Tried measuring the actuator matrix for MC1.
With the watchdogs tripped I cut the loops for pos, pitch and yaw open just before the servos. Then I injected a fixed sine at 0.4Hz into the three DOFs (suspos, suspit, susyaw) one by one, while looking into the error signal just before the servos.
Response DOF
pos pit yaw
Injection DOF pos 0.008417 0.00301 0.004975
pit 0.01295 0.01959 0.0158
yaw 0.007188 0.002152 0.0144
Inverting that and dividing by the norm gives us
0.8322 -0.1096 -0.1669
-0.2456 0.2869 -0.2293
-0.3777 0.0118 0.4211
Somehow putting this into the 'To coil' matrix has an effect even with the watchdog tripped!?!?
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