rms error from atmosphere in black, first path AO residuals in green, first path assisted by uPyWFS-petalometer in blue, and first path assisted by SF+uPyWFS-petalometer in magenta. A pure petal mode was added at frame 400 of 300 nm PTV to simulate a petal mode exterior to the atmosphere. We see regular flares of the first path PyWFS, while the SH+uPyWFS helps to keep the residual stable around zero petal during the whole sequence.