[Jamie, Brett, Jenne]
We made some small modifications to the sus_single_control suspension controller library part to get in/out the signals that Brett needs for his "global damping" work. We brought out the POS signal before the SUSPOS DOF filter, and we added a new GLOBPOS input to accommodate the global damping control signals. We added a new EPIC input to control a switch between local and global damping. It's all best seen from this detail from the model:
The POSOUT goto goes to an additional output. As you can see I did a bunch of cleanup to the spaghetti in this part of the model as well.
As the part has a new input and output now we had to modify c1sus, c1scx, c1scy, and c1mcs models as well. I did a bunch of cleanup in those models as well. The models have all been compiled and installed, but a restart is still needed. I'll do this first thing tomorrow morning.
All changes were committed to the userapps SVN, like they should always be.
We still need to update the SUS MEDM screens to display these new signals, and add switches for the local/global switch. I'll do this tomorrow.
During the cleanup I found multiple broken links to the sus_single_control library part. This is not good. I assume that most of them were accidental, but we need to be careful when modifying things. If we break those links we could think we're updating controller models when in fact we're not.
The one exception I found was that the MC2 controller link was clearly broken on purpose, as the MC2 controller has additional stuff added to it ("STATE_ESTIMATE"):
I can find no elog that mentions the words "STATE" and "ESTIMATE". This is obviously very problematic. I'm assuming Den made these modifications, and I found this report: 7497, which mentions something about "state estimation" and MC2. I can't find any other record of these changes, or that the MC2 controller was broken from the library. This is complete mickey mouse bullshit. Shame shame shame. Don't ever make changes like this and not log it.
I'm going to let this sit for a day, but tomorrow I'm going to remove replace the MC2 controller with a proper link to the sus_single_control library part. This work was never logged so it didn't happen as far as I'm concerned.