Pupil fragmentation can result either from spider shadow or segmented primary mirrors. In both cases, differential low order aberrations (piston, tip or tilt) between the fragments lead to degrading high contrast instrument performance, since current Extreme Adaptive Optics sensors cannot properly sense them. Convinced that Focal Plane Wavefront Sensing is one great solution to deal with pupil phase discontinuities, we have been testing the Linearized Analytical Phase Diversity (LAPD) algorithm on SCExAO at the Subaru Telescope. This talk will recall advantages of LAPD in terms of capture range and speed. We will present lab demonstrations of LAPD both for Island Effect correction and segment cophasing on two different testbeds. Results of lambda/75 RMS cophasing error will be presented as a stepping stone for TMT cophasing. Lastly, we will present the first on-sky demonstration of LAPD on the Subaru Telescope.
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