simonsobs / socs / 26182824884

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acu: Fix upload-on-change and go_to logic bugs (#1065)

* ACU: fix how "upload-on-change" datasets are processed

Also, for LAT, refer to "tiltmeter" status_key set instead of separate
"tilt_slow" and "tilt_fast" -- this requires modified soaculib.

There was a bug in the logic that assessed whether a block of data had
changed and thus whether a new point should be recorded to the feed.

This affects all the ACU data streams other than the main "tick"
streams that are forced to update at full rate.  The other blocks are
supposed to upload every 2 seconds *unless the data have changed*, in
which case they upload a new point immediately; but the system to
assess that latter condition was broken.

Since the affected fields do not change much, the impact of this fix
on data rate / data volume will be small... but now in the G3 data the
error transitions will be timestamped properly and we will never miss
any brief states.

A side-effect of all of this is that the tiltmeter fields, which were
treated specially (set to report on change but never faster than 2 Hz)
would *never* read out.

* ACU: go_to logic fix so we don't wait for warning horn twice.

It appears that on LAT, each axis transition from Stop->Preset can
trigger a warning horn delay.  This short-circuits the state feedback
a little bit so that second axis can go to Preset during first axis
horn sounding.

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