Actually, do we need to reset the filter history at every lock loss of the MC?
Those DC offsets were necessary to keep the alignment good just until the MC is unlocked.
So if we keep the history, we can maintain the good alignment.
I suspect the integrators get fed a huge wrong signal on lockloss. Clearing the history on the trans DOFs when the MC was badly aligned gets it nicely aligned again. I switched off the alignment transmission DOFs for now.
I have modified the 'mcwfson' and 'mcwfsoff' scripts to include the Clear History step for the MC2_TRANS_PIT and _YAW filters.
These scripts can be run, by hand, from LOCKMC screen or from the WFS_MASTER screen. Use the 'Turn WFS ON/OFF' button.
The mcautolockmain script will now clear history on all ASC filter banks when the MC unlocks.
I have turned on ASC loops on the MC2_TRANS (= alignment transmission DOFs of the above elog) paths.