Simplify

CLAUDE.md

@@ -116,30 +116,40 @@ The `c_mpos/src/webcam.c` module provides webcam support for desktop builds usin
 
 ### Development Workflow (IMPORTANT)
 
-**For most development, you do NOT need to rebuild the firmware!**
+**⚠️ CRITICAL: Desktop vs Hardware Testing**
 
-When you run `scripts/install.sh`, it copies files from `internal_filesystem/` to the device storage. These files override the frozen filesystem because the storage paths are first in `sys.path`. This means:
+📖 **See**: [docs/os-development/running-on-desktop.md](../docs/docs/os-development/running-on-desktop.md) for complete guide.
 
+**Desktop testing (recommended for ALL Python development):**
 ```bash
-# Fast development cycle (recommended):
-# 1. Edit Python files in internal_filesystem/
-# 2. Install to device:
+# 1. Edit files in internal_filesystem/
+nano internal_filesystem/builtin/apps/com.micropythonos.settings/assets/settings.py
+
+# 2. Run on desktop - changes are IMMEDIATELY active!
+./scripts/run_desktop.sh
+
+# That's it! NO build, NO install needed.
+```
+
+**❌ DO NOT run `./scripts/install.sh` for desktop testing!** It's only for hardware deployment.
+
+The desktop binary runs **directly from `internal_filesystem/`**, so any Python file changes are instantly available. This is the fastest development cycle.
+
+**Hardware deployment (only after desktop testing):**
+```bash
+# Deploy to physical ESP32 device via USB/serial
 ./scripts/install.sh waveshare-esp32-s3-touch-lcd-2
-
-# That's it! Your changes are live on the device.
 ```
 
-**You only need to rebuild firmware (`./scripts/build_mpos.sh esp32`) when:**
-- Testing the frozen `lib/` for production releases
-- Modifying C extension modules (`c_mpos/`, `secp256k1-embedded-ecdh/`)
+This copies files from `internal_filesystem/` to device storage, which overrides the frozen filesystem.
+
+**When you need to rebuild firmware (`./scripts/build_mpos.sh`):**
+- Modifying C extension modules (`c_mops/`, `secp256k1-embedded-ecdh/`)
 - Changing MicroPython core or LVGL bindings
-- Creating a fresh firmware image for distribution
+- Testing frozen filesystem for production releases
+- Creating firmware for distribution
 
-**Desktop development** always uses the unfrozen files, so you never need to rebuild for Python changes:
-```bash
-# Edit internal_filesystem/ files
-./scripts/run_desktop.sh  # Changes are immediately active
-```
+**For 99% of development work on Python code**: Just edit `internal_filesystem/` and run `./scripts/run_desktop.sh`.
 
 ### Building Firmware
 

internal_filesystem/builtin/apps/com.micropythonos.settings/assets/calibrate_imu.py

@@ -1,42 +1,34 @@
 """Calibrate IMU Activity.
 
 Guides user through IMU calibration process:
-1. Check current calibration quality
-2. Ask if user wants to recalibrate
-3. Check stationarity
-4. Perform calibration
-5. Verify results
-6. Save to new location
+1. Show calibration instructions
+2. Check stationarity when user clicks "Calibrate Now"
+3. Perform calibration
+4. Show results
 """
 
 import lvgl as lv
 import time
-import _thread
 import sys
 from mpos.app.activity import Activity
 import mpos.ui
 import mpos.sensor_manager as SensorManager
-import mpos.apps
 from mpos.ui.testing import wait_for_render
 
 
 class CalibrationState:
     """Enum for calibration states."""
-    IDLE = 0
-    CHECKING_QUALITY = 1
-    AWAITING_CONFIRMATION = 2
-    CHECKING_STATIONARITY = 3
-    CALIBRATING = 4
-    VERIFYING = 5
-    COMPLETE = 6
-    ERROR = 7
+    READY = 0
+    CALIBRATING = 1
+    COMPLETE = 2
+    ERROR = 3
 
 
 class CalibrateIMUActivity(Activity):
     """Guide user through IMU calibration process."""
 
     # State
-    current_state = CalibrationState.IDLE
+    current_state = CalibrationState.READY
     calibration_thread = None
 
     # Widgets
@@ -120,9 +112,8 @@ class CalibrateIMUActivity(Activity):
             self.action_button.add_state(lv.STATE.DISABLED)
             return
 
-        # Start by checking current quality
-        self.set_state(CalibrationState.IDLE)
-        self.action_button_label.set_text("Check Quality")
+        # Show calibration instructions
+        self.set_state(CalibrationState.READY)
 
     def onPause(self, screen):
         # Stop any running calibration
@@ -138,55 +129,31 @@ class CalibrateIMUActivity(Activity):
 
     def update_ui_for_state(self):
         """Update UI based on current state."""
-        if self.current_state == CalibrationState.IDLE:
-            self.status_label.set_text("Ready to check calibration quality")
-            self.action_button_label.set_text("Check Quality")
+        if self.current_state == CalibrationState.READY:
+            self.status_label.set_text("Place device on flat, stable surface\n\nKeep device completely still during calibration")
+            self.detail_label.set_text("Calibration will take ~2 seconds\nUI will freeze during calibration")
+            self.action_button_label.set_text("Calibrate Now")
             self.action_button.remove_state(lv.STATE.DISABLED)
             self.progress_bar.add_flag(lv.obj.FLAG.HIDDEN)
             self.cancel_button.remove_flag(lv.obj.FLAG.HIDDEN)
 
-        elif self.current_state == CalibrationState.CHECKING_QUALITY:
-            self.status_label.set_text("Checking current calibration...")
-            self.action_button.add_state(lv.STATE.DISABLED)
-            self.progress_bar.remove_flag(lv.obj.FLAG.HIDDEN)
-            self.progress_bar.set_value(20, True)
-            self.cancel_button.remove_flag(lv.obj.FLAG.HIDDEN)
-
-        elif self.current_state == CalibrationState.AWAITING_CONFIRMATION:
-            # Status will be set by quality check result
-            self.action_button_label.set_text("Calibrate Now")
-            self.action_button.remove_state(lv.STATE.DISABLED)
-            self.progress_bar.set_value(30, True)
-            self.cancel_button.remove_flag(lv.obj.FLAG.HIDDEN)
-
-        elif self.current_state == CalibrationState.CHECKING_STATIONARITY:
-            self.status_label.set_text("Checking if device is stationary...")
-            self.detail_label.set_text("Keep device still on flat surface")
-            self.action_button.add_state(lv.STATE.DISABLED)
-            self.progress_bar.set_value(40, True)
-            self.cancel_button.add_flag(lv.obj.FLAG.HIDDEN)
-
         elif self.current_state == CalibrationState.CALIBRATING:
             self.status_label.set_text("Calibrating IMU...")
-            self.detail_label.set_text("Do not move device!\nCollecting samples...")
+            self.detail_label.set_text("Do not move device!")
             self.action_button.add_state(lv.STATE.DISABLED)
-            self.progress_bar.set_value(60, True)
-            self.cancel_button.add_flag(lv.obj.FLAG.HIDDEN)
-
-        elif self.current_state == CalibrationState.VERIFYING:
-            self.status_label.set_text("Verifying calibration...")
-            self.action_button.add_state(lv.STATE.DISABLED)
-            self.progress_bar.set_value(90, True)
+            self.progress_bar.remove_flag(lv.obj.FLAG.HIDDEN)
+            self.progress_bar.set_value(50, True)
             self.cancel_button.add_flag(lv.obj.FLAG.HIDDEN)
 
         elif self.current_state == CalibrationState.COMPLETE:
-            self.status_label.set_text("Calibration complete!")
+            # Status text will be set by calibration results
             self.action_button_label.set_text("Done")
             self.action_button.remove_state(lv.STATE.DISABLED)
             self.progress_bar.set_value(100, True)
             self.cancel_button.add_flag(lv.obj.FLAG.HIDDEN)
 
         elif self.current_state == CalibrationState.ERROR:
+            # Status text will be set by error handler
             self.action_button_label.set_text("Retry")
             self.action_button.remove_state(lv.STATE.DISABLED)
             self.progress_bar.add_flag(lv.obj.FLAG.HIDDEN)
@@ -194,261 +161,70 @@ class CalibrateIMUActivity(Activity):
 
     def action_button_clicked(self, event):
         """Handle action button clicks based on current state."""
-        if self.current_state == CalibrationState.IDLE:
-            self.start_quality_check()
-        elif self.current_state == CalibrationState.AWAITING_CONFIRMATION:
+        if self.current_state == CalibrationState.READY:
             self.start_calibration_process()
         elif self.current_state == CalibrationState.COMPLETE:
             self.finish()
         elif self.current_state == CalibrationState.ERROR:
-            self.set_state(CalibrationState.IDLE)
+            self.set_state(CalibrationState.READY)
 
-    def start_quality_check(self):
-        """Check current calibration quality."""
-        self.set_state(CalibrationState.CHECKING_QUALITY)
-
-        # Run in background thread
-        _thread.stack_size(mpos.apps.good_stack_size())
-        _thread.start_new_thread(self.quality_check_thread, ())
-
-    def quality_check_thread(self):
-        """Background thread for quality check."""
-        try:
-            if self.is_desktop:
-                quality = self.get_mock_quality()
-            else:
-                quality = SensorManager.check_calibration_quality(samples=50)
-
-            if quality is None:
-                self.update_ui_threadsafe_if_foreground(self.handle_quality_error, "Failed to read IMU")
-                return
-
-            # Update UI with results
-            self.update_ui_threadsafe_if_foreground(self.show_quality_results, quality)
-
-        except Exception as e:
-            print(f"[CalibrateIMU] Quality check error: {e}")
-            self.update_ui_threadsafe_if_foreground(self.handle_quality_error, str(e))
-
-    def show_quality_results(self, quality):
-        """Show quality check results and ask for confirmation."""
-        rating = quality['quality_rating']
-        score = quality['quality_score']
-        issues = quality['issues']
-
-        # Build status message
-        if rating == "Good":
-            msg = f"Current calibration: {rating} ({score*100:.0f}%)\n\nCalibration looks good!"
-        else:
-            msg = f"Current calibration: {rating} ({score*100:.0f}%)\n\nRecommend recalibrating."
-
-        if issues:
-            msg += "\n\nIssues found:\n" + "\n".join(f"- {issue}" for issue in issues[:3])  # Show first 3
-
-        self.status_label.set_text(msg)
-        self.set_state(CalibrationState.AWAITING_CONFIRMATION)
-
-    def handle_quality_error(self, error_msg):
-        """Handle error during quality check."""
-        self.set_state(CalibrationState.ERROR)
-        self.status_label.set_text(f"Error: {error_msg}")
-        self.detail_label.set_text("Check IMU connection and try again")
 
     def start_calibration_process(self):
         """Start the calibration process.
 
-        Note: Runs in main thread - UI will freeze during calibration (~1 second).
+        Note: Runs in main thread - UI will freeze during calibration (~2 seconds).
         This avoids threading issues with I2C/sensor access.
         """
         try:
-            print("[CalibrateIMU] === Calibration started ===")
-
             # Step 1: Check stationarity
-            print("[CalibrateIMU] Step 1: Checking stationarity...")
-            self.set_state(CalibrationState.CHECKING_STATIONARITY)
+            self.set_state(CalibrationState.CALIBRATING)
             wait_for_render()  # Let UI update
 
             if self.is_desktop:
                 stationarity = {'is_stationary': True, 'message': 'Mock: Stationary'}
             else:
-                print("[CalibrateIMU] Calling SensorManager.check_stationarity(samples=30)...")
                 stationarity = SensorManager.check_stationarity(samples=30)
-                print(f"[CalibrateIMU] Stationarity result: {stationarity}")
 
             if stationarity is None or not stationarity['is_stationary']:
                 msg = stationarity['message'] if stationarity else "Stationarity check failed"
-                print(f"[CalibrateIMU] Device not stationary: {msg}")
                 self.handle_calibration_error(
                     f"Device not stationary!\n\n{msg}\n\nPlace on flat surface and try again.")
                 return
 
-            print("[CalibrateIMU] Device is stationary, proceeding to calibration")
-
             # Step 2: Perform calibration
-            print("[CalibrateIMU] Step 2: Performing calibration...")
-            self.set_state(CalibrationState.CALIBRATING)
-            self.status_label.set_text("Calibrating IMU...\n\nUI will freeze for ~2 seconds\nPlease wait...")
-            wait_for_render()  # Let UI update before blocking
-
             if self.is_desktop:
-                print("[CalibrateIMU] Mock calibration (desktop)")
                 time.sleep(2)
                 accel_offsets = (0.1, -0.05, 0.15)
                 gyro_offsets = (0.2, -0.1, 0.05)
             else:
                 # Real calibration - UI will freeze here
-                print("[CalibrateIMU] Real calibration (hardware)")
                 accel = SensorManager.get_default_sensor(SensorManager.TYPE_ACCELEROMETER)
                 gyro = SensorManager.get_default_sensor(SensorManager.TYPE_GYROSCOPE)
-                print(f"[CalibrateIMU] Accel sensor: {accel}, Gyro sensor: {gyro}")
 
                 if accel:
-                    print("[CalibrateIMU] Calibrating accelerometer (100 samples)...")
                     accel_offsets = SensorManager.calibrate_sensor(accel, samples=100)
-                    print(f"[CalibrateIMU] Accel offsets: {accel_offsets}")
                 else:
                     accel_offsets = None
 
                 if gyro:
-                    print("[CalibrateIMU] Calibrating gyroscope (100 samples)...")
                     gyro_offsets = SensorManager.calibrate_sensor(gyro, samples=100)
-                    print(f"[CalibrateIMU] Gyro offsets: {gyro_offsets}")
                 else:
                     gyro_offsets = None
 
-            # Step 3: Verify results
-            print("[CalibrateIMU] Step 3: Verifying calibration...")
-            self.set_state(CalibrationState.VERIFYING)
-            wait_for_render()
-
-            if self.is_desktop:
-                verify_quality = self.get_mock_quality(good=True)
-            else:
-                print("[CalibrateIMU] Checking calibration quality (50 samples)...")
-                verify_quality = SensorManager.check_calibration_quality(samples=50)
-                print(f"[CalibrateIMU] Verification quality: {verify_quality}")
-
-            if verify_quality is None:
-                print("[CalibrateIMU] Verification failed")
-                self.handle_calibration_error("Calibration completed but verification failed")
-                return
-
-            # Step 4: Show results
-            print("[CalibrateIMU] Step 4: Showing results...")
-            rating = verify_quality['quality_rating']
-            score = verify_quality['quality_score']
-
-            result_msg = f"Calibration successful!\n\nNew quality: {rating} ({score*100:.0f}%)"
+            # Step 3: Show results
+            result_msg = "Calibration successful!"
             if accel_offsets:
                 result_msg += f"\n\nAccel offsets:\nX:{accel_offsets[0]:.3f} Y:{accel_offsets[1]:.3f} Z:{accel_offsets[2]:.3f}"
             if gyro_offsets:
                 result_msg += f"\n\nGyro offsets:\nX:{gyro_offsets[0]:.3f} Y:{gyro_offsets[1]:.3f} Z:{gyro_offsets[2]:.3f}"
 
-            print(f"[CalibrateIMU] Calibration complete! Result: {result_msg[:80]}")
             self.show_calibration_complete(result_msg)
-            print("[CalibrateIMU] === Calibration finished ===")
 
         except Exception as e:
-            print(f"[CalibrateIMU] Calibration error: {e}")
             import sys
             sys.print_exception(e)
             self.handle_calibration_error(str(e))
 
-    def old_calibration_thread_func_UNUSED(self):
-        """Background thread for calibration process."""
-        try:
-            print("[CalibrateIMU] === Calibration thread started ===")
-
-            # Step 1: Check stationarity
-            print("[CalibrateIMU] Step 1: Checking stationarity...")
-            if self.is_desktop:
-                stationarity = {'is_stationary': True, 'message': 'Mock: Stationary'}
-            else:
-                print("[CalibrateIMU] Calling SensorManager.check_stationarity(samples=30)...")
-                stationarity = SensorManager.check_stationarity(samples=30)
-                print(f"[CalibrateIMU] Stationarity result: {stationarity}")
-
-            if stationarity is None or not stationarity['is_stationary']:
-                msg = stationarity['message'] if stationarity else "Stationarity check failed"
-                print(f"[CalibrateIMU] Device not stationary: {msg}")
-                self.update_ui_threadsafe_if_foreground(self.handle_calibration_error,
-                    f"Device not stationary!\n\n{msg}\n\nPlace on flat surface and try again.")
-                return
-
-            print("[CalibrateIMU] Device is stationary, proceeding to calibration")
-
-            # Step 2: Perform calibration
-            print("[CalibrateIMU] Step 2: Performing calibration...")
-            self.update_ui_threadsafe_if_foreground(lambda: self.set_state(CalibrationState.CALIBRATING))
-            time.sleep(0.5)  # Brief pause for user to see status change
-
-            if self.is_desktop:
-                # Mock calibration
-                print("[CalibrateIMU] Mock calibration (desktop)")
-                time.sleep(2)
-                accel_offsets = (0.1, -0.05, 0.15)
-                gyro_offsets = (0.2, -0.1, 0.05)
-            else:
-                # Real calibration
-                print("[CalibrateIMU] Real calibration (hardware)")
-                accel = SensorManager.get_default_sensor(SensorManager.TYPE_ACCELEROMETER)
-                gyro = SensorManager.get_default_sensor(SensorManager.TYPE_GYROSCOPE)
-                print(f"[CalibrateIMU] Accel sensor: {accel}, Gyro sensor: {gyro}")
-
-                if accel:
-                    print("[CalibrateIMU] Calibrating accelerometer (30 samples)...")
-                    accel_offsets = SensorManager.calibrate_sensor(accel, samples=30)
-                    print(f"[CalibrateIMU] Accel offsets: {accel_offsets}")
-                else:
-                    accel_offsets = None
-
-                if gyro:
-                    print("[CalibrateIMU] Calibrating gyroscope (30 samples)...")
-                    gyro_offsets = SensorManager.calibrate_sensor(gyro, samples=30)
-                    print(f"[CalibrateIMU] Gyro offsets: {gyro_offsets}")
-                else:
-                    gyro_offsets = None
-
-            # Step 3: Verify results
-            print("[CalibrateIMU] Step 3: Verifying calibration...")
-            self.update_ui_threadsafe_if_foreground(lambda: self.set_state(CalibrationState.VERIFYING))
-            time.sleep(0.5)
-
-            if self.is_desktop:
-                verify_quality = self.get_mock_quality(good=True)
-            else:
-                print("[CalibrateIMU] Checking calibration quality (50 samples)...")
-                verify_quality = SensorManager.check_calibration_quality(samples=50)
-                print(f"[CalibrateIMU] Verification quality: {verify_quality}")
-
-            if verify_quality is None:
-                print("[CalibrateIMU] Verification failed")
-                self.update_ui_threadsafe_if_foreground(self.handle_calibration_error,
-                    "Calibration completed but verification failed")
-                return
-
-            # Step 4: Show results
-            print("[CalibrateIMU] Step 4: Showing results...")
-            rating = verify_quality['quality_rating']
-            score = verify_quality['quality_score']
-
-            result_msg = f"Calibration successful!\n\nNew quality: {rating} ({score*100:.0f}%)"
-            if accel_offsets:
-                result_msg += f"\n\nAccel offsets:\nX:{accel_offsets[0]:.3f} Y:{accel_offsets[1]:.3f} Z:{accel_offsets[2]:.3f}"
-            if gyro_offsets:
-                result_msg += f"\n\nGyro offsets:\nX:{gyro_offsets[0]:.3f} Y:{gyro_offsets[1]:.3f} Z:{gyro_offsets[2]:.3f}"
-
-            print(f"[CalibrateIMU] Calibration compl	ete! Result: {result_msg[:80]}")
-            self.update_ui_threadsafe_if_foreground(self.show_calibration_complete, result_msg)
-
-            print("[CalibrateIMU] === Calibration thread finished ===")
-
-        except Exception as e:
-            print(f"[CalibrateIMU] Calibration error: {e}")
-            import sys
-            sys.print_exception(e)
-            self.update_ui_threadsafe_if_foreground(self.handle_calibration_error, str(e))
-	
     def show_calibration_complete(self, result_msg):
         """Show calibration completion message."""
         self.status_label.set_text(result_msg)
@@ -461,29 +237,3 @@ class CalibrateIMUActivity(Activity):
         self.status_label.set_text(f"Calibration failed:\n\n{error_msg}")
         self.detail_label.set_text("")
 
-    def get_mock_quality(self, good=False):
-        """Generate mock quality data for desktop testing."""
-        import random
-
-        if good:
-            # Simulate excellent calibration after calibration
-            return {
-                'accel_mean': (random.uniform(-0.05, 0.05), random.uniform(-0.05, 0.05), 9.8 + random.uniform(-0.1, 0.1)),
-                'accel_variance': (random.uniform(0.001, 0.02), random.uniform(0.001, 0.02), random.uniform(0.001, 0.02)),
-                'gyro_mean': (random.uniform(-0.1, 0.1), random.uniform(-0.1, 0.1), random.uniform(-0.1, 0.1)),
-                'gyro_variance': (random.uniform(0.01, 0.2), random.uniform(0.01, 0.2), random.uniform(0.01, 0.2)),
-                'quality_score': random.uniform(0.90, 0.99),
-                'quality_rating': "Good",
-                'issues': []
-            }
-        else:
-            # Simulate mediocre calibration before calibration
-            return {
-                'accel_mean': (random.uniform(-1.0, 1.0), random.uniform(-1.0, 1.0), 9.8 + random.uniform(-2.0, 2.0)),
-                'accel_variance': (random.uniform(0.2, 0.5), random.uniform(0.2, 0.5), random.uniform(0.2, 0.5)),
-                'gyro_mean': (random.uniform(-3.0, 3.0), random.uniform(-3.0, 3.0), random.uniform(-3.0, 3.0)),
-                'gyro_variance': (random.uniform(2.0, 5.0), random.uniform(2.0, 5.0), random.uniform(2.0, 5.0)),
-                'quality_score': random.uniform(0.4, 0.6),
-                'quality_rating': "Fair",
-                'issues': ["High accelerometer variance", "Gyro not near zero"]
-            }

internal_filesystem/builtin/apps/com.micropythonos.settings/assets/check_imu_calibration.py

@@ -38,6 +38,18 @@ class CheckIMUCalibrationActivity(Activity):
         screen = lv.obj()
         screen.set_style_pad_all(mpos.ui.pct_of_display_width(2), 0)
         screen.set_flex_flow(lv.FLEX_FLOW.COLUMN)
+        self.setContentView(screen)
+
+    def onResume(self, screen):
+        super().onResume(screen)
+        print(f"[CheckIMU] onResume called, is_desktop={self.is_desktop}")
+
+        # Clear the screen and recreate UI (to avoid stale widget references)
+        screen.clean()
+
+        # Reset widget lists
+        self.accel_labels = []
+        self.gyro_labels = []
 
         # Title
         title = lv.label(screen)
@@ -118,20 +130,18 @@ class CheckIMUCalibrationActivity(Activity):
         calibrate_label.center()
         calibrate_btn.add_event_cb(self.start_calibration, lv.EVENT.CLICKED, None)
 
-        self.setContentView(screen)
-
-    def onResume(self, screen):
-        super().onResume(screen)
-
         # Check if IMU is available
         if not self.is_desktop and not SensorManager.is_available():
+            print("[CheckIMU] IMU not available, stopping")
             self.status_label.set_text("IMU not available on this device")
             self.quality_score_label.set_text("N/A")
             return
 
         # Start real-time updates
+        print("[CheckIMU] Starting real-time updates")
         self.updating = True
         self.update_timer = lv.timer_create(self.update_display, self.UPDATE_INTERVAL, None)
+        print(f"[CheckIMU] Timer created: {self.update_timer}")
 
     def onPause(self, screen):
         # Stop updates
@@ -195,8 +205,17 @@ class CheckIMUCalibrationActivity(Activity):
             self.issues_label.set_text(issues_text)
 
             self.status_label.set_text("Real-time monitoring (place on flat surface)")
-        except:
-            # Widgets were deleted (activity closed), stop updating
+        except Exception as e:
+            # Log the actual error for debugging
+            print(f"[CheckIMU] Error in update_display: {e}")
+            import sys
+            sys.print_exception(e)
+            # If widgets were deleted (activity closed), stop updating
+            try:
+                self.status_label.set_text(f"Error: {str(e)}")
+            except:
+                # Widgets really were deleted
+                pass
             self.updating = False
 
     def get_mock_quality(self):
@@ -232,8 +251,11 @@ class CheckIMUCalibrationActivity(Activity):
 
     def start_calibration(self, event):
         """Navigate to calibration activity."""
+        print("[CheckIMU] start_calibration called!")
         from mpos.content.intent import Intent
         from calibrate_imu import CalibrateIMUActivity
 
         intent = Intent(activity_class=CalibrateIMUActivity)
+        print("[CheckIMU] Starting CalibrateIMUActivity...")
         self.startActivity(intent)
+        print("[CheckIMU] startActivity returned")

internal_filesystem/lib/mpos/hardware/drivers/wsen_isds.py

@@ -128,7 +128,6 @@ class Wsen_Isds:
             gyro_range: Gyroscope range ("125dps", "250dps", "500dps", "1000dps", "2000dps")
             gyro_data_rate: Gyroscope data rate ("0", "12.5Hz", "26Hz", ...")
         """
-        print(f"[WSEN_ISDS] __init__ called with address={hex(address)}, acc_range={acc_range}, acc_data_rate={acc_data_rate}, gyro_range={gyro_range}, gyro_data_rate={gyro_data_rate}")
         self.i2c = i2c
         self.address = address
 
@@ -150,23 +149,15 @@ class Wsen_Isds:
         self.GYRO_NUM_SAMPLES_CALIBRATION = 5
         self.GYRO_CALIBRATION_DELAY_MS = 10
 
-        print("[WSEN_ISDS] Configuring accelerometer...")
         self.set_acc_range(acc_range)
         self.set_acc_data_rate(acc_data_rate)
-        print("[WSEN_ISDS] Accelerometer configured")
 
-        print("[WSEN_ISDS] Configuring gyroscope...")
         self.set_gyro_range(gyro_range)
         self.set_gyro_data_rate(gyro_data_rate)
-        print("[WSEN_ISDS] Gyroscope configured")
 
-        # Give sensors time to stabilize and start producing data
-        # Especially important for gyroscope which may need warmup time
-        print("[WSEN_ISDS] Waiting 100ms for sensors to stabilize...")
+        # Give sensors time to stabilize
         time.sleep_ms(100)
 
-        print("[WSEN_ISDS] Initialization complete")
-
     def get_chip_id(self):
         """Get chip ID for detection. Returns WHO_AM_I register value."""
         try:
@@ -270,14 +261,11 @@ class Wsen_Isds:
         if samples is None:
             samples = self.ACC_NUM_SAMPLES_CALIBRATION
 
-        print(f"[WSEN_ISDS] Calibrating accelerometer with {samples} samples...")
         self.acc_offset_x = 0
         self.acc_offset_y = 0
         self.acc_offset_z = 0
 
-        for i in range(samples):
-            if i % 10 == 0:
-                print(f"[WSEN_ISDS] Accel sample {i}/{samples}")
+        for _ in range(samples):
             x, y, z = self._read_raw_accelerations()
             self.acc_offset_x += x
             self.acc_offset_y += y
@@ -287,7 +275,6 @@ class Wsen_Isds:
         self.acc_offset_x //= samples
         self.acc_offset_y //= samples
         self.acc_offset_z //= samples
-        print(f"[WSEN_ISDS] Accelerometer calibration complete: offsets=({self.acc_offset_x}, {self.acc_offset_y}, {self.acc_offset_z})")
 
     def _acc_calc_sensitivity(self):
         """Calculate accelerometer sensitivity based on range (in mg/digit)."""
@@ -338,14 +325,11 @@ class Wsen_Isds:
         if samples is None:
             samples = self.GYRO_NUM_SAMPLES_CALIBRATION
 
-        print(f"[WSEN_ISDS] Calibrating gyroscope with {samples} samples...")
         self.gyro_offset_x = 0
         self.gyro_offset_y = 0
         self.gyro_offset_z = 0
 
-        for i in range(samples):
-            if i % 10 == 0:
-                print(f"[WSEN_ISDS] Gyro sample {i}/{samples}")
+        for _ in range(samples):
             x, y, z = self._read_raw_angular_velocities()
             self.gyro_offset_x += x
             self.gyro_offset_y += y
@@ -355,7 +339,6 @@ class Wsen_Isds:
         self.gyro_offset_x //= samples
         self.gyro_offset_y //= samples
         self.gyro_offset_z //= samples
-        print(f"[WSEN_ISDS] Gyroscope calibration complete: offsets=({self.gyro_offset_x}, {self.gyro_offset_y}, {self.gyro_offset_z})")
 
     def read_angular_velocities(self):
         """Read calibrated gyroscope data.

internal_filesystem/lib/mpos/sensor_manager.py

@@ -89,17 +89,13 @@ def init(i2c_bus, address=0x6B):
     # Initialize MCU temperature sensor immediately (fast, no I2C needed)
     try:
         import esp32
-        # Test if mcu_temperature() is available
         _ = esp32.mcu_temperature()
         _has_mcu_temperature = True
         _register_mcu_temperature_sensor()
-        print("[SensorManager] Detected MCU internal temperature sensor")
-    except Exception as e:
-        print(f"[SensorManager] MCU temperature not available: {e}")
+    except:
+        pass
 
-    # Mark as initialized (but IMU driver is still None - will be initialized lazily)
     _initialized = True
-    print("[SensorManager] init() called - IMU initialization deferred until first use")
     return True
 
 
@@ -112,60 +108,37 @@ def _ensure_imu_initialized():
     Returns:
         bool: True if IMU detected and initialized successfully
     """
-    global _imu_driver, _sensor_list, _i2c_bus, _i2c_address
+    global _imu_driver, _sensor_list
 
-    # If already initialized, return
-    if _imu_driver is not None:
-        return True
-
-    print("[SensorManager] _ensure_imu_initialized: Starting lazy IMU initialization...")
-    i2c_bus = _i2c_bus
-    address = _i2c_address
-    imu_detected = False
+    if not _initialized or _imu_driver is not None:
+        return _imu_driver is not None
 
     # Try QMI8658 first (Waveshare board)
-    if i2c_bus:
+    if _i2c_bus:
         try:
             from mpos.hardware.drivers.qmi8658 import QMI8658
-            # QMI8658 constants (can't import const() values)
-            _QMI8685_PARTID = 0x05
-            _REG_PARTID = 0x00
-            chip_id = i2c_bus.readfrom_mem(address, _REG_PARTID, 1)[0]
-            if chip_id == _QMI8685_PARTID:
-                print("[SensorManager] Detected QMI8658 IMU")
-                _imu_driver = _QMI8658Driver(i2c_bus, address)
+            chip_id = _i2c_bus.readfrom_mem(_i2c_address, 0x00, 1)[0]  # PARTID register
+            if chip_id == 0x05:  # QMI8685_PARTID
+                _imu_driver = _QMI8658Driver(_i2c_bus, _i2c_address)
                 _register_qmi8658_sensors()
                 _load_calibration()
-                imu_detected = True
-        except Exception as e:
-            print(f"[SensorManager] QMI8658 detection failed: {e}")
+                return True
+        except:
+            pass
 
         # Try WSEN_ISDS (Fri3d badge)
-        if not imu_detected:
-            print(f"[SensorManager] Trying to detect WSEN_ISDS at address {hex(address)}...")
-            try:
-                from mpos.hardware.drivers.wsen_isds import Wsen_Isds
-                print("[SensorManager] Reading WHO_AM_I register (0x0F)...")
-                chip_id = i2c_bus.readfrom_mem(address, 0x0F, 1)[0]  # WHO_AM_I register
-                print(f"[SensorManager] WHO_AM_I = {hex(chip_id)}")
-                if chip_id == 0x6A:  # WSEN_ISDS WHO_AM_I value
-                    print("[SensorManager] Detected WSEN_ISDS IMU - initializing driver...")
-                    _imu_driver = _WsenISDSDriver(i2c_bus, address)
-                    print("[SensorManager] WSEN_ISDS driver initialized, registering sensors...")
-                    _register_wsen_isds_sensors()
-                    print("[SensorManager] Loading calibration...")
-                    _load_calibration()
-                    imu_detected = True
-                    print("[SensorManager] WSEN_ISDS initialization complete!")
-                else:
-                    print(f"[SensorManager] Chip ID {hex(chip_id)} doesn't match WSEN_ISDS (expected 0x6A)")
-            except Exception as e:
-                print(f"[SensorManager] WSEN_ISDS detection failed: {e}")
-                import sys
-                sys.print_exception(e)
+        try:
+            from mpos.hardware.drivers.wsen_isds import Wsen_Isds
+            chip_id = _i2c_bus.readfrom_mem(_i2c_address, 0x0F, 1)[0]  # WHO_AM_I register
+            if chip_id == 0x6A:  # WSEN_ISDS WHO_AM_I
+                _imu_driver = _WsenISDSDriver(_i2c_bus, _i2c_address)
+                _register_wsen_isds_sensors()
+                _load_calibration()
+                return True
+        except:
+            pass
 
-    print(f"[SensorManager] _ensure_imu_initialized: IMU initialization complete, success={imu_detected}")
-    return imu_detected
+    return False
 
 
 def is_available():
@@ -274,11 +247,6 @@ def read_sensor(sensor):
                     time.sleep_ms(retry_delay_ms)
                     continue
                 else:
-                    # Final attempt failed or different error
-                    if attempt == max_retries - 1:
-                        print(f"[SensorManager] Error reading sensor {sensor.name} after {max_retries} retries: {e}")
-                    else:
-                        print(f"[SensorManager] Error reading sensor {sensor.name}: {e}")
                     return None
 
         return None
@@ -300,48 +268,31 @@ def calibrate_sensor(sensor, samples=100):
     Returns:
         tuple: Calibration offsets (x, y, z) or None if failed
     """
-    print(f"[SensorManager] calibrate_sensor called for {sensor.name} with {samples} samples")
     _ensure_imu_initialized()
     if not is_available() or sensor is None:
-        print("[SensorManager] calibrate_sensor: sensor not available")
         return None
 
-    print("[SensorManager] calibrate_sensor: acquiring lock...")
     if _lock:
         _lock.acquire()
-    print("[SensorManager] calibrate_sensor: lock acquired")
 
     try:
-        offsets = None
         if sensor.type == TYPE_ACCELEROMETER:
-            print(f"[SensorManager] Calling _imu_driver.calibrate_accelerometer({samples})...")
             offsets = _imu_driver.calibrate_accelerometer(samples)
-            print(f"[SensorManager] Accelerometer calibrated: {offsets}")
         elif sensor.type == TYPE_GYROSCOPE:
-            print(f"[SensorManager] Calling _imu_driver.calibrate_gyroscope({samples})...")
             offsets = _imu_driver.calibrate_gyroscope(samples)
-            print(f"[SensorManager] Gyroscope calibrated: {offsets}")
         else:
-            print(f"[SensorManager] Sensor type {sensor.type} does not support calibration")
             return None
 
-        # Save calibration
         if offsets:
-            print("[SensorManager] Saving calibration...")
             _save_calibration()
-            print("[SensorManager] Calibration saved")
 
         return offsets
     except Exception as e:
-        print(f"[SensorManager] Error calibrating sensor {sensor.name}: {e}")
-        import sys
-        sys.print_exception(e)
+        print(f"[SensorManager] Calibration error: {e}")
         return None
     finally:
-        print("[SensorManager] calibrate_sensor: releasing lock...")
         if _lock:
             _lock.release()
-        print("[SensorManager] calibrate_sensor: lock released")
 
 
 # Helper functions for calibration quality checking (module-level to avoid nested def issues)
@@ -652,14 +603,10 @@ class _QMI8658Driver(_IMUDriver):
 
     def calibrate_accelerometer(self, samples):
         """Calibrate accelerometer (device must be stationary)."""
-        print(f"[QMI8658Driver] Calibrating accelerometer with {samples} samples...")
         sum_x, sum_y, sum_z = 0.0, 0.0, 0.0
 
-        for i in range(samples):
-            if i % 10 == 0:
-                print(f"[QMI8658Driver] Accel sample {i}/{samples}")
+        for _ in range(samples):
             ax, ay, az = self.sensor.acceleration
-            # Convert to m/s²
             sum_x += ax * _GRAVITY
             sum_y += ay * _GRAVITY
             sum_z += az * _GRAVITY
@@ -668,19 +615,15 @@ class _QMI8658Driver(_IMUDriver):
         # Average offsets (assuming Z-axis should read +9.8 m/s²)
         self.accel_offset[0] = sum_x / samples
         self.accel_offset[1] = sum_y / samples
-        self.accel_offset[2] = (sum_z / samples) - _GRAVITY  # Expect +1G on Z
+        self.accel_offset[2] = (sum_z / samples) - _GRAVITY
 
-        print(f"[QMI8658Driver] Accelerometer calibration complete: offsets = {tuple(self.accel_offset)}")
         return tuple(self.accel_offset)
 
     def calibrate_gyroscope(self, samples):
         """Calibrate gyroscope (device must be stationary)."""
-        print(f"[QMI8658Driver] Calibrating gyroscope with {samples} samples...")
         sum_x, sum_y, sum_z = 0.0, 0.0, 0.0
 
-        for i in range(samples):
-            if i % 10 == 0:
-                print(f"[QMI8658Driver] Gyro sample {i}/{samples}")
+        for _ in range(samples):
             gx, gy, gz = self.sensor.gyro
             sum_x += gx
             sum_y += gy
@@ -692,7 +635,6 @@ class _QMI8658Driver(_IMUDriver):
         self.gyro_offset[1] = sum_y / samples
         self.gyro_offset[2] = sum_z / samples
 
-        print(f"[QMI8658Driver] Gyroscope calibration complete: offsets = {tuple(self.gyro_offset)}")
         return tuple(self.gyro_offset)
 
     def get_calibration(self):
@@ -899,7 +841,6 @@ def _load_calibration():
             gyro_offsets = prefs_old.get_list("gyro_offsets")
 
             if accel_offsets or gyro_offsets:
-                print("[SensorManager] Migrating calibration from old to new location...")
                 # Save to new location
                 editor = prefs_new.edit()
                 if accel_offsets:
@@ -907,23 +848,20 @@ def _load_calibration():
                 if gyro_offsets:
                     editor.put_list("gyro_offsets", gyro_offsets)
                 editor.commit()
-                print("[SensorManager] Migration complete")
 
         if accel_offsets or gyro_offsets:
             _imu_driver.set_calibration(accel_offsets, gyro_offsets)
-            print(f"[SensorManager] Loaded calibration: accel={accel_offsets}, gyro={gyro_offsets}")
-    except Exception as e:
-        print(f"[SensorManager] Failed to load calibration: {e}")
+    except:
+        pass
 
 
 def _save_calibration():
-    """Save calibration to SharedPreferences (new location)."""
+    """Save calibration to SharedPreferences."""
     if not _imu_driver:
         return
 
     try:
         from mpos.config import SharedPreferences
-        # NEW LOCATION: com.micropythonos.settings/sensors.json
         prefs = SharedPreferences("com.micropythonos.settings", filename="sensors.json")
         editor = prefs.edit()
 
@@ -931,7 +869,5 @@ def _save_calibration():
         editor.put_list("accel_offsets", list(cal['accel_offsets']))
         editor.put_list("gyro_offsets", list(cal['gyro_offsets']))
         editor.commit()
-
-        print(f"[SensorManager] Saved calibration to settings: accel={cal['accel_offsets']}, gyro={cal['gyro_offsets']}")
-    except Exception as e:
-        print(f"[SensorManager] Failed to save calibration: {e}")
+    except:
+        pass