Daniel and I restarted green WFS effort.
WFSA and WFSB were rephased using an injection into PDH CM board. Apparently somebody tried to compensate the signal differences across the quadrants when doing a similar injection as mine, and I followed that same path such that seg1 and seg3 are matched as well as seg2 and seg4.
Then I dithered PZTs at 2, 8, 11 and 13.5Hz to measure the sensing matrix, inverted the matrix, and put them in the input matrix, such that WFS_DOF3 becomes PZT1 and DOF4 PZT2. Note that both WFSs are much more sensitive to PZT2 than PZT1.
I didn't put any filter in DOF3/4 nor IP PITOFS and IP YAWOFS, but set the gain to some negative numbers.
In the input matrix of QPD alignment servo, I added a straight-through matrix to add the WFS signal.
I had a hard time working with state definition thing and maybe the guardian, so I still don't know if it works or not, but the intent is to do a high BW feedback to the PZT.
This was due to the guardian still containing old WFS code. I removed the offending lines from the python script. Then, I reloaded the guardian. Unfortunately, I missed adding a pass statement in a hanging if clause, which caused the guardian to commit suicide. Unfortunately, the guardian took the restart button with it. No guardian, no restart button, ???