I am still working on the c1aaa code. Now it seems that C1AAA is working reasonably (...so far).

1) At a certain point I wanted clean up the system status. I have visited /etc/rc.local to add c1aaa for realtime to non-realtime task

before:
/usr/bin/setup_shmem.rtl mdp mdc tst&
after:
/usr/bin/setup_shmem.rtl mdp mdc tst aaa&


   I rebooted the system several times.

sudo /sbin/reboot

2) I found that gabage medm screens accumulated in ~/cds/advLigo/build/aaaepics/medm after many trials with several simulink models.
This directory is always copied to /cvs/cds/caltech/medm/c1/aaa at every make install-screens-aaa
This caused very confusing MEDM screens in the medm dir like C1AAA_ETMX_IN_MATRX.adl (NOT ETMY!)

I did

cd ~/cds/advLigo
make clean-aaa


to refresh aaaepics dir. The current development procedure is

killaaa
make clean-aaa
make uninstall-daq-aaa
make aaa
make install-aaa
make install-daq-aaa
make install-screens-aaa
startaaa

3) Sometimes startaaa does not start the task properly. If the task does not work, don't abandon.
Try restart the task. This may help. 

killaaa
(deep breathing several times)
startaaa

What to do next:

- MEDM works

* make more convenient custom MEDM screens so that we can easily access to the filters and switches
* retrofit the conventional SUS MEDM to the new system

- once again put/confirm the filter coeffs and the matrix elements

- configure DAQ setting so that we can observe suspension motion by dataviewer / dtt

- connect the suspension to megatron again

- test the control loop