[Tomislav Andric, Rana, Yuta]
We put -1 to MC1 OSEM sensor gains and re-tuned MC1 damping.
We also kicked MC1, MC2, MC3 tonight for input matrix diagonalization.
MC1 damping investigations:
We put -1 to MC1 OSEM sensor gains so that UL/UR/LR/LL/SDSEN_OUT will be positive like other optics.
OSEM damping filter gains were adjusted.
We have also checked if having +1 for all UL/UR/LR/LL/SDCOIL_GAIN is correct or not. It has been like this at least for the past year.
It should be -1 for UR and LL to account for magnets, but if we did put -1 or them, kick in C1:SUS-MC1_PIT_OFFSET mostly gave yaw kick and kick in C1:SUS-MC1_YAW_OFFSET mostly give pitch kick.
So, we reverted them to be +1.
Input matrix diagonalization:
We also kicked MC1, MC2, MC3 tonight input matrix diagonalization.
Kick was done manually at the following times local.
- MC1 20:08 June 6th, 2022
- MC2 20:24 June 6th, 2022
- MC3 20:21 June 6th, 2022
We will leave watchdogs shutdown to free swing overnight (damping loops are "on").
This will help get better angular sensor from OSEMs to calibrate WFS signals.
- Investigate why MC1 coils gains have +1 for all
- Calculate input matrix. Make sure SUSPOS/PIT/YAW/SIDE_IN will be in the units of um or urad.
- Add filter ramp time of 1sec for all by default
- Make null stream channel from input matrix for diagnostics