The damping servo for MCs has not been working since Monday.
We already found that some filter coefficients were wrong.(see elog #3742)
So, we fixed it (just for MCs now).
But still doesn't work.
What we did:
Fixed the filters for MC suspensions;
1. In /cvs/cds/rtcds/caltech/c1/chans/ directory, we replaced C1MCS.txt with ./filter_archive/c1mcs/C1MCS_101019_101927.txt.
This is the archive of the filter bank for MC suspensions, when filter designs were correct(when we hadn't opened it with foton yet).
2. Deleted all the filter coefficients.
By using emacs magical C-<space> C-x r k.
3. Loaded with foton to get correct coefficients.
4. Reloaded coefficients for C1MCS.
We now have the correct filters, but the damping still doesn't work.
5. To confirm that the filters are now correct and the model is working correctly, we measured the transfer function between ULSEN input and ULCOIL output and compared with the calculated TF from the filter bank file (Attachment #1) .
6. To calculate the designed function, we used the following matlab scripts;
/cvs/cds/caltech/users/rana/mat/utilities/FotonFilter.m # takes the foton file and returns the TF
/cvs/cds/caltech/users/rana/mat/utilities/readFilterFile.m # reads the foton file
/cvs/cds/caltech/users/yuta/scripts/sentocoil.m # calculates the total TF from SEN to COIL
As you can see from the attachment, filters seem fine now. (The red line is the measured and the blue line is the calculated function in the plot)
But the damping (for POS, PIT, YAW) still doesn't work. Why????
- see if coils are pushing correctly
- push cable connectors further!
- check input and output filters (whitening, dewhitening)
- when fixed, use my fully updated QAdjuster.py for adjusting Q for multiple channels automatically!!
C-<space> C-x r k