=False):
+        self.clear_screen()
+        draw_pos = self.display_class.titlebar_height + 2
+
+        if not self._notes_text:
             self.draw.text(
-                (10, 90),
-                _("Checking for"),
+                (10, draw_pos + 20),
+                _("No release notes"),
                 font=self.fonts.large.font,
                 fill=self.colors.get(255),
             )
             self.draw.text(
-                (10, 105),
-                _("updates{elipsis}").format(
-                    elipsis="." * int(self._elipsis_count / 10)
-                ),
+                (10, draw_pos + 35),
+                _("available"),
                 font=self.fonts.large.font,
                 fill=self.colors.get(255),
             )
-            self._elipsis_count += 1
-            if self._elipsis_count > 39:
-                self._elipsis_count = 0
             return self.screen_update()
 
-        if not update_needed(
-            self._software_version.strip(), self._release_version.strip()
-        ):
+        if not self._loaded:
             self.draw.text(
-                (10, 90),
-                _("No Update"),
-                font=self.fonts.large.font,
-                fill=self.colors.get(255),
-            )
-            self.draw.text(
-                (10, 105),
-                _("needed"),
+                (10, draw_pos + 20),
+                _("Loading..."),
                 font=self.fonts.large.font,
                 fill=self.colors.get(255),
             )
             return self.screen_update()
 
-        # If we are here, go for update!
-        self._go_for_update = True
-        self.draw.text(
-            (10, 90),
-            _("Update Now"),
-            font=self.fonts.large.font,
-            fill=self.colors.get(255),
-        )
-        self.draw.text(
-            (10, 105),
-            _("Cancel"),
-            font=self.fonts.large.font,
-            fill=self.colors.get(255),
-        )
-        if self._option_select == "Update":
-            ind_pos = 90
-        else:
-            ind_pos = 105
-        self.draw.text(
-            (0, ind_pos),
-            self._RIGHT_ARROW,
-            font=self.fonts.large.font,
-            fill=self.colors.get(255),
-        )
-
+        self._text_layout.draw((0, draw_pos))
         return self.screen_update()
 
-    def toggle_option(self):
-        if not self._go_for_update:
-            return
-        if self._option_select == "Update":
-            self._option_select = "Cancel"
-        else:
-            self._option_select = "Update"
+    def key_down(self):
+        self._text_layout.next()
 
     def key_up(self):
-        self.toggle_option()
+        self._text_layout.previous()
 
-    def key_down(self):
-        self.toggle_option()
+    def key_left(self):
+        return True
 
-    def key_right(self):
-        if self._option_select == "Cancel":
-            self.remove_from_stack()
-        else:
-            self.update_software()
+
+def _strip_markdown(text: str) -> str:
+    """
+    Minimal markdown stripping for plain-text display on OLED.
+    Removes common markdown syntax while keeping readable text.
+    """
+    lines = []
+    for line in text.splitlines():
+        stripped = line.lstrip("#").strip()
+        stripped = stripped.replace("**", "").replace("__", "")
+        stripped = stripped.replace("*", "").replace("_", "")
+        while "[" in stripped and "](" in stripped:
+            start = stripped.index("[")
+            mid = stripped.index("](", start)
+            end = stripped.index(")", mid)
+            link_text = stripped[start + 1 : mid]
+            stripped = stripped[:start] + link_text + stripped[end + 1 :]
+        stripped = stripped.replace("`", "")
+        lines.append(stripped)
+    return "\n".join(lines)
diff --git a/python/PiFinder/ui/sqm.py b/python/PiFinder/ui/sqm.py
index 2cd0115f4..fcd55b773 100644
--- a/python/PiFinder/ui/sqm.py
+++ b/python/PiFinder/ui/sqm.py
@@ -5,6 +5,7 @@
 from PiFinder.ui.ui_utils import TextLayouter
 from PiFinder.image_util import gamma_correct_med, subtract_background
 import time
+from pathlib import Path
 from typing import Any, TYPE_CHECKING
 from PIL import Image, ImageDraw, ImageChops, ImageOps
 
@@ -156,26 +157,38 @@ def update(self, force=False):
                         fill=self.colors.get(64),
                     )
 
-                self.draw.text(
-                    (10, 30),
-                    f"{sqm:.2f}",
-                    font=self.fonts.huge.font,
-                    fill=self.colors.get(192),
-                )
-                # Raw SQM value (if available) in smaller text next to main value
-                if sqm_state.value_raw is not None:
+                # Show star count and exposure time (right side)
+                sqm_details = self.shared_state.sqm_details()
+                if sqm_details:
+                    n_stars = sqm_details.get("n_matched_stars", 0)
                     self.draw.text(
-                        (95, 50),
-                        f"{sqm_state.value_raw:.2f}",
+                        (60, 20),
+                        f"{n_stars}★",
                         font=self.fonts.base.font,
-                        fill=self.colors.get(128),
+                        fill=self.colors.get(64),
                     )
+
+                image_metadata = self.shared_state.last_image_metadata()
+                if image_metadata and "exposure_time" in image_metadata:
+                    exp_ms = image_metadata["exposure_time"] / 1000  # Convert µs to ms
+                    if exp_ms >= 1000:
+                        exp_str = f"{exp_ms / 1000:.2f}s"
+                    else:
+                        exp_str = f"{exp_ms:.0f}ms"
                     self.draw.text(
-                        (95, 62),
-                        "raw",
-                        font=self.fonts.small.font,
+                        (95, 20),
+                        exp_str,
+                        font=self.fonts.base.font,
                         fill=self.colors.get(64),
                     )
+
+                self.draw.text(
+                    (10, 30),
+                    f"{sqm:.2f}",
+                    font=self.fonts.huge.font,
+                    fill=self.colors.get(192),
+                )
+
                 # Units in small, subtle text
                 self.draw.text(
                     (12, 68),
@@ -183,18 +196,42 @@ def update(self, force=False):
                     font=self.fonts.base.font,
                     fill=self.colors.get(64),
                 )
-                self.draw.text(
-                    (10, 82),
-                    f"{details['title']}",
-                    font=self.fonts.base.font,
-                    fill=self.colors.get(128),
-                )
-                self.draw.text(
-                    (10, 92),
-                    _("Bortle {bc}").format(bc=details["bortle_class"]),
-                    font=self.fonts.bold.font,
-                    fill=self.colors.get(128),
-                )
+
+                # Calibration indicator (right side of units line)
+                if self._is_calibrated():
+                    self.draw.text(
+                        (105, 68),
+                        "CAL",
+                        font=self.fonts.base.font,
+                        fill=self.colors.get(128),
+                    )
+                else:
+                    self.draw.text(
+                        (98, 68),
+                        "!CAL",
+                        font=self.fonts.base.font,
+                        fill=self.colors.get(64),
+                    )
+
+                # Show altitude-corrected SQM (scientific value) if available
+                if sqm_details:
+                    sqm_alt = sqm_details.get("sqm_altitude_corrected")
+                    if sqm_alt:
+                        self.draw.text(
+                            (12, 80),
+                            f"alt: {sqm_alt:.2f}",
+                            font=self.fonts.base.font,
+                            fill=self.colors.get(64),
+                        )
+
+                # Bortle class
+                if details:
+                    self.draw.text(
+                        (10, 92),
+                        _("Bortle {bc}").format(bc=details["bortle_class"]),
+                        font=self.fonts.base.font,
+                        fill=self.colors.get(128),
+                    )
 
                 # Legend
                 details_text = _("DETAILS")
@@ -223,11 +260,32 @@ def key_minus(self):
         if self.show_description:
             self.text_layout.previous()
 
+    def _is_calibrated(self) -> bool:
+        """Check if SQM calibration file exists for current camera."""
+        camera_type = self.shared_state.camera_type()
+        camera_type_processed = f"{camera_type}_processed"
+        calibration_file = (
+            Path.home()
+            / "PiFinder_data"
+            / f"sqm_calibration_{camera_type_processed}.json"
+        )
+        return calibration_file.exists()
+
     def active(self):
         """
         Called when a module becomes active
         i.e. foreground controlling display
         """
+        # Switch to SNR auto-exposure mode for stable longer exposures
+        self.command_queues["camera"].put("set_ae_mode:snr")
+
+    def inactive(self):
+        """
+        Called when a module becomes inactive
+        i.e. leaving the SQM screen
+        """
+        # Switch back to PID auto-exposure mode
+        self.command_queues["camera"].put("set_ae_mode:pid")
 
     def _launch_calibration(self, marking_menu, selected_item):
         """Launch the SQM calibration wizard"""
diff --git a/python/PiFinder/ui/sqm_calibration.py b/python/PiFinder/ui/sqm_calibration.py
index 5966cc311..a12e299bd 100644
--- a/python/PiFinder/ui/sqm_calibration.py
+++ b/python/PiFinder/ui/sqm_calibration.py
@@ -52,7 +52,7 @@ class UISQMCalibration(UIModule):
     __title__ = "SQM CAL"
     __help_name__ = ""
 
-    def __init__(self, *args, **kwargs):
+    def __init__(self, *args, **kwargs) -> None:
         super().__init__(*args, **kwargs)
 
         # Wizard state machine
@@ -692,8 +692,13 @@ def _analyze_calibration(self):
             bias_stack = np.array(self.bias_frames, dtype=np.float32)
             self.bias_offset = float(np.median(bias_stack))
 
-            # 2. Compute read noise (std of all pixels in all bias frames)
-            self.read_noise = float(np.std(bias_stack))
+            # 2. Compute read noise using temporal variance (not spatial)
+            # Spatial std includes fixed pattern noise (PRNU), which is wrong.
+            # Temporal variance at each pixel measures true read noise.
+            temporal_variance = np.var(
+                bias_stack, axis=0
+            )  # variance across frames per pixel
+            self.read_noise = float(np.sqrt(np.mean(temporal_variance)))
 
             # 3. Compute dark current rate
             dark_stack = np.array(self.dark_frames, dtype=np.float32)
@@ -710,8 +715,9 @@ def _analyze_calibration(self):
             bias_stack_raw = np.array(self.bias_frames_raw, dtype=np.float32)
             self.bias_offset_raw = float(np.median(bias_stack_raw))
 
-            # 2. Compute read noise from raw frames
-            self.read_noise_raw = float(np.std(bias_stack_raw))
+            # 2. Compute read noise using temporal variance (not spatial)
+            temporal_variance_raw = np.var(bias_stack_raw, axis=0)
+            self.read_noise_raw = float(np.sqrt(np.mean(temporal_variance_raw)))
 
             # 3. Compute dark current rate from raw frames
             dark_stack_raw = np.array(self.dark_frames_raw, dtype=np.float32)
@@ -764,9 +770,7 @@ def _calculate_sky_sqm(self, exposure_sec: float):
             # Create SQM calculator with the newly measured calibration
             # Use PROCESSED (8-bit) pipeline
             camera_type_processed = f"{self.shared_state.camera_type()}_processed"
-            sqm_calc = SQM(
-                camera_type=camera_type_processed, use_adaptive_noise_floor=True
-            )
+            sqm_calc = SQM(camera_type=camera_type_processed)
 
             # Manually set the calibration values we just measured
             if (
diff --git a/python/PiFinder/ui/sqm_correction.py b/python/PiFinder/ui/sqm_correction.py
index aa27f436a..ab88f8301 100644
--- a/python/PiFinder/ui/sqm_correction.py
+++ b/python/PiFinder/ui/sqm_correction.py
@@ -5,6 +5,7 @@
 
 import os
 import json
+import time
 import zipfile
 import logging
 from datetime import datetime
@@ -137,7 +138,7 @@ def update(self, force=False):
                     (0, message_y),
                     self.error_message,
                     font=self.fonts.base.font,
-                    fill=self.colors.get(255, red=True),
+                    fill=self.colors.get(255),
                 )
             else:
                 self.error_message = None
@@ -205,6 +206,11 @@ def key_right(self):
             self.message_time = datetime.now()
             return
 
+        # Show saving message and force screen update
+        self.success_message = _("Saving...")
+        self.message_time = datetime.now()
+        self.update(force=True)
+
         # Create correction package
         try:
             zip_path = self._create_correction_package(corrected_sqm)
@@ -218,14 +224,65 @@ def key_right(self):
             self.error_message = _("Save failed")
             self.message_time = datetime.now()
 
+    def _wait_for_exposure(self, target_exp_us: int, timeout: float = 5.0) -> bool:
+        """Wait for camera to capture image at target exposure."""
+        start = time.time()
+        while time.time() - start < timeout:
+            metadata = self.shared_state.last_image_metadata()
+            if (
+                metadata
+                and abs(metadata.get("exposure_time", 0) - target_exp_us) < 1000
+            ):
+                # Wait one more frame for image to be ready
+                time.sleep(0.3)
+                return True
+            time.sleep(0.1)
+        return False
+
+    def _capture_at_exposure(
+        self, exp_us: int, corrections_dir: Path, timestamp: str, label: str
+    ) -> Dict[str, Any]:
+        """Capture image at specific exposure and return file info."""
+        # Set exposure
+        self.command_queues["camera"].put(f"set_exp:{exp_us}")
+
+        # Wait for image at this exposure
+        if not self._wait_for_exposure(exp_us):
+            logger.warning(f"Timeout waiting for exposure {exp_us}µs")
+            return {}
+
+        # Capture images
+        camera_image = self.camera_image.copy()
+        raw_image = self.shared_state.cam_raw()
+
+        files: Dict[str, Any] = {}
+
+        # Save processed PNG
+        processed_path = f"correction_{timestamp}_{label}_processed.png"
+        camera_image.save(str(corrections_dir / processed_path))
+        files["processed"] = processed_path
+
+        # Save raw TIFF if available
+        if raw_image is not None:
+            raw_path = f"correction_{timestamp}_{label}_raw.tiff"
+            raw_image_pil = Image.fromarray(np.asarray(raw_image, dtype=np.uint16))
+            raw_image_pil.save(str(corrections_dir / raw_path))
+            files["raw"] = raw_path
+
+        files["exposure_us"] = exp_us
+        return files
+
     def _create_correction_package(self, corrected_sqm: float) -> str:
         """
-        Create a zip file containing correction data.
+        Create a zip file containing correction data with bracketed exposures.
+
+        Captures 3 exposures: current, +1 stop (2x), -1 stop (0.5x)
+        If +1 stop exceeds max (1s), captures -2 stops instead.
 
         Returns:
             Path to created zip file
         """
-        # Create corrections directory (consistent with captures/ and solver_debug_dumps/)
+        # Create corrections directory
         corrections_dir = Path(utils.data_dir) / "captures" / "sqm_corrections"
         corrections_dir.mkdir(parents=True, exist_ok=True)
 
@@ -234,37 +291,80 @@ def _create_correction_package(self, corrected_sqm: float) -> str:
         zip_filename = f"sqm_correction_{timestamp}.zip"
         zip_path = corrections_dir / zip_filename
 
-        # Capture current camera image
-        camera_image = self.camera_image.copy()
-
-        # Get raw image from shared state
-        raw_image = self.shared_state.cam_raw()
+        # Get current exposure
+        image_metadata = self.shared_state.last_image_metadata()
+        current_exp = (
+            image_metadata.get("exposure_time", 500000) if image_metadata else 500000
+        )
 
-        # Collect metadata
+        # Calculate bracket exposures (in microseconds)
+        max_exp = 1000000  # 1 second max
+        min_exp = 10000  # 10ms min
+
+        exp_above = min(current_exp * 2, max_exp)
+        exp_below = max(current_exp // 2, min_exp)
+        exp_below2 = max(current_exp // 4, min_exp)
+
+        # Determine which 3 exposures to capture
+        if exp_above <= current_exp:
+            # Can't go above, use current and two below
+            exposures = [
+                (current_exp, "base"),
+                (exp_below, "minus1"),
+                (exp_below2, "minus2"),
+            ]
+        else:
+            # Normal bracket: below, current, above
+            exposures = [
+                (exp_below, "minus1"),
+                (current_exp, "base"),
+                (exp_above, "plus1"),
+            ]
+
+        # Collect metadata first (before changing exposure)
         metadata = self._collect_metadata(corrected_sqm)
+        metadata["bracket_exposures"] = []
+
+        # Capture all bracketed exposures
+        all_files = []
+        for exp_us, label in exposures:
+            # Update saving message
+            self.success_message = _("Saving {label}...").format(label=label)
+            self.update(force=True)
+
+            files = self._capture_at_exposure(exp_us, corrections_dir, timestamp, label)
+            if files:
+                all_files.append(files)
+                metadata["bracket_exposures"].append(
+                    {
+                        "label": label,
+                        "exposure_us": exp_us,
+                        "exposure_sec": exp_us / 1_000_000.0,
+                    }
+                )
+
+        # Re-enable auto-exposure
+        self.command_queues["camera"].put("set_exp:auto")
 
         # Create zip file
         with zipfile.ZipFile(zip_path, "w", zipfile.ZIP_DEFLATED) as zf:
-            # Add processed 8-bit PNG
-            processed_path = f"correction_{timestamp}_processed.png"
-            camera_image.save(str(corrections_dir / processed_path))
-            zf.write(corrections_dir / processed_path, arcname=processed_path)
-            (corrections_dir / processed_path).unlink()  # Clean up temp file
-
-            # Add raw 16-bit TIFF if available
-            if raw_image is not None:
-                raw_path = f"correction_{timestamp}_raw.tiff"
-                raw_image_pil = Image.fromarray(np.asarray(raw_image, dtype=np.uint16))
-                raw_image_pil.save(str(corrections_dir / raw_path))
-                zf.write(corrections_dir / raw_path, arcname=raw_path)
-                (corrections_dir / raw_path).unlink()  # Clean up temp file
+            # Add all captured images
+            for files in all_files:
+                if "processed" in files:
+                    zf.write(
+                        corrections_dir / files["processed"], arcname=files["processed"]
+                    )
+                    (corrections_dir / files["processed"]).unlink()
+                if "raw" in files:
+                    zf.write(corrections_dir / files["raw"], arcname=files["raw"])
+                    (corrections_dir / files["raw"]).unlink()
 
             # Add metadata JSON
             metadata_path = f"correction_{timestamp}_metadata.json"
             with open(corrections_dir / metadata_path, "w") as f:
                 json.dump(metadata, f, indent=2, default=str)
             zf.write(corrections_dir / metadata_path, arcname=metadata_path)
-            (corrections_dir / metadata_path).unlink()  # Clean up temp file
+            (corrections_dir / metadata_path).unlink()
 
         return str(zip_path)
 
@@ -279,10 +379,10 @@ def _collect_metadata(self, corrected_sqm: float) -> Dict[str, Any]:
             },
         }
 
-        # Get SQM state for raw value
+        # Get SQM source
         sqm_state = self.shared_state.sqm()
-        if sqm_state.value_raw is not None:
-            metadata["sqm"]["original_raw"] = sqm_state.value_raw
+        if sqm_state.source:
+            metadata["sqm"]["source"] = sqm_state.source
 
         # Get GPS location
         location = self.shared_state.location()
@@ -319,11 +419,20 @@ def _collect_metadata(self, corrected_sqm: float) -> Dict[str, Any]:
                 "exposure_us": image_metadata.get("exposure_time"),
                 "exposure_sec": image_metadata.get("exposure_time", 0) / 1_000_000.0,
                 "gain": image_metadata.get("gain"),
+                "imu_delta": image_metadata.get("imu_delta"),
             }
 
         # Get camera type
         metadata["camera_type"] = self.shared_state.camera_type()
 
+        # Get adaptive noise floor (used for auto-exposure and SQM pedestal)
+        metadata["noise_floor_adu"] = self.shared_state.noise_floor()
+
+        # Get full SQM calculation details (mzero, background, extinction, etc.)
+        sqm_details = self.shared_state.sqm_details()
+        if sqm_details:
+            metadata["sqm_calculation"] = sqm_details
+
         return metadata
 
     def active(self):
diff --git a/python/PiFinder/ui/status.py b/python/PiFinder/ui/status.py
index 2f5324690..f45a2a998 100644
--- a/python/PiFinder/ui/status.py
+++ b/python/PiFinder/ui/status.py
@@ -81,13 +81,11 @@ class UIStatus(UIModule):
 
     def __init__(self, *args, **kwargs):
         super().__init__(*args, **kwargs)
-        self.version_txt = f"{utils.pifinder_dir}/version.txt"
         self.wifi_txt = f"{utils.pifinder_dir}/wifi_status.txt"
         self._draw_pos = (0, self.display_class.titlebar_height)
         with open(self.wifi_txt, "r") as wfs:
             self._config_options["WiFi Mode"]["value"] = wfs.read()
-        with open(self.version_txt, "r") as ver:
-            self._config_options["Software"]["value"] = ver.read()
+        self._config_options["Software"]["value"] = utils.get_version()
         self.spacecalc = SpaceCalculatorFixed(self.fonts.base.line_length)
         self.status_dict = {
             "LST SLV": "--",
@@ -144,14 +142,11 @@ def __init__(self, *args, **kwargs):
 
     def update_software(self, option):
         if option == "CANCEL":
-            with open(self.version_txt, "r") as ver:
-                self._config_options["Software"]["value"] = ver.read()
+            self._config_options["Software"]["value"] = utils.get_version()
             return False
 
-        self.message("Updating...", 10)
         if sys_utils.update_software():
-            self.message("Ok! Restarting", 10)
-            sys_utils.restart_pifinder()
+            self.message("Updating...", 10)
         else:
             self.message("Error on Upd", 3)
 
@@ -246,13 +241,11 @@ def update_status_dict(self):
                 + f" {stars_matched: >2}"
             )
             hh, mm, _ = calc_utils.ra_to_hms(solution["RA"])
-            self.status_dict["RA/DEC"] = (
-                f"{hh:02.0f}h{mm:02.0f}m/{solution['Dec'] :.2f}"
-            )
+            self.status_dict["RA/DEC"] = f"{hh:02.0f}h{mm:02.0f}m/{solution['Dec']:.2f}"
 
             if solution["Az"]:
                 self.status_dict["AZ/ALT"] = (
-                    f"{solution['Az'] : >6.2f}/{solution['Alt'] : >6.2f}"
+                    f"{solution['Az']: >6.2f}/{solution['Alt']: >6.2f}"
                 )
 
         imu = self.shared_state.imu()
@@ -262,9 +255,9 @@ def update_status_dict(self):
                     mtext = "Moving"
                 else:
                     mtext = "Static"
-                self.status_dict["IMU"] = f"{mtext : >11}" + " " + str(imu["status"])
+                self.status_dict["IMU"] = f"{mtext: >11}" + " " + str(imu["status"])
                 self.status_dict["IMU PS"] = (
-                    f"{imu['pos'][0] : >6.1f}/{imu['pos'][2] : >6.1f}"
+                    f"{imu['pos'][0]: >6.1f}/{imu['pos'][2]: >6.1f}"
                 )
         location = self.shared_state.location()
         sats = self.shared_state.sats()
@@ -290,7 +283,7 @@ def update_status_dict(self):
             try:
                 with open("/sys/class/thermal/thermal_zone0/temp", "r") as f:
                     raw_temp = int(f.read().strip())
-                self.status_dict["CPU TMP"] = f"{raw_temp / 1000 : >13.1f}"
+                self.status_dict["CPU TMP"] = f"{raw_temp / 1000: >13.1f}"
             except FileNotFoundError:
                 self.status_dict["CPU TMP"] = "Error"
 
@@ -306,7 +299,10 @@ def update_status_dict(self):
     def update(self, force=False):
         time.sleep(1 / 30)
         self.update_status_dict()
-        self.draw.rectangle([0, 0, 128, 128], fill=self.colors.get(0))
+        self.draw.rectangle(
+            [0, 0, self.display_class.resX, self.display_class.resY],
+            fill=self.colors.get(0),
+        )
         lines = []
         # Insert IP address here...
         for k, v in self.status_dict.items():
diff --git a/python/PiFinder/ui/ui_utils.py b/python/PiFinder/ui/ui_utils.py
index 37e860537..647b98a77 100644
--- a/python/PiFinder/ui/ui_utils.py
+++ b/python/PiFinder/ui/ui_utils.py
@@ -314,7 +314,7 @@ def format_number(num: float, width=5):
         return f"{num:{width}d}"
     elif num < 1000000:
         decimal_places = max(0, width - 3)  # 'K' and at least one digit
-        return f"{num/1000:{width}.{decimal_places}f}K"
+        return f"{num / 1000:{width}.{decimal_places}f}K"
     else:
         decimal_places = max(0, width - 3)  # 'M' and at least one digit
-        return f"{num/1000000:{width}.{decimal_places}f}M"
+        return f"{num / 1000000:{width}.{decimal_places}f}M"
diff --git a/python/PiFinder/utils.py b/python/PiFinder/utils.py
index 951bc25b9..411cb2a45 100644
--- a/python/PiFinder/utils.py
+++ b/python/PiFinder/utils.py
@@ -10,12 +10,23 @@
 cwd_dir = Path.cwd()
 pifinder_dir = Path("..")
 astro_data_dir = cwd_dir / pifinder_dir / "astro_data"
-tetra3_dir = pifinder_dir / "python/PiFinder/tetra3/tetra3"
+tetra3_dir = pifinder_dir / "python/PiFinder/tetra3"
 data_dir = Path(Path.home(), "PiFinder_data")
 pifinder_db = astro_data_dir / "pifinder_objects.db"
 observations_db = data_dir / "observations.db"
+build_json = pifinder_dir / "pifinder-build.json"
+
+
+def get_version() -> str:
+    try:
+        with open(build_json, "r") as f:
+            return json.load(f).get("version", "Unknown")
+    except (FileNotFoundError, IOError, json.JSONDecodeError):
+        return "Unknown"
+
+
 debug_dump_dir = data_dir / "solver_debug_dumps"
-comet_file = astro_data_dir / Path("comets.txt")
+comet_file = data_dir / "comets.txt"
 
 
 def create_dir(adir: str):
@@ -46,11 +57,9 @@ def serialize_solution(solution: dict) -> str:
 
 def get_sys_utils():
     try:
-        # Attempt to import the real sys_utils
-        sys_utils = importlib.import_module("PiFinder.sys_utils")
-    except ImportError:
-        sys_utils = importlib.import_module("PiFinder.sys_utils_fake")
-    return sys_utils
+        return importlib.import_module("PiFinder.sys_utils")
+    except Exception:
+        return importlib.import_module("PiFinder.sys_utils_fake")
 
 
 def get_os_info():
diff --git a/python/noxfile.py b/python/noxfile.py
deleted file mode 100644
index e407e8724..000000000
--- a/python/noxfile.py
+++ /dev/null
@@ -1,102 +0,0 @@
-import nox
-
-nox.options.sessions = ["lint", "format", "type_hints", "smoke_tests"]
-
-
-@nox.session(reuse_venv=True, python="3.9")
-def lint(session: nox.Session) -> None:
-    """
-    Lint the project's codebase.
-
-    This session installs necessary dependencies for linting and then runs the linter to check for
-    stylistic errors and coding standards compliance across the project's codebase.
-
-    Args:
-        session (nox.Session): The Nox session being run, providing context and methods for session actions.
-    """
-    session.install("ruff==0.4.8")
-    session.run("ruff", "check", "--fix", "--config", "builtins=['_']")
-
-
-@nox.session(reuse_venv=True, python="3.9")
-def format(session: nox.Session) -> None:
-    """
-    Format the project's codebase.
-
-    This session installs necessary dependencies for code formatting and runs the formatter
-    to check (and optionally correct) the code format according to the project's style guide.
-
-    Args:
-        session (nox.Session): The Nox session being run, providing context and methods for session actions.
-    """
-    session.install("ruff==0.4.8")
-    session.run("ruff", "format")
-
-
-@nox.session(reuse_venv=True, python="3.9")
-def type_hints(session: nox.Session) -> None:
-    """
-    Check type hints in the project's codebase.
-
-    This session installs necessary dependencies for type checking and runs a static type checker
-    to validate the type hints throughout the project's codebase, ensuring they are correct and consistent.
-
-    Args:
-        session (nox.Session): The Nox session being run, providing context and methods for session actions.
-    """
-    session.install("-r", "requirements.txt")
-    session.install("-r", "requirements_dev.txt")
-    session.run("mypy", "--install-types", "--non-interactive", ".")
-
-
-@nox.session(reuse_venv=True, python="3.9")
-def unit_tests(session: nox.Session) -> None:
-    """
-    Run the project's unit tests.
-
-    This session installs the necessary dependencies and runs the project's unit tests.
-    It is focused on testing the functionality of individual units of code in isolation.
-
-    Args:
-        session (nox.Session): The Nox session being run, providing context and methods for session actions.
-    """
-    session.install("-r", "requirements.txt")
-    session.install("-r", "requirements_dev.txt")
-    session.run("pytest", "-m", "unit")
-
-
-@nox.session(reuse_venv=True, python="3.9")
-def smoke_tests(session: nox.Session) -> None:
-    """
-        Run the project's smoke tests.
-    nox
-        This session installs the necessary dependencies and runs a subset of tests designed to quickly
-        check the most important functions of the program, often as a prelude to more thorough testing.
-
-        Args:
-            session (nox.Session): The Nox session being run, providing context and methods for session actions.
-    """
-    session.install("-r", "requirements.txt")
-    session.install("-r", "requirements_dev.txt")
-    session.run("pytest", "-m", "smoke")
-
-
-@nox.session(reuse_venv=True, python="3.9")
-def babel(session: nox.Session) -> None:
-    """
-    Run the I18N toolchain
-    """
-    session.install("-r", "requirements.txt")
-    session.install("-r", "requirements_dev.txt")
-
-    session.run(
-        "pybabel",
-        "extract",
-        "-c",
-        "TRANSLATORS",
-        "-o",
-        "locale/messages.pot",
-        "./PiFinder",
-    )
-    session.run("pybabel", "update", "-i", "locale/messages.pot", "-d", "locale")
-    session.run("pybabel", "compile", "-d", "locale")
diff --git a/python/pyproject.toml b/python/pyproject.toml
index 5617b6ec3..9f420f299 100644
--- a/python/pyproject.toml
+++ b/python/pyproject.toml
@@ -4,6 +4,8 @@ mapping = [
 ]
 
 [tool.ruff]
+builtins = ["_"]
+
 # Exclude a variety of commonly ignored directories.
 exclude = [
     ".bzr",
@@ -39,8 +41,8 @@ exclude = [
 line-length = 88
 indent-width = 4
 
-# Assume Python 3.9
-target-version = "py39"
+# Assume Python 3.13
+target-version = "py313"
 
 [tool.ruff.lint]
 # Enable preview mode, allow os.env changes before imports
@@ -59,6 +61,9 @@ unfixable = []
 # Allow unused variables when underscore-prefixed.
 dummy-variable-rgx = "^(_+|(_+[a-zA-Z0-9_]*[a-zA-Z0-9]+?))$"
 
+[tool.ruff.lint.per-file-ignores]
+"*.ipynb" = ["E402", "F841"]
+
 [tool.ruff.format]
 # Like Black, use double quotes for strings.
 quote-style = "double"
@@ -87,7 +92,7 @@ docstring-code-format = false
 docstring-code-line-length = "dynamic"
 
 [tool.mypy]
-exclude = "venv|tetra3"
+exclude = "venv|tetra3|noxfile\\.py"
 # Start off with these
 warn_unused_configs = true
 warn_redundant_casts = true
@@ -135,6 +140,19 @@ module = [
     'picamera2',
     'bottle',
     'libinput',
+    'pytz',
+    'aiofiles',
+    'requests',
+    'tqdm',
+    'pandas',
+    'rpi_hardware_pwm',
+    'gpsdclient',
+    'timezonefinder',
+    'pydeepskylog.*',
+    'dbus',
+    'pam',
+    'gi',
+    'gi.*',
 ]
 ignore_missing_imports = true
 ignore_errors = true
diff --git a/python/requirements.txt b/python/requirements.txt
deleted file mode 100644
index 5f92091ab..000000000
--- a/python/requirements.txt
+++ /dev/null
@@ -1,27 +0,0 @@
-adafruit-blinka==8.12.0
-adafruit-circuitpython-bno055
-bottle==0.12.25
-cheroot==10.0.0
-dataclasses_json==0.6.7
-gpsdclient==1.3.2
-grpcio==1.64.1
-json5==0.9.25
-luma.oled==3.12.0
-luma.lcd==2.11.0
-pillow==10.4.0
-numpy==1.26.2
-pandas==1.5.3
-pydeepskylog==1.3.2
-pyjwt==2.8.0
-python-libinput==0.3.0a0
-pytz==2022.7.1
-requests==2.28.2
-rpi-hardware-pwm==0.1.4
-scipy
-scikit-learn==1.2.2
-sh==1.14.3
-skyfield==1.45
-timezonefinder==6.1.9
-tqdm==4.65.0
-protobuf==4.25.2
-aiofiles==24.1.0
diff --git a/python/requirements_dev.txt b/python/requirements_dev.txt
deleted file mode 100644
index 5264c55d7..000000000
--- a/python/requirements_dev.txt
+++ /dev/null
@@ -1,13 +0,0 @@
-# dev requirements
-luma.emulator==1.5.0
-PyHotKey==1.5.2
-ruff==0.4.8
-nox==2024.4.15
-mypy==1.10.0
-pytest==8.2.2
-pygame==2.6.1
-pre-commit==3.7.1
-Babel==2.16.0
-xlrd==2.0.2
-# Pin to avoid pyobjc 12.0 which has macOS 15 build issues
-pyobjc-framework-Quartz==11.1; sys_platform == "darwin"
diff --git a/python/tests/test_auto_exposure.py b/python/tests/test_auto_exposure.py
index 5f4c24a57..bd9e539e2 100644
--- a/python/tests/test_auto_exposure.py
+++ b/python/tests/test_auto_exposure.py
@@ -77,14 +77,15 @@ def test_initialization(self):
         handler = SweepZeroStarHandler()
         assert not handler.is_active()
         assert handler._trigger_count == 2
+        # Sweep starts at 400ms, goes up, then tries shorter exposures
         assert handler._exposures == [
-            25000,
-            50000,
-            100000,
-            200000,
             400000,
             800000,
             1000000,
+            200000,
+            100000,
+            50000,
+            25000,
         ]
         assert handler._repeats_per_exposure == 2
 
@@ -104,78 +105,74 @@ def test_trigger_delay(self):
         assert result is None
         assert not handler.is_active()
 
-        # Second zero - should activate and return first exposure
+        # Second zero - should activate and return first exposure (400ms)
         result = handler.handle(50000, 2)
-        assert result == 25000
+        assert result == 400000
         assert handler.is_active()
 
-    def test_sweep_pattern_short_exposures(self):
-        """Sweep repeats each short exposure 2 times."""
+    def test_sweep_pattern_start_at_400ms(self):
+        """Sweep starts at 400ms and repeats each exposure 2 times."""
         handler = SweepZeroStarHandler(trigger_count=1)
 
-        # Activate sweep
+        # Activate sweep - starts at 400ms
         result = handler.handle(50000, 1)
-        assert result == 25000  # First attempt at 25ms
+        assert result == 400000  # First attempt at 400ms
 
-        # Second attempt at 25ms
+        # Second attempt at 400ms
         result = handler.handle(50000, 2)
-        assert result == 25000
+        assert result == 400000
 
-        # Move to 50ms
+        # Move to 800ms
         result = handler.handle(50000, 3)
-        assert result == 50000
+        assert result == 800000
 
-        # Second attempt at 50ms
+        # Second attempt at 800ms
         result = handler.handle(50000, 4)
-        assert result == 50000
+        assert result == 800000
 
-        # Move to 100ms
+        # Move to 1000ms
         result = handler.handle(50000, 5)
-        assert result == 100000
+        assert result == 1000000
 
-    def test_400ms_normal_behavior(self):
-        """Sweep treats 400ms like other exposures (2 attempts)."""
+    def test_sweep_continues_to_shorter_exposures(self):
+        """After longer exposures, sweep tries shorter ones."""
         handler = SweepZeroStarHandler(trigger_count=1)
 
-        # Skip to 400ms by advancing through earlier exposures
-        # 25ms: 2 times
-        handler.handle(50000, 1)  # 25ms attempt 1
-        handler.handle(50000, 2)  # 25ms attempt 2
-        # 50ms: 2 times
-        handler.handle(50000, 3)  # 50ms attempt 1
-        handler.handle(50000, 4)  # 50ms attempt 2
-        # 100ms: 2 times
-        handler.handle(50000, 5)  # 100ms attempt 1
-        handler.handle(50000, 6)  # 100ms attempt 2
-        # 200ms: 2 times
-        handler.handle(50000, 7)  # 200ms attempt 1
-        handler.handle(50000, 8)  # 200ms attempt 2
-
-        # Now at 400ms - should repeat 2 times like other exposures
-        result = handler.handle(50000, 9)
-        assert result == 400000  # Attempt 1
+        # 400ms: 2 times (first in sweep)
+        handler.handle(50000, 1)  # 400ms attempt 1
+        handler.handle(50000, 2)  # 400ms attempt 2
+        # 800ms: 2 times
+        handler.handle(50000, 3)  # 800ms attempt 1
+        handler.handle(50000, 4)  # 800ms attempt 2
+        # 1000ms: 2 times
+        handler.handle(50000, 5)  # 1000ms attempt 1
+        handler.handle(50000, 6)  # 1000ms attempt 2
+
+        # Now at 200ms - sweep continues with shorter exposures
+        result = handler.handle(50000, 7)
+        assert result == 200000  # Attempt 1
 
-        result = handler.handle(50000, 10)
-        assert result == 400000  # Attempt 2
+        result = handler.handle(50000, 8)
+        assert result == 200000  # Attempt 2
 
-        # After 2 cycles, move to 800ms
-        result = handler.handle(50000, 11)
-        assert result == 800000
+        # Move to 100ms
+        result = handler.handle(50000, 9)
+        assert result == 100000
 
     def test_sweep_wraps_around(self):
-        """Sweep wraps back to minimum after reaching maximum."""
+        """Sweep wraps back to start (400ms) after completing all exposures."""
         handler = SweepZeroStarHandler(trigger_count=1)
 
         # Fast-forward through entire sweep
-        # 25ms (2×), 50ms (2×), 100ms (2×), 200ms (2×), 400ms (2×), 800ms (2×), 1000ms (2×)
+        # 400ms (2×), 800ms (2×), 1000ms (2×), 200ms (2×), 100ms (2×), 50ms (2×), 25ms (2×)
         total_cycles = 2 + 2 + 2 + 2 + 2 + 2 + 2  # = 14
 
         for i in range(1, total_cycles + 1):
             handler.handle(50000, i)
 
-        # Next cycle should wrap to 25ms
+        # Next cycle should wrap to 400ms (start of sweep)
         result = handler.handle(50000, total_cycles + 1)
-        assert result == 25000
+        assert result == 400000
 
     def test_reset(self):
         """Reset clears handler state."""
@@ -509,18 +506,18 @@ def test_full_zero_star_recovery_cycle(self):
         result = pid.update(0, current_exposure)
         assert result is None  # Trigger count = 2
 
-        # Zero stars (second time) - sweep activates
+        # Zero stars (second time) - sweep activates at 400ms
         result = pid.update(0, current_exposure)
-        assert result == 25000  # Sweep starts at 25ms
+        assert result == 400000  # Sweep starts at 400ms
         assert pid._zero_star_handler.is_active()
 
         # Continue sweep
         result = pid.update(0, current_exposure)
-        assert result == 25000  # Second attempt at 25ms
+        assert result == 400000  # Second attempt at 400ms
 
         # Still zero stars, sweep continues
         result = pid.update(0, current_exposure)
-        assert result == 50000  # Move to 50ms
+        assert result == 800000  # Move to 800ms
 
         # Find stars again - return to PID
         result = pid.update(15, 50000)
diff --git a/python/tests/test_catalog_data.py b/python/tests/test_catalog_data.py
index 845cc6752..ee6628d51 100644
--- a/python/tests/test_catalog_data.py
+++ b/python/tests/test_catalog_data.py
@@ -41,9 +41,9 @@ def test_object_counts():
     expected_catalogs = list(catalog_counts.keys())
     missing_catalogs = set(expected_catalogs) - set(actual_catalogs)
     extra_catalogs = set(actual_catalogs) - set(expected_catalogs)
-    assert (
-        not missing_catalogs and not extra_catalogs
-    ), f"Catalog mismatch. Missing catalogs: {sorted(missing_catalogs)}. Extra catalogs: {sorted(extra_catalogs)}"
+    assert not missing_catalogs and not extra_catalogs, (
+        f"Catalog mismatch. Missing catalogs: {sorted(missing_catalogs)}. Extra catalogs: {sorted(extra_catalogs)}"
+    )
 
     # Catalog Counts
     for catalog_code, count in catalog_counts.items():
@@ -93,20 +93,20 @@ def check_messier_objects():
 
     # Validate M45 coordinates (Pleiades)
     # Expected: RA=56.85°, Dec=+24.117°
-    assert coords_are_close(
-        m45_obj["ra"], 56.85
-    ), f"M45 RA should be ~56.85°, got {m45_obj['ra']}"
-    assert coords_are_close(
-        m45_obj["dec"], 24.117
-    ), f"M45 Dec should be ~24.117°, got {m45_obj['dec']}"
+    assert coords_are_close(m45_obj["ra"], 56.85), (
+        f"M45 RA should be ~56.85°, got {m45_obj['ra']}"
+    )
+    assert coords_are_close(m45_obj["dec"], 24.117), (
+        f"M45 Dec should be ~24.117°, got {m45_obj['dec']}"
+    )
 
     # Validate M45 object type and constellation
-    assert (
-        m45_obj["obj_type"] == "OC"
-    ), f"M45 should be type 'OC' (open cluster), got '{m45_obj['obj_type']}'"
-    assert (
-        m45_obj["const"] == "Tau"
-    ), f"M45 should be in Taurus (Tau), got '{m45_obj['const']}'"
+    assert m45_obj["obj_type"] == "OC", (
+        f"M45 should be type 'OC' (open cluster), got '{m45_obj['obj_type']}'"
+    )
+    assert m45_obj["const"] == "Tau", (
+        f"M45 should be in Taurus (Tau), got '{m45_obj['const']}'"
+    )
 
     # Test M40 - Winnecke 4 (should have been added by post-processing)
     m40_catalog_obj = db.get_catalog_object_by_sequence("M", 40)
@@ -117,20 +117,20 @@ def check_messier_objects():
 
     # Validate M40 coordinates (Winnecke 4)
     # Expected: RA=185.552°, Dec=+58.083°
-    assert coords_are_close(
-        m40_obj["ra"], 185.552
-    ), f"M40 RA should be ~185.552°, got {m40_obj['ra']}"
-    assert coords_are_close(
-        m40_obj["dec"], 58.083
-    ), f"M40 Dec should be ~58.083°, got {m40_obj['dec']}"
+    assert coords_are_close(m40_obj["ra"], 185.552), (
+        f"M40 RA should be ~185.552°, got {m40_obj['ra']}"
+    )
+    assert coords_are_close(m40_obj["dec"], 58.083), (
+        f"M40 Dec should be ~58.083°, got {m40_obj['dec']}"
+    )
 
     # Validate M40 object type and constellation
-    assert (
-        m40_obj["obj_type"] == "D*"
-    ), f"M40 should be type 'D*' (double star), got '{m40_obj['obj_type']}'"
-    assert (
-        m40_obj["const"] == "UMa"
-    ), f"M40 should be in Ursa Major (UMa), got '{m40_obj['const']}'"
+    assert m40_obj["obj_type"] == "D*", (
+        f"M40 should be type 'D*' (double star), got '{m40_obj['obj_type']}'"
+    )
+    assert m40_obj["const"] == "UMa", (
+        f"M40 should be in Ursa Major (UMa), got '{m40_obj['const']}'"
+    )
 
 
 def check_ngc_objects():
@@ -190,32 +190,32 @@ def check_ngc_objects():
 
         # Get object from database
         catalog_obj = db.get_catalog_object_by_sequence("NGC", ngc_num)
-        assert (
-            catalog_obj is not None
-        ), f"NGC {ngc_num} ({name}) should exist in catalog"
+        assert catalog_obj is not None, (
+            f"NGC {ngc_num} ({name}) should exist in catalog"
+        )
 
         obj = db.get_object_by_id(catalog_obj["object_id"])
         assert obj is not None, f"NGC {ngc_num} ({name}) object should exist"
 
         # Check coordinates (allow 0.1 degree tolerance for coordinate precision)
-        assert coords_are_close(
-            obj["ra"], test_obj["ra"], tolerance=0.1
-        ), f"NGC {ngc_num} ({name}) RA should be ~{test_obj['ra']}°, got {obj['ra']}°"
+        assert coords_are_close(obj["ra"], test_obj["ra"], tolerance=0.1), (
+            f"NGC {ngc_num} ({name}) RA should be ~{test_obj['ra']}°, got {obj['ra']}°"
+        )
 
-        assert coords_are_close(
-            obj["dec"], test_obj["dec"], tolerance=0.1
-        ), f"NGC {ngc_num} ({name}) Dec should be ~{test_obj['dec']}°, got {obj['dec']}°"
+        assert coords_are_close(obj["dec"], test_obj["dec"], tolerance=0.1), (
+            f"NGC {ngc_num} ({name}) Dec should be ~{test_obj['dec']}°, got {obj['dec']}°"
+        )
 
         # Check object type
-        assert (
-            obj["obj_type"] == test_obj["obj_type"]
-        ), f"NGC {ngc_num} ({name}) should be type '{test_obj['obj_type']}', got '{obj['obj_type']}'"
+        assert obj["obj_type"] == test_obj["obj_type"], (
+            f"NGC {ngc_num} ({name}) should be type '{test_obj['obj_type']}', got '{obj['obj_type']}'"
+        )
 
         # Check constellation (if provided)
         if test_obj["const"]:
-            assert (
-                obj["const"] == test_obj["const"]
-            ), f"NGC {ngc_num} ({name}) should be in {test_obj['const']}, got '{obj['const']}'"
+            assert obj["const"] == test_obj["const"], (
+                f"NGC {ngc_num} ({name}) should be in {test_obj['const']}, got '{obj['const']}'"
+            )
 
         print(
             f"✓ NGC {ngc_num} ({name}): RA={obj['ra']:.3f}°, Dec={obj['dec']:.3f}°, Type={obj['obj_type']}, Const={obj['const']}"
@@ -286,24 +286,24 @@ def check_ic_objects():
         assert obj is not None, f"IC {ic_num} ({name}) object should exist"
 
         # Check coordinates (allow 0.1 degree tolerance for coordinate precision)
-        assert coords_are_close(
-            obj["ra"], test_obj["ra"], tolerance=0.1
-        ), f"IC {ic_num} ({name}) RA should be ~{test_obj['ra']}°, got {obj['ra']}°"
+        assert coords_are_close(obj["ra"], test_obj["ra"], tolerance=0.1), (
+            f"IC {ic_num} ({name}) RA should be ~{test_obj['ra']}°, got {obj['ra']}°"
+        )
 
-        assert coords_are_close(
-            obj["dec"], test_obj["dec"], tolerance=0.1
-        ), f"IC {ic_num} ({name}) Dec should be ~{test_obj['dec']}°, got {obj['dec']}°"
+        assert coords_are_close(obj["dec"], test_obj["dec"], tolerance=0.1), (
+            f"IC {ic_num} ({name}) Dec should be ~{test_obj['dec']}°, got {obj['dec']}°"
+        )
 
         # Check object type
-        assert (
-            obj["obj_type"] == test_obj["obj_type"]
-        ), f"IC {ic_num} ({name}) should be type '{test_obj['obj_type']}', got '{obj['obj_type']}'"
+        assert obj["obj_type"] == test_obj["obj_type"], (
+            f"IC {ic_num} ({name}) should be type '{test_obj['obj_type']}', got '{obj['obj_type']}'"
+        )
 
         # Check constellation (if provided)
         if test_obj["const"]:
-            assert (
-                obj["const"] == test_obj["const"]
-            ), f"IC {ic_num} ({name}) should be in {test_obj['const']}, got '{obj['const']}'"
+            assert obj["const"] == test_obj["const"], (
+                f"IC {ic_num} ({name}) should be in {test_obj['const']}, got '{obj['const']}'"
+            )
 
         print(
             f"✓ IC {ic_num} ({name}): RA={obj['ra']:.3f}°, Dec={obj['dec']:.3f}°, Type={obj['obj_type']}, Const={obj['const']}"
@@ -382,9 +382,9 @@ def on_complete(objects):
 
     # Verify results
     assert loaded_count == 100, f"Expected 100 objects, got {loaded_count}"
-    assert (
-        len(loaded_objects) == 100
-    ), f"Expected 100 loaded objects, got {len(loaded_objects)}"
+    assert len(loaded_objects) == 100, (
+        f"Expected 100 loaded objects, got {len(loaded_objects)}"
+    )
 
     # Verify objects have details loaded
     for obj in loaded_objects[:10]:  # Check first 10
diff --git a/python/tests/test_limiting_magnitude.py b/python/tests/test_limiting_magnitude.py
new file mode 100644
index 000000000..21641038f
--- /dev/null
+++ b/python/tests/test_limiting_magnitude.py
@@ -0,0 +1,156 @@
+#!/usr/bin/env python3
+"""
+Unit tests for limiting magnitude calculations using Feijth & Comello formula
+"""
+
+import pytest
+from PiFinder.object_images.gaia_chart import GaiaChartGenerator
+
+
+class TestFeijthComelloFormula:
+    """Test the Feijth & Comello limiting magnitude formula"""
+
+    def test_reference_calculation(self):
+        """
+        Test with Schaefer's reference values
+
+        Reference from astrobasics.de:
+        If Schaefer's result is used with mv = 6.04, D = 25, d = 4, M = 400
+        and t = 0.54 the following limiting magnitude results: 13.36
+
+        Formula: mg = mv - 2 + 2.5 × log₁₀(√(D² - d²) × M × t)
+        """
+        mv = 6.04  # Naked eye limiting magnitude
+        D = 25.0  # Aperture in cm
+        d = 4.0  # Obstruction diameter in cm
+        M = 400.0  # Magnification
+        t = 0.54  # Transmission
+
+        result = GaiaChartGenerator.feijth_comello_limiting_magnitude(mv, D, d, M, t)
+
+        # Should be 13.36 according to reference (allow 0.1 mag tolerance)
+        assert abs(result - 13.36) < 0.1, f"Expected ~13.36, got {result:.2f}"
+
+    def test_unobstructed_telescope(self):
+        """Test with no central obstruction (refractor/unobstructed Newtonian)"""
+        mv = 6.0
+        D = 20.0  # 200mm aperture
+        d = 0.0  # No obstruction
+        M = 100.0
+        t = 0.85
+
+        result = GaiaChartGenerator.feijth_comello_limiting_magnitude(mv, D, d, M, t)
+
+        # Should give reasonable result (12-14 range for 200mm scope)
+        assert 10.0 < result < 15.0, f"Result {result:.2f} outside expected range"
+
+    def test_higher_magnification_improves_lm(self):
+        """
+        Test that higher magnification improves limiting magnitude
+        (darkens sky background, improving contrast)
+        """
+        mv = 6.0
+        D = 20.0
+        d = 0.0
+        t = 0.85
+
+        lm_40x = GaiaChartGenerator.feijth_comello_limiting_magnitude(mv, D, d, 40.0, t)
+        lm_100x = GaiaChartGenerator.feijth_comello_limiting_magnitude(
+            mv, D, d, 100.0, t
+        )
+        lm_200x = GaiaChartGenerator.feijth_comello_limiting_magnitude(
+            mv, D, d, 200.0, t
+        )
+
+        # Higher magnification should give better (larger number) limiting magnitude
+        assert lm_100x > lm_40x, f"100x ({lm_100x:.2f}) should be > 40x ({lm_40x:.2f})"
+        assert lm_200x > lm_100x, (
+            f"200x ({lm_200x:.2f}) should be > 100x ({lm_100x:.2f})"
+        )
+
+    def test_larger_aperture_improves_lm(self):
+        """Test that larger aperture improves limiting magnitude"""
+        mv = 6.0
+        d = 0.0
+        M = 100.0
+        t = 0.85
+
+        lm_80mm = GaiaChartGenerator.feijth_comello_limiting_magnitude(mv, 8.0, d, M, t)
+        lm_150mm = GaiaChartGenerator.feijth_comello_limiting_magnitude(
+            mv, 15.0, d, M, t
+        )
+        lm_250mm = GaiaChartGenerator.feijth_comello_limiting_magnitude(
+            mv, 25.0, d, M, t
+        )
+
+        # Larger aperture should give better limiting magnitude
+        assert lm_150mm > lm_80mm, (
+            f"150mm ({lm_150mm:.2f}) should be > 80mm ({lm_80mm:.2f})"
+        )
+        assert lm_250mm > lm_150mm, (
+            f"250mm ({lm_250mm:.2f}) should be > 150mm ({lm_150mm:.2f})"
+        )
+
+    def test_obstruction_reduces_lm(self):
+        """Test that central obstruction reduces limiting magnitude"""
+        mv = 6.0
+        D = 20.0
+        M = 100.0
+        t = 0.85
+
+        lm_no_obstruction = GaiaChartGenerator.feijth_comello_limiting_magnitude(
+            mv, D, 0.0, M, t
+        )
+        lm_with_obstruction = GaiaChartGenerator.feijth_comello_limiting_magnitude(
+            mv, D, 5.0, M, t
+        )
+
+        # Obstruction should reduce limiting magnitude
+        assert lm_no_obstruction > lm_with_obstruction, (
+            f"Unobstructed ({lm_no_obstruction:.2f}) should be > obstructed ({lm_with_obstruction:.2f})"
+        )
+
+    def test_better_transmission_improves_lm(self):
+        """Test that better transmission improves limiting magnitude"""
+        mv = 6.0
+        D = 20.0
+        d = 0.0
+        M = 100.0
+
+        lm_poor_transmission = GaiaChartGenerator.feijth_comello_limiting_magnitude(
+            mv, D, d, M, 0.50
+        )
+        lm_good_transmission = GaiaChartGenerator.feijth_comello_limiting_magnitude(
+            mv, D, d, M, 0.85
+        )
+
+        # Better transmission should give better limiting magnitude
+        assert lm_good_transmission > lm_poor_transmission, (
+            f"Good transmission ({lm_good_transmission:.2f}) should be > poor ({lm_poor_transmission:.2f})"
+        )
+
+    def test_darker_sky_improves_naked_eye_lm(self):
+        """
+        Test that darker sky (higher mv) improves telescopic limiting magnitude
+        Since telescopic LM builds on naked eye LM
+        """
+        D = 20.0
+        d = 0.0
+        M = 100.0
+        t = 0.85
+
+        lm_bright_sky = GaiaChartGenerator.feijth_comello_limiting_magnitude(
+            5.0, D, d, M, t
+        )
+        lm_dark_sky = GaiaChartGenerator.feijth_comello_limiting_magnitude(
+            6.5, D, d, M, t
+        )
+
+        # Darker sky should give better limiting magnitude
+        assert lm_dark_sky > lm_bright_sky, (
+            f"Dark sky ({lm_dark_sky:.2f}) should be > bright sky ({lm_bright_sky:.2f})"
+        )
+
+
+if __name__ == "__main__":
+    pytest.main([__file__, "-v"])
diff --git a/python/tests/test_software.py b/python/tests/test_software.py
new file mode 100644
index 000000000..c24c6a987
--- /dev/null
+++ b/python/tests/test_software.py
@@ -0,0 +1,503 @@
+import pytest
+from unittest.mock import patch, MagicMock
+
+from PiFinder.ui.software import (
+    _parse_version,
+    _strip_markdown,
+    _meets_min_version,
+    _version_from_tag,
+    _fetch_github_releases,
+    _fetch_testable_prs,
+    _fetch_build_json,
+    GITHUB_RAW_URL,
+)
+
+
+# ---------------------------------------------------------------------------
+# Version parsing
+# ---------------------------------------------------------------------------
+
+
+@pytest.mark.unit
+class TestParseVersion:
+    def test_simple_version(self):
+        assert _parse_version("2.4.0") == (2, 4, 0, 1, "")
+
+    def test_prerelease_version(self):
+        result = _parse_version("2.5.0-beta.1")
+        assert result == (2, 5, 0, 0, "beta.1")
+
+    def test_prerelease_sorts_below_release(self):
+        assert _parse_version("2.5.0-beta.1") < _parse_version("2.5.0")
+
+    def test_whitespace_stripped(self):
+        assert _parse_version("  2.4.0\n") == (2, 4, 0, 1, "")
+
+
+# ---------------------------------------------------------------------------
+# Markdown stripping
+# ---------------------------------------------------------------------------
+
+
+@pytest.mark.unit
+class TestStripMarkdown:
+    def test_removes_headings(self):
+        assert _strip_markdown("# Hello") == "Hello"
+        assert _strip_markdown("## Sub") == "Sub"
+
+    def test_removes_bold(self):
+        assert _strip_markdown("**bold**") == "bold"
+
+    def test_removes_italic(self):
+        assert _strip_markdown("*italic*") == "italic"
+
+    def test_removes_links(self):
+        assert _strip_markdown("[text](http://example.com)") == "text"
+
+    def test_removes_backticks(self):
+        assert _strip_markdown("`code`") == "code"
+
+    def test_preserves_plain_text(self):
+        assert _strip_markdown("Hello world") == "Hello world"
+
+    def test_multiline(self):
+        md = "# Title\n\nSome **bold** text.\n- item"
+        result = _strip_markdown(md)
+        assert "Title" in result
+        assert "bold" in result
+        assert "**" not in result
+
+
+# ---------------------------------------------------------------------------
+# Min version cutoff
+# ---------------------------------------------------------------------------
+
+
+@pytest.mark.unit
+class TestMeetsMinVersion:
+    def test_exact_min_version(self):
+        assert _meets_min_version("2.5.0") is True
+
+    def test_above_min_version(self):
+        assert _meets_min_version("2.6.0") is True
+
+    def test_below_min_version(self):
+        assert _meets_min_version("2.4.0") is False
+
+    def test_prerelease_at_min(self):
+        # 2.5.0-beta.1 < 2.5.0, so below minimum
+        assert _meets_min_version("2.5.0-beta.1") is False
+
+    def test_prerelease_above_min(self):
+        assert _meets_min_version("2.6.0-beta.1") is True
+
+    def test_garbage_returns_false(self):
+        assert _meets_min_version("garbage") is False
+
+    def test_old_major_version(self):
+        assert _meets_min_version("1.0.0") is False
+
+
+@pytest.mark.unit
+class TestVersionFromTag:
+    def test_strips_v_prefix(self):
+        assert _version_from_tag("v2.5.0") == "2.5.0"
+
+    def test_no_prefix(self):
+        assert _version_from_tag("2.5.0") == "2.5.0"
+
+    def test_prerelease_tag(self):
+        assert _version_from_tag("v2.6.0-beta.1") == "2.6.0-beta.1"
+
+
+# ---------------------------------------------------------------------------
+# Build JSON fetching
+# ---------------------------------------------------------------------------
+
+MOCK_BUILD_JSON = {
+    "store_path": "/nix/store/abc123-nixos-system-pifinder",
+    "version": "2.6.0",
+}
+
+
+@pytest.mark.unit
+class TestFetchBuildJson:
+    @patch("PiFinder.ui.software.requests.get")
+    def test_returns_data_on_success(self, mock_get):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 200
+        mock_resp.json.return_value = MOCK_BUILD_JSON
+        mock_get.return_value = mock_resp
+
+        result = _fetch_build_json("v2.6.0")
+
+        assert result == MOCK_BUILD_JSON
+        mock_get.assert_called_once_with(
+            f"{GITHUB_RAW_URL}/v2.6.0/pifinder-build.json",
+            timeout=10,
+        )
+
+    @patch("PiFinder.ui.software.requests.get")
+    def test_returns_none_on_404(self, mock_get):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 404
+        mock_get.return_value = mock_resp
+
+        assert _fetch_build_json("v1.0.0") is None
+
+    @patch("PiFinder.ui.software.requests.get")
+    def test_returns_none_on_missing_store_path(self, mock_get):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 200
+        mock_resp.json.return_value = {"version": "2.6.0"}
+        mock_get.return_value = mock_resp
+
+        assert _fetch_build_json("v2.6.0") is None
+
+    @patch("PiFinder.ui.software.requests.get")
+    def test_returns_none_on_network_error(self, mock_get):
+        import requests as req
+
+        mock_get.side_effect = req.exceptions.ConnectionError("no network")
+
+        assert _fetch_build_json("v2.6.0") is None
+
+
+# ---------------------------------------------------------------------------
+# GitHub releases API parsing
+# ---------------------------------------------------------------------------
+
+MOCK_RELEASES = [
+    {
+        "tag_name": "v2.6.0",
+        "prerelease": False,
+        "draft": False,
+        "body": "## v2.6.0\n- Feature A",
+    },
+    {
+        "tag_name": "v2.5.1",
+        "prerelease": False,
+        "draft": False,
+        "body": "Bugfix release",
+    },
+    {
+        "tag_name": "v2.6.0-beta.1",
+        "prerelease": True,
+        "draft": False,
+        "body": "Beta changelog",
+    },
+    {
+        "tag_name": "v2.5.0-beta.2",
+        "prerelease": True,
+        "draft": False,
+        "body": "Old beta",
+    },
+    {
+        "tag_name": "v2.4.0",
+        "prerelease": False,
+        "draft": False,
+        "body": "Pre-NixOS release",
+    },
+    {
+        "tag_name": "v2.3.0",
+        "prerelease": False,
+        "draft": True,
+        "body": "Draft release",
+    },
+]
+
+BUILD_JSONS = {
+    "v2.6.0": {
+        "store_path": "/nix/store/aaa-nixos-system-pifinder",
+        "version": "2.6.0",
+    },
+    "v2.5.1": {
+        "store_path": "/nix/store/bbb-nixos-system-pifinder",
+        "version": "2.5.1",
+    },
+    "v2.6.0-beta.1": {
+        "store_path": "/nix/store/ccc-nixos-system-pifinder",
+        "version": "2.6.0-beta.1",
+    },
+}
+
+
+def _make_build_json_mock(build_jsons):
+    """Create a _fetch_build_json mock that returns data from a dict."""
+
+    def _mock(ref):
+        return build_jsons.get(ref)
+
+    return _mock
+
+
+@pytest.mark.unit
+class TestFetchGitHubReleases:
+    @patch("PiFinder.ui.software._fetch_build_json")
+    @patch("PiFinder.ui.software.requests.get")
+    def test_partitions_stable_and_beta(self, mock_get, mock_build):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 200
+        mock_resp.json.return_value = MOCK_RELEASES
+        mock_get.return_value = mock_resp
+        mock_build.side_effect = _make_build_json_mock(BUILD_JSONS)
+
+        stable, beta = _fetch_github_releases()
+
+        stable_versions = [e["version"] for e in stable]
+        beta_versions = [e["version"] for e in beta]
+
+        assert "2.6.0" in stable_versions
+        assert "2.5.1" in stable_versions
+        assert "2.6.0-beta.1" in beta_versions
+
+    @patch("PiFinder.ui.software._fetch_build_json")
+    @patch("PiFinder.ui.software.requests.get")
+    def test_filters_below_min_version(self, mock_get, mock_build):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 200
+        mock_resp.json.return_value = MOCK_RELEASES
+        mock_get.return_value = mock_resp
+        mock_build.side_effect = _make_build_json_mock(BUILD_JSONS)
+
+        stable, beta = _fetch_github_releases()
+
+        all_versions = [e["version"] for e in stable + beta]
+        assert "2.4.0" not in all_versions
+
+    @patch("PiFinder.ui.software._fetch_build_json")
+    @patch("PiFinder.ui.software.requests.get")
+    def test_excludes_drafts(self, mock_get, mock_build):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 200
+        mock_resp.json.return_value = MOCK_RELEASES
+        mock_get.return_value = mock_resp
+        mock_build.side_effect = _make_build_json_mock(BUILD_JSONS)
+
+        stable, beta = _fetch_github_releases()
+
+        all_labels = [e["label"] for e in stable + beta]
+        assert "v2.3.0" not in all_labels
+
+    @patch("PiFinder.ui.software._fetch_build_json")
+    @patch("PiFinder.ui.software.requests.get")
+    def test_ref_is_store_path(self, mock_get, mock_build):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 200
+        mock_resp.json.return_value = [MOCK_RELEASES[0]]
+        mock_get.return_value = mock_resp
+        mock_build.return_value = BUILD_JSONS["v2.6.0"]
+
+        stable, _ = _fetch_github_releases()
+
+        assert stable[0]["ref"] == "/nix/store/aaa-nixos-system-pifinder"
+
+    @patch("PiFinder.ui.software._fetch_build_json")
+    @patch("PiFinder.ui.software.requests.get")
+    def test_preserves_changelog_body(self, mock_get, mock_build):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 200
+        mock_resp.json.return_value = [MOCK_RELEASES[0]]
+        mock_get.return_value = mock_resp
+        mock_build.return_value = BUILD_JSONS["v2.6.0"]
+
+        stable, _ = _fetch_github_releases()
+
+        assert stable[0]["notes"] == "## v2.6.0\n- Feature A"
+
+    @patch("PiFinder.ui.software.requests.get")
+    def test_api_failure_returns_empty(self, mock_get):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 500
+        mock_get.return_value = mock_resp
+
+        stable, beta = _fetch_github_releases()
+
+        assert stable == []
+        assert beta == []
+
+    @patch("PiFinder.ui.software.requests.get")
+    def test_network_error_returns_empty(self, mock_get):
+        import requests as req
+
+        mock_get.side_effect = req.exceptions.ConnectionError("no network")
+
+        stable, beta = _fetch_github_releases()
+
+        assert stable == []
+        assert beta == []
+
+    @patch("PiFinder.ui.software._fetch_build_json")
+    @patch("PiFinder.ui.software.requests.get")
+    def test_prerelease_at_min_filtered(self, mock_get, mock_build):
+        """2.5.0-beta.2 is below 2.5.0 minimum, should be excluded."""
+        mock_resp = MagicMock()
+        mock_resp.status_code = 200
+        mock_resp.json.return_value = MOCK_RELEASES
+        mock_get.return_value = mock_resp
+        mock_build.side_effect = _make_build_json_mock(BUILD_JSONS)
+
+        _, beta = _fetch_github_releases()
+
+        beta_versions = [e["version"] for e in beta]
+        assert "2.5.0-beta.2" not in beta_versions
+
+    @patch("PiFinder.ui.software._fetch_build_json")
+    @patch("PiFinder.ui.software.requests.get")
+    def test_skips_entries_without_build_json(self, mock_get, mock_build):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 200
+        mock_resp.json.return_value = [MOCK_RELEASES[0]]
+        mock_get.return_value = mock_resp
+        mock_build.return_value = None
+
+        stable, beta = _fetch_github_releases()
+
+        assert stable == []
+        assert beta == []
+
+
+# ---------------------------------------------------------------------------
+# Testable PRs
+# ---------------------------------------------------------------------------
+
+MOCK_PRS = [
+    {
+        "number": 42,
+        "title": "Fix star matching algorithm",
+        "head": {"sha": "abc123def456"},
+        "user": {"login": "contributor1"},
+        "body": "This PR fixes the star matching.",
+        "labels": [{"name": "testable"}],
+    },
+    {
+        "number": 99,
+        "title": "Add dark mode support",
+        "head": {"sha": "789xyz000111"},
+        "user": {"login": "contributor2"},
+        "body": None,
+        "labels": [{"name": "testable"}],
+    },
+]
+
+PR_BUILD_JSONS = {
+    "abc123def456": {
+        "store_path": "/nix/store/pr42-nixos-system-pifinder",
+        "version": "2.6.0-dev",
+    },
+    "789xyz000111": {
+        "store_path": "/nix/store/pr99-nixos-system-pifinder",
+        "version": "2.6.0-dev",
+    },
+}
+
+
+@pytest.mark.unit
+class TestFetchTestablePRs:
+    @patch("PiFinder.ui.software._fetch_build_json")
+    @patch("PiFinder.ui.software.requests.get")
+    def test_builds_pr_entries(self, mock_get, mock_build):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 200
+        mock_resp.json.return_value = MOCK_PRS
+        mock_get.return_value = mock_resp
+        mock_build.side_effect = _make_build_json_mock(PR_BUILD_JSONS)
+
+        entries = _fetch_testable_prs()
+
+        assert len(entries) == 2
+        assert entries[0]["label"] == "PR#42-abc123d"
+        assert entries[0]["subtitle"] == "Fix star matching algorithm"
+        assert entries[1]["label"] == "PR#99-789xyz0"
+        assert entries[1]["subtitle"] == "Add dark mode support"
+
+    @patch("PiFinder.ui.software._fetch_build_json")
+    @patch("PiFinder.ui.software.requests.get")
+    def test_pr_ref_is_store_path(self, mock_get, mock_build):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 200
+        mock_resp.json.return_value = [MOCK_PRS[0]]
+        mock_get.return_value = mock_resp
+        mock_build.return_value = PR_BUILD_JSONS["abc123def456"]
+
+        entries = _fetch_testable_prs()
+
+        assert entries[0]["ref"] == "/nix/store/pr42-nixos-system-pifinder"
+
+    @patch("PiFinder.ui.software._fetch_build_json")
+    @patch("PiFinder.ui.software.requests.get")
+    def test_pr_version_from_build_json(self, mock_get, mock_build):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 200
+        mock_resp.json.return_value = [MOCK_PRS[0]]
+        mock_get.return_value = mock_resp
+        mock_build.return_value = PR_BUILD_JSONS["abc123def456"]
+
+        entries = _fetch_testable_prs()
+
+        assert entries[0]["version"] == "2.6.0-dev"
+
+    @patch("PiFinder.ui.software._fetch_build_json")
+    @patch("PiFinder.ui.software.requests.get")
+    def test_pr_notes_from_body(self, mock_get, mock_build):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 200
+        mock_resp.json.return_value = MOCK_PRS
+        mock_get.return_value = mock_resp
+        mock_build.side_effect = _make_build_json_mock(PR_BUILD_JSONS)
+
+        entries = _fetch_testable_prs()
+
+        assert entries[0]["notes"] == "This PR fixes the star matching."
+        assert entries[1]["notes"] is None
+
+    @patch("PiFinder.ui.software.requests.get")
+    def test_api_failure_returns_empty(self, mock_get):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 403
+        mock_get.return_value = mock_resp
+
+        entries = _fetch_testable_prs()
+
+        assert entries == []
+
+    @patch("PiFinder.ui.software._fetch_build_json")
+    @patch("PiFinder.ui.software.requests.get")
+    def test_long_title_in_subtitle(self, mock_get, mock_build):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 200
+        mock_resp.json.return_value = [
+            {
+                "number": 7,
+                "title": "A very long PR title that exceeds twenty characters",
+                "head": {"sha": "aaa"},
+                "user": {"login": "x"},
+                "body": None,
+                "labels": [{"name": "testable"}],
+            }
+        ]
+        mock_get.return_value = mock_resp
+        mock_build.return_value = {
+            "store_path": "/nix/store/pr7-nixos",
+            "version": "2.6.0-dev",
+        }
+
+        entries = _fetch_testable_prs()
+
+        assert entries[0]["label"] == "PR#7-aaa"
+        assert entries[0]["subtitle"] == (
+            "A very long PR title that exceeds twenty characters"
+        )
+
+    @patch("PiFinder.ui.software._fetch_build_json")
+    @patch("PiFinder.ui.software.requests.get")
+    def test_skips_prs_without_build_json(self, mock_get, mock_build):
+        mock_resp = MagicMock()
+        mock_resp.status_code = 200
+        mock_resp.json.return_value = MOCK_PRS
+        mock_get.return_value = mock_resp
+        mock_build.return_value = None
+
+        entries = _fetch_testable_prs()
+
+        assert entries == []
diff --git a/python/tests/test_sqm.py b/python/tests/test_sqm.py
index c689ca0cd..ea33ba887 100644
--- a/python/tests/test_sqm.py
+++ b/python/tests/test_sqm.py
@@ -11,23 +11,30 @@ class TestSQMExtinction:
     """
 
     def test_extinction_at_zenith(self):
-        """Test that extinction at zenith is exactly 0.28 mag (1.0 airmass)"""
+        """Test that extinction at zenith is 0.0 mag (ASTAP convention: zenith is reference)"""
         sqm = SQM()
         extinction = sqm._atmospheric_extinction(90.0)
-        assert extinction == pytest.approx(0.28, abs=0.0001)
+        assert extinction == pytest.approx(0.0, abs=0.0001)
 
     def test_extinction_at_45_degrees(self):
-        """Test extinction at 45° altitude (airmass ≈ 1.414)"""
+        """Test extinction at 45° altitude using Pickering airmass"""
         sqm = SQM()
         extinction = sqm._atmospheric_extinction(45.0)
-        expected = 0.28 * 1.414213562373095  # 0.28 * sqrt(2)
+        # Pickering (2002) airmass at 45° ≈ 1.4124
+        # ASTAP convention: 0.28 * (airmass - 1)
+        pickering_airmass = sqm._pickering_airmass(45.0)
+        expected = 0.28 * (pickering_airmass - 1)
         assert extinction == pytest.approx(expected, abs=0.001)
 
     def test_extinction_at_30_degrees(self):
-        """Test extinction at 30° altitude (airmass = 2.0)"""
+        """Test extinction at 30° altitude using Pickering airmass"""
         sqm = SQM()
         extinction = sqm._atmospheric_extinction(30.0)
-        assert extinction == pytest.approx(0.56, abs=0.001)  # 0.28 * 2.0
+        # Pickering (2002) airmass at 30° ≈ 1.995
+        # ASTAP convention: 0.28 * (airmass - 1) ≈ 0.279
+        pickering_airmass = sqm._pickering_airmass(30.0)
+        expected = 0.28 * (pickering_airmass - 1)
+        assert extinction == pytest.approx(expected, abs=0.001)
 
     def test_extinction_increases_toward_horizon(self):
         """Test that extinction increases as altitude decreases"""
@@ -37,15 +44,18 @@ def test_extinction_increases_toward_horizon(self):
 
         # Extinction should increase monotonically as altitude decreases
         for i in range(len(extinctions) - 1):
-            assert (
-                extinctions[i] < extinctions[i + 1]
-            ), f"Extinction at {altitudes[i]}° should be less than at {altitudes[i+1]}°"
+            assert extinctions[i] < extinctions[i + 1], (
+                f"Extinction at {altitudes[i]}° should be less than at {altitudes[i + 1]}°"
+            )
 
     def test_extinction_minimum_is_at_zenith(self):
-        """Test that zenith (90°) has the minimum possible extinction"""
+        """Test that zenith (90°) has zero extinction (ASTAP convention)"""
         sqm = SQM()
         zenith_extinction = sqm._atmospheric_extinction(90.0)
 
+        # Zenith should have exactly zero extinction
+        assert zenith_extinction == pytest.approx(0.0, abs=0.0001)
+
         # Test various altitudes - all should have more extinction than zenith
         test_altitudes = [89, 80, 70, 60, 50, 40, 30, 20, 10]
         for alt in test_altitudes:
@@ -63,27 +73,76 @@ def test_extinction_invalid_altitude(self):
         assert sqm._atmospheric_extinction(-90.0) == 0.0
 
     def test_extinction_airmass_relationship(self):
-        """Test the airmass formula: airmass = 1 / sin(altitude)"""
+        """Test the Pickering airmass formula: extinction = 0.28 * (airmass - 1)"""
         sqm = SQM()
 
-        # At 90°: airmass should be 1.0
+        # At 90°: airmass ≈ 1.0, extinction ≈ 0
         altitude = 90.0
-        airmass = 1.0 / np.sin(np.radians(altitude))
+        airmass = sqm._pickering_airmass(altitude)
         extinction = sqm._atmospheric_extinction(altitude)
-        assert extinction == pytest.approx(0.28 * airmass, abs=0.0001)
+        assert extinction == pytest.approx(0.28 * (airmass - 1), abs=0.0001)
+        assert extinction == pytest.approx(0.0, abs=0.0001)
 
-        # At 30°: airmass should be 2.0
+        # At 30°: Pickering airmass ≈ 1.995
         altitude = 30.0
-        airmass = 1.0 / np.sin(np.radians(altitude))
+        airmass = sqm._pickering_airmass(altitude)
         extinction = sqm._atmospheric_extinction(altitude)
-        assert extinction == pytest.approx(0.28 * airmass, abs=0.0001)
-        assert airmass == pytest.approx(2.0, abs=0.001)
+        assert extinction == pytest.approx(0.28 * (airmass - 1), abs=0.0001)
+        assert airmass == pytest.approx(1.995, abs=0.01)
 
-        # At 6°: airmass ≈ 9.6 (very close to horizon)
+        # At 6°: Pickering airmass is more accurate near horizon than simple formula
         altitude = 6.0
-        airmass = 1.0 / np.sin(np.radians(altitude))
+        airmass = sqm._pickering_airmass(altitude)
         extinction = sqm._atmospheric_extinction(altitude)
-        assert extinction == pytest.approx(0.28 * airmass, abs=0.001)
+        assert extinction == pytest.approx(0.28 * (airmass - 1), abs=0.001)
+
+
+@pytest.mark.unit
+class TestPickeringAirmass:
+    """
+    Unit tests for Pickering (2002) airmass formula.
+    """
+
+    def test_airmass_at_zenith(self):
+        """Test airmass at zenith is 1.0"""
+        sqm = SQM()
+        airmass = sqm._pickering_airmass(90.0)
+        assert airmass == pytest.approx(1.0, abs=0.001)
+
+    def test_airmass_at_45_degrees(self):
+        """Test airmass at 45° altitude"""
+        sqm = SQM()
+        airmass = sqm._pickering_airmass(45.0)
+        # Pickering airmass at 45° ≈ 1.413 (slightly less than simple 1/sin(45°) = 1.414)
+        assert airmass == pytest.approx(1.413, abs=0.01)
+
+    def test_airmass_at_30_degrees(self):
+        """Test airmass at 30° altitude"""
+        sqm = SQM()
+        airmass = sqm._pickering_airmass(30.0)
+        # Pickering airmass at 30° ≈ 1.995 (slightly less than simple 1/sin(30°) = 2.0)
+        assert airmass == pytest.approx(1.995, abs=0.01)
+
+    def test_airmass_at_10_degrees(self):
+        """Test airmass at 10° altitude shows Pickering correction"""
+        sqm = SQM()
+        pickering = sqm._pickering_airmass(10.0)
+        simple = 1.0 / np.sin(np.radians(10.0))
+        # Pickering gives ~5.60, simple gives ~5.76 (3% difference)
+        assert pickering == pytest.approx(5.60, abs=0.05)
+        assert simple > pickering  # Simple overestimates at low altitudes
+
+    def test_airmass_increases_toward_horizon(self):
+        """Test airmass increases monotonically toward horizon"""
+        sqm = SQM()
+        altitudes = [90, 60, 45, 30, 20, 10, 5]
+        airmasses = [sqm._pickering_airmass(alt) for alt in altitudes]
+
+        for i in range(len(airmasses) - 1):
+            assert airmasses[i] < airmasses[i + 1], (
+                f"Airmass at {altitudes[i]}° ({airmasses[i]:.3f}) should be less than "
+                f"at {altitudes[i + 1]}° ({airmasses[i + 1]:.3f})"
+            )
 
 
 @pytest.mark.unit
@@ -133,7 +192,7 @@ def test_calculate_returns_tuple(self):
         assert isinstance(result[1], dict)
 
     def test_calculate_extinction_applied(self):
-        """Test that extinction correction is applied to final SQM value"""
+        """Test that extinction correction follows ASTAP convention"""
         sqm = SQM()
 
         solution = {
@@ -153,39 +212,51 @@ def test_calculate_extinction_applied(self):
             image[y - 2 : y + 3, x - 2 : x + 3] += 5000
 
         # Calculate at zenith
-        sqm_zenith, details_zenith = sqm.calculate(
+        # Note: Use high saturation threshold for uint16 test images
+        _sqm_zenith, details_zenith = sqm.calculate(
             centroids=centroids,
             solution=solution,
             image=image,
             exposure_sec=0.5,
             altitude_deg=90.0,
+            saturation_threshold=65000,
         )
 
         # Calculate at 30° (2× airmass)
-        sqm_30deg, details_30deg = sqm.calculate(
+        _sqm_30deg, details_30deg = sqm.calculate(
             centroids=centroids,
             solution=solution,
             image=image,
             exposure_sec=0.5,
             altitude_deg=30.0,
+            saturation_threshold=65000,
         )
 
-        # Check extinction values
-        assert details_zenith["extinction_correction"] == pytest.approx(0.28, abs=0.001)
-        assert details_30deg["extinction_correction"] == pytest.approx(0.56, abs=0.001)
+        # Check extinction values (ASTAP convention: 0 at zenith)
+        # Pickering airmass at 30° ≈ 1.995, so extinction ≈ 0.28 * 0.995 ≈ 0.279
+        assert details_zenith["extinction_for_altitude"] == pytest.approx(
+            0.0, abs=0.001
+        )
+        expected_ext_30 = 0.28 * (sqm._pickering_airmass(30.0) - 1)
+        assert details_30deg["extinction_for_altitude"] == pytest.approx(
+            expected_ext_30, abs=0.001
+        )
+
+        # Uncorrected SQM should be the same (same image, same stars)
+        assert details_zenith["sqm_uncorrected"] == pytest.approx(
+            details_30deg["sqm_uncorrected"], abs=0.001
+        )
 
-        # Raw SQM should be the same (same image, same stars)
-        assert details_zenith["sqm_raw"] == pytest.approx(
-            details_30deg["sqm_raw"], abs=0.001
+        # sqm_final is raw (no extinction), sqm_altitude_corrected adds extinction
+        # At zenith: sqm_final == sqm_altitude_corrected (extinction is 0)
+        assert details_zenith["sqm_final"] == pytest.approx(
+            details_zenith["sqm_altitude_corrected"], abs=0.001
         )
 
-        # Final SQM should differ by extinction difference
-        extinction_diff = (
-            details_30deg["extinction_correction"]
-            - details_zenith["extinction_correction"]
+        # At 30°: sqm_altitude_corrected = sqm_final + extinction
+        assert details_30deg["sqm_altitude_corrected"] == pytest.approx(
+            details_30deg["sqm_final"] + expected_ext_30, abs=0.001
         )
-        sqm_diff = sqm_30deg - sqm_zenith
-        assert sqm_diff == pytest.approx(extinction_diff, abs=0.001)
 
     def test_calculate_missing_fov(self):
         """Test that calculate() returns None when FOV is missing"""
@@ -276,3 +347,341 @@ def test_field_parameters_different_fov(self):
             assert sqm.arcsec_squared_per_pixel == pytest.approx(
                 expected_arcsec_sq_per_pixel, abs=0.01
             ), f"Failed for FOV={fov}"
+
+
+@pytest.mark.unit
+class TestMzeroCalculation:
+    """Unit tests for photometric zero point calculation."""
+
+    def test_mzero_single_star(self):
+        """Test mzero calculation with a single star."""
+        sqm = SQM()
+        # mzero = mag + 2.5 * log10(flux)
+        # For flux=1000, mag=5.0: mzero = 5.0 + 2.5*log10(1000) = 5.0 + 7.5 = 12.5
+        fluxes = [1000.0]
+        mags = [5.0]
+
+        mzero, mzeros = sqm._calculate_mzero(fluxes, mags)
+
+        expected = 5.0 + 2.5 * np.log10(1000)
+        assert mzero == pytest.approx(expected, abs=0.001)
+        assert len(mzeros) == 1
+        assert mzeros[0] == pytest.approx(expected, abs=0.001)
+
+    def test_mzero_flux_weighted_mean(self):
+        """Test that mzero uses flux-weighted mean (brighter stars weighted more)."""
+        sqm = SQM()
+        # Two stars: one bright (high flux), one dim (low flux)
+        # The bright star's mzero should dominate
+        fluxes = [10000.0, 100.0]  # 100x difference
+        mags = [4.0, 8.0]
+
+        mzero, mzeros = sqm._calculate_mzero(fluxes, mags)
+
+        # Individual mzeros
+        mzero_bright = 4.0 + 2.5 * np.log10(10000)  # = 14.0
+        mzero_dim = 8.0 + 2.5 * np.log10(100)  # = 13.0
+
+        # Flux-weighted: (14.0*10000 + 13.0*100) / (10000+100) ≈ 13.99
+        expected_weighted = (mzero_bright * 10000 + mzero_dim * 100) / (10000 + 100)
+
+        assert mzero == pytest.approx(expected_weighted, abs=0.001)
+        assert mzeros[0] == pytest.approx(mzero_bright, abs=0.001)
+        assert mzeros[1] == pytest.approx(mzero_dim, abs=0.001)
+
+    def test_mzero_skips_negative_flux(self):
+        """Test that stars with negative/zero flux are skipped."""
+        sqm = SQM()
+        fluxes = [1000.0, -1.0, 500.0]  # Middle star is saturated (flux=-1)
+        mags = [5.0, 6.0, 5.5]
+
+        mzero, mzeros = sqm._calculate_mzero(fluxes, mags)
+
+        # Should only use stars 0 and 2
+        assert mzero is not None
+        assert mzeros[0] is not None
+        assert mzeros[1] is None  # Skipped
+        assert mzeros[2] is not None
+
+    def test_mzero_all_invalid_returns_none(self):
+        """Test that all invalid fluxes returns None."""
+        sqm = SQM()
+        fluxes = [-1.0, 0.0, -5.0]
+        mags = [5.0, 6.0, 7.0]
+
+        mzero, mzeros = sqm._calculate_mzero(fluxes, mags)
+
+        assert mzero is None
+        assert all(m is None for m in mzeros)
+
+
+@pytest.mark.unit
+class TestApertureOverlapDetection:
+    """Unit tests for aperture overlap detection."""
+
+    def test_no_overlap_far_apart(self):
+        """Test that far apart stars have no overlap."""
+        sqm = SQM()
+        # Two stars 100 pixels apart
+        centroids = np.array([[100.0, 100.0], [200.0, 100.0]])
+        aperture_radius = 5
+        annulus_inner = 6
+        annulus_outer = 14
+
+        excluded = sqm._detect_aperture_overlaps(
+            centroids, aperture_radius, annulus_inner, annulus_outer
+        )
+
+        assert len(excluded) == 0
+
+    def test_critical_overlap_apertures_touch(self):
+        """Test CRITICAL overlap when apertures overlap (distance < 2*aperture_radius)."""
+        sqm = SQM()
+        # Two stars 8 pixels apart, aperture_radius=5, so 2*5=10 > 8
+        centroids = np.array([[100.0, 100.0], [108.0, 100.0]])
+        aperture_radius = 5
+        annulus_inner = 6
+        annulus_outer = 14
+
+        excluded = sqm._detect_aperture_overlaps(
+            centroids, aperture_radius, annulus_inner, annulus_outer
+        )
+
+        # Both stars should be excluded
+        assert 0 in excluded
+        assert 1 in excluded
+
+    def test_high_overlap_aperture_in_annulus(self):
+        """Test HIGH overlap when aperture enters another star's annulus."""
+        sqm = SQM()
+        # Stars 15 pixels apart: aperture(5) + annulus_outer(14) = 19 > 15
+        # This means star 1's aperture is inside star 0's annulus
+        centroids = np.array([[100.0, 100.0], [115.0, 100.0]])
+        aperture_radius = 5
+        annulus_inner = 6
+        annulus_outer = 14
+
+        excluded = sqm._detect_aperture_overlaps(
+            centroids, aperture_radius, annulus_inner, annulus_outer
+        )
+
+        # Both should be excluded due to HIGH overlap
+        assert 0 in excluded
+        assert 1 in excluded
+
+    def test_no_overlap_at_threshold(self):
+        """Test no overlap when exactly at safe distance."""
+        sqm = SQM()
+        # Stars 20 pixels apart: aperture(5) + annulus_outer(14) = 19 < 20
+        centroids = np.array([[100.0, 100.0], [120.0, 100.0]])
+        aperture_radius = 5
+        annulus_inner = 6
+        annulus_outer = 14
+
+        excluded = sqm._detect_aperture_overlaps(
+            centroids, aperture_radius, annulus_inner, annulus_outer
+        )
+
+        assert len(excluded) == 0
+
+
+@pytest.mark.unit
+class TestNoiseFloorEstimation:
+    """Unit tests for adaptive noise floor estimation."""
+
+    def test_temporal_noise_calculation(self):
+        """Test temporal noise = read_noise + dark_current * exposure."""
+        from PiFinder.sqm.noise_floor import NoiseFloorEstimator
+
+        estimator = NoiseFloorEstimator(camera_type="imx296_processed")
+        # imx296_processed has read_noise=1.5, dark_current=0.0
+
+        noise = estimator._estimate_temporal_noise(exposure_sec=1.0)
+
+        # With dark_current=0, temporal_noise = read_noise = 1.5
+        assert noise == pytest.approx(1.5, abs=0.01)
+
+    def test_noise_floor_uses_theory_when_dark_pixels_below_bias(self):
+        """Test that theory is used when dark pixels are impossibly low."""
+        from PiFinder.sqm.noise_floor import NoiseFloorEstimator
+
+        estimator = NoiseFloorEstimator(camera_type="imx296_processed")
+        # bias_offset for imx296_processed is 6.0
+
+        # Create image with all pixels below bias offset (impossible in reality)
+        image = np.full((100, 100), 3.0, dtype=np.float32)
+
+        noise_floor, _ = estimator.estimate_noise_floor(image, exposure_sec=0.5)
+
+        # Should use theoretical floor since dark pixels (3.0) < bias (6.0)
+        assert noise_floor >= estimator.profile.bias_offset
+
+    def test_noise_floor_uses_measured_when_valid(self):
+        """Test that measured dark pixels are used when valid."""
+        from PiFinder.sqm.noise_floor import NoiseFloorEstimator
+
+        estimator = NoiseFloorEstimator(camera_type="imx296_processed")
+        # bias_offset=6.0, read_noise=1.5, dark_current=0.0
+        # theoretical_floor = 6.0 + 1.5 = 7.5
+
+        # Create image with 5th percentile around 8.0 (valid, above bias)
+        # Most pixels higher, some low pixels around 8
+        image = np.random.uniform(10, 50, (100, 100)).astype(np.float32)
+        image[0:5, 0:5] = 8.0  # Dark corner
+
+        noise_floor, _ = estimator.estimate_noise_floor(image, exposure_sec=0.5)
+
+        # Should use min(measured, theoretical)
+        # 5th percentile should be around 8, theoretical is 7.5
+        # So should use theoretical 7.5
+        assert noise_floor == pytest.approx(7.5, abs=0.5)
+
+    def test_noise_floor_clamped_to_bias_offset(self):
+        """Test that noise floor is never below bias offset."""
+        from PiFinder.sqm.noise_floor import NoiseFloorEstimator
+
+        estimator = NoiseFloorEstimator(camera_type="imx296_processed")
+
+        # Even with weird inputs, should never go below bias
+        image = np.full((100, 100), 100.0, dtype=np.float32)
+
+        noise_floor, _ = estimator.estimate_noise_floor(image, exposure_sec=0.5)
+
+        assert noise_floor >= estimator.profile.bias_offset
+
+    def test_history_smoothing_after_multiple_estimates(self):
+        """Test that history smoothing kicks in after 5+ estimates."""
+        from PiFinder.sqm.noise_floor import NoiseFloorEstimator
+
+        estimator = NoiseFloorEstimator(camera_type="imx296_processed")
+
+        # First 4 estimates - no smoothing yet
+        for i in range(4):
+            image = np.full((100, 100), 10.0 + i, dtype=np.float32)
+            _, details = estimator.estimate_noise_floor(image, exposure_sec=0.5)
+            assert details["n_history_samples"] == i + 1
+
+        # 5th estimate - smoothing should kick in
+        image = np.full((100, 100), 15.0, dtype=np.float32)
+        _, details = estimator.estimate_noise_floor(image, exposure_sec=0.5)
+        assert details["n_history_samples"] == 5
+        # dark_pixel_smoothed should be median of history, not raw value
+        # History: [10, 11, 12, 13, 15] -> median = 12
+        assert details["dark_pixel_smoothed"] == pytest.approx(12.0, abs=0.1)
+
+    def test_update_with_zero_sec_sample(self):
+        """Test zero-second sample updates profile gradually."""
+        from PiFinder.sqm.noise_floor import NoiseFloorEstimator
+
+        estimator = NoiseFloorEstimator(camera_type="imx296_processed")
+        original_bias = estimator.profile.bias_offset
+
+        # Need 3 samples before profile updates
+        for i in range(3):
+            # Zero-sec image with bias around 10
+            zero_sec = np.random.normal(10.0, 1.5, (100, 100)).astype(np.float32)
+            estimator.update_with_zero_sec_sample(zero_sec)
+
+        # After 3 samples, profile should update with EMA (alpha=0.2)
+        # new_bias = 0.2 * measured + 0.8 * original
+        expected_bias = 0.2 * 10.0 + 0.8 * original_bias
+        assert estimator.profile.bias_offset == pytest.approx(expected_bias, abs=0.5)
+
+    def test_validate_estimate_too_close_to_median(self):
+        """Test validation fails when noise floor is too close to image median."""
+        from PiFinder.sqm.noise_floor import NoiseFloorEstimator
+
+        estimator = NoiseFloorEstimator(camera_type="imx296_processed")
+
+        # Image where darkest pixels are close to median (uniform image)
+        # This simulates a situation with no stars/sky gradient
+        image = np.full((100, 100), 10.0, dtype=np.float32)
+
+        estimator.estimate_noise_floor(image, exposure_sec=0.5)
+
+        # Should be invalid because noise floor (theoretical ~7.5) is close to median (10)
+        # Actually 7.5 is not > 10 * 0.8 = 8, so let's use a different test
+        # Need noise floor > median * 0.8 to trigger this
+        # Create image where dark pixels are above theoretical floor
+        image2 = np.full((100, 100), 8.0, dtype=np.float32)
+        estimator2 = NoiseFloorEstimator(camera_type="imx296_processed")
+
+        _, details2 = estimator2.estimate_noise_floor(image2, exposure_sec=0.5)
+
+        # noise_floor will be min(8.0, 7.5) = 7.5
+        # median = 8.0, threshold = 8.0 * 0.8 = 6.4
+        # 7.5 > 6.4, so should be invalid
+        assert details2["is_valid"] is False
+        assert "median" in details2["validation_reason"].lower()
+
+    def test_get_statistics(self):
+        """Test get_statistics returns expected data."""
+        from PiFinder.sqm.noise_floor import NoiseFloorEstimator
+
+        estimator = NoiseFloorEstimator(camera_type="imx296_processed")
+
+        # Do a few estimates
+        for _ in range(3):
+            image = np.random.uniform(10, 50, (100, 100)).astype(np.float32)
+            estimator.estimate_noise_floor(image, exposure_sec=0.5)
+
+        stats = estimator.get_statistics()
+
+        assert stats["camera_type"] == "imx296_processed"
+        assert stats["n_estimates"] == 3
+        assert stats["n_history_samples"] == 3
+        assert "dark_pixel_mean" in stats
+        assert "dark_pixel_std" in stats
+        assert "dark_pixel_median" in stats
+
+    def test_reset_clears_state(self):
+        """Test reset clears all history and statistics."""
+        from PiFinder.sqm.noise_floor import NoiseFloorEstimator
+
+        estimator = NoiseFloorEstimator(camera_type="imx296_processed")
+
+        # Build up some state
+        for _ in range(5):
+            image = np.random.uniform(10, 50, (100, 100)).astype(np.float32)
+            estimator.estimate_noise_floor(image, exposure_sec=0.5)
+
+        assert estimator.n_estimates == 5
+        assert len(estimator.dark_pixel_history) == 5
+
+        # Reset
+        estimator.reset()
+
+        assert estimator.n_estimates == 0
+        assert len(estimator.dark_pixel_history) == 0
+        assert len(estimator.zero_sec_history) == 0
+
+    def test_save_and_load_calibration(self, tmp_path, monkeypatch):
+        """Test calibration save/load round-trip."""
+        from PiFinder.sqm.noise_floor import NoiseFloorEstimator
+
+        # Redirect Path.home() to tmp_path
+        monkeypatch.setattr("pathlib.Path.home", lambda: tmp_path)
+
+        # Create PiFinder_data directory
+        (tmp_path / "PiFinder_data").mkdir()
+
+        estimator = NoiseFloorEstimator(camera_type="imx296_processed")
+
+        # Save calibration with new values
+        result = estimator.save_calibration(
+            bias_offset=25.0, read_noise=3.5, dark_current_rate=0.5
+        )
+        assert result is True
+
+        # Verify profile was updated
+        assert estimator.profile.bias_offset == 25.0
+        assert estimator.profile.read_noise_adu == 3.5
+        assert estimator.profile.dark_current_rate == 0.5
+
+        # Create new estimator - should load the saved calibration
+        estimator2 = NoiseFloorEstimator(camera_type="imx296_processed")
+
+        # Should have loaded the saved values (not the defaults)
+        assert estimator2.profile.bias_offset == 25.0
+        assert estimator2.profile.read_noise_adu == 3.5
+        assert estimator2.profile.dark_current_rate == 0.5
diff --git a/python/tests/test_star_catalog.py b/python/tests/test_star_catalog.py
new file mode 100644
index 000000000..b9ae9c43f
--- /dev/null
+++ b/python/tests/test_star_catalog.py
@@ -0,0 +1,137 @@
+import unittest
+import numpy as np
+import struct
+import tempfile
+import shutil
+from pathlib import Path
+from unittest.mock import patch
+
+from PiFinder.object_images.star_catalog import GaiaStarCatalog
+
+
+class TestGaiaStarCatalog(unittest.TestCase):
+    def setUp(self):
+        self.test_dir = tempfile.mkdtemp()
+        self.catalog_path = Path(self.test_dir)
+        self.catalog = GaiaStarCatalog(str(self.catalog_path))
+        self.catalog.nside = 512
+
+    def tearDown(self):
+        shutil.rmtree(self.test_dir)
+
+    def test_parse_records(self):
+        # Create a fake star record
+        # Format: <I (uint32), B (uint8), B (uint8), B (uint8), B (uint8), b (int8), b (int8)
+        # healpix (24 bit), ra_offset, dec_offset, mag, pmra, pmdec
+
+        # Star 1: Healpix 0, offsets 127 (0), mag 100 (10.0), pm 0, 0
+        rec1 = struct.pack("<IBBBbb", 0, 127, 127, 100, 0, 0)
+
+        # Star 2: Healpix 1, offsets 255 (max), mag 50 (5.0), pm 10, -10
+        rec2 = struct.pack("<IBBBbb", 1, 255, 255, 50, 10, -10)
+
+        data = rec1 + rec2
+
+        ras, decs, mags, pmras, pmdecs = self.catalog._parse_records(data)
+
+        self.assertEqual(len(ras), 2)
+        self.assertEqual(len(decs), 2)
+
+        # Check magnitudes
+        self.assertEqual(mags[0], 10.0)
+        self.assertEqual(mags[1], 5.0)
+
+        # Check proper motions (encoded value * 50)
+        self.assertEqual(pmras[0], 0)
+        self.assertEqual(pmras[1], 10 * 50)
+        self.assertEqual(pmdecs[1], -10 * 50)
+
+    def test_apply_proper_motion(self):
+        # Create fake star data
+        ras = np.array([0.0, 180.0])
+        decs = np.array([0.0, 45.0])
+        mags = np.array([10.0, 10.0])
+        pmras = np.array([1000, 0])  # 1000 mas/yr
+        pmdecs = np.array([0, 1000])  # 1000 mas/yr
+
+        stars = (ras, decs, mags, pmras, pmdecs)
+
+        # Mock datetime to ensure consistent "years elapsed"
+        with patch("PiFinder.star_catalog.datetime") as mock_date:
+            mock_date.now.return_value.year = 2017
+            mock_date.now.return_value.timetuple.return_value.tm_yday = 1
+            # 2017.0 - 2016.0 = 1.0 year elapsed
+
+            result = self.catalog._apply_proper_motion(stars)
+
+            self.assertEqual(result.shape, (2, 3))
+
+            # Star 1: RA should change by 1000 mas = 1 arcsec = 1/3600 degrees
+            # cos(0) = 1
+            expected_ra_change = 1.0 / 3600.0
+            self.assertAlmostEqual(result[0, 0], 0.0 + expected_ra_change, places=6)
+            self.assertEqual(result[0, 1], 0.0)  # Dec shouldn't change
+
+            # Star 2: Dec should change by 1000 mas = 1/3600 degrees
+            expected_dec_change = 1.0 / 3600.0
+            self.assertEqual(result[1, 0], 180.0)  # RA shouldn't change
+            self.assertAlmostEqual(result[1, 1], 45.0 + expected_dec_change, places=6)
+
+    def test_return_empty_on_missing_file(self):
+        # Test that it returns empty array instead of crashing
+        result = self.catalog._load_tile_from_file(Path("/nonexistent"), 0, 20)
+        self.assertEqual(len(result[0]), 0)
+        self.assertTrue(isinstance(result[0], np.ndarray))
+
+    def test_read_binary_index_v1(self):
+        # Create a v1 index file
+        # Header: version=1, num_tiles=2
+        header = struct.pack("<II", 1, 2)
+
+        # Tile 1: id=100, offset=1000, size=500
+        t1 = struct.pack("<IQI", 100, 1000, 500)
+
+        # Tile 2: id=200, offset=2000, size=600
+        t2 = struct.pack("<IQI", 200, 2000, 600)
+
+        index_file = self.catalog_path / "index_v1.bin"
+        with open(index_file, "wb") as f:
+            f.write(header + t1 + t2)
+
+        # Test reading full index
+        index = self.catalog._read_binary_index(index_file)
+        self.assertEqual(len(index), 2)
+        self.assertEqual(index["100"]["offset"], 1000)
+        self.assertEqual(index["100"]["size"], 500)
+        self.assertEqual(index["200"]["offset"], 2000)
+
+    def test_read_binary_index_v2(self):
+        # Create a v2 index file
+        # Header: version=2, num_tiles=2
+        header = struct.pack("<II", 2, 2)
+
+        # Tile 1: id=100, offset=1000, compressed=400, uncompressed=500
+        t1 = struct.pack("<IQII", 100, 1000, 400, 500)
+
+        # Tile 2: id=200, offset=2000, compressed=500, uncompressed=600
+        t2 = struct.pack("<IQII", 200, 2000, 500, 600)
+
+        index_file = self.catalog_path / "index_v2.bin"
+        with open(index_file, "wb") as f:
+            f.write(header + t1 + t2)
+
+        # Test reading full index
+        index = self.catalog._read_binary_index(index_file)
+        self.assertEqual(len(index), 2)
+        self.assertEqual(index["100"]["offset"], 1000)
+        self.assertEqual(index["100"]["compressed_size"], 400)
+        self.assertEqual(index["100"]["size"], 500)
+
+    def test_read_binary_index_partial(self):
+        # To test the partial loading path, we'd need a large index.
+        # For now, we just verify the standard numpy loading works (covered by v1/v2 tests)
+        pass
+
+
+if __name__ == "__main__":
+    unittest.main()
diff --git a/python/tests/test_sys_utils.py b/python/tests/test_sys_utils.py
index 6115dc881..5dcd05e48 100644
--- a/python/tests/test_sys_utils.py
+++ b/python/tests/test_sys_utils.py
@@ -68,5 +68,5 @@ def test_wpa_supplicant_parsing():
         assert result[1]["psk"] == "1234@===!!!"
 
 
-except ImportError:
+except (ImportError, ValueError):
     pass
diff --git a/python/views/network.tpl b/python/views/network.tpl
index f5f9f2a27..6eeeb8a06 100644
--- a/python/views/network.tpl
+++ b/python/views/network.tpl
@@ -2,6 +2,9 @@
 <div class="row valign-wrapper" style="margin: 0px;">
   <div class="col s12">
         <h5 class="grey-text">Network Settings</h5>
+        % if defined("status_message"):
+        <p class="green-text">{{status_message}}</p>
+        % end
   </div>
 </div>
 <div class="card grey darken-2">
diff --git a/scripts/generate-dependencies-md.sh b/scripts/generate-dependencies-md.sh
new file mode 100755
index 000000000..8942f1cb3
--- /dev/null
+++ b/scripts/generate-dependencies-md.sh
@@ -0,0 +1,64 @@
+#!/usr/bin/env bash
+# Generates python/DEPENDENCIES.md from the nix devShell environment.
+# Run from repo root: nix develop --command ./scripts/generate-dependencies-md.sh
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+REPO_ROOT="$(cd "$SCRIPT_DIR/.." && pwd)"
+OUTPUT="$REPO_ROOT/python/DEPENDENCIES.md"
+
+python3 << 'PYEOF' > "$OUTPUT"
+import importlib.metadata
+from datetime import date
+
+pkgs = sorted(
+    ((d.name, d.version) for d in importlib.metadata.distributions()),
+    key=lambda x: x[0].lower(),
+)
+
+# Dev-only packages (from python-packages.nix devPackages)
+dev_only = {"pytest", "mypy", "mypy_extensions", "luma.emulator", "PyHotKey",
+            "pynput", "python-xlib", "pygame", "pathspec", "pluggy", "iniconfig"}
+
+# Build/infra packages not relevant to PiFinder
+infra = {"pip", "flit_core", "virtualenv", "distlib", "filelock", "platformdirs",
+         "packaging", "setuptools"}
+
+prod = [(n, v) for n, v in pkgs if n not in dev_only and n not in infra]
+dev = [(n, v) for n, v in pkgs if n in dev_only]
+
+print(f"""\
+> **Auto-generated** from the Nix development shell on {date.today()}.
+> Do not edit manually — regenerate with:
+> ```
+> nix develop --command ./scripts/generate-dependencies-md.sh
+> ```
+
+> **Note:** These dependencies are managed by Nix (`nixos/pkgs/python-packages.nix`).
+> The versions listed here reflect the nixpkgs pin used by the flake and are
+> **not necessarily installable via pip**. Some packages require system libraries
+> or hardware (SPI, I2C, GPIO) only available on the Raspberry Pi.
+
+# Python Dependencies
+
+Python {'.'.join(str(x) for x in __import__('sys').version_info[:3])}
+
+## Runtime
+
+| Package | Version |
+|---------|---------|""")
+
+for name, ver in prod:
+    print(f"| {name} | {ver} |")
+
+print(f"""
+## Development only
+
+| Package | Version |
+|---------|---------|""")
+
+for name, ver in dev:
+    print(f"| {name} | {ver} |")
+PYEOF
+
+echo "Generated $OUTPUT"
diff --git a/version.txt b/version.txt
deleted file mode 100644
index 197c4d5c2..000000000
--- a/version.txt
+++ /dev/null
@@ -1 +0,0 @@
-2.4.0