Kiwamu, Rana Elli

Last night we comissioned Dhard WFS.  We were engaging the DHard WFS (H1:ASC-DHARD_P and H1:ASC-DHARD_Y) after the DARM handover from DIFF to AS45 had taken place. 

The WFS use signals from AS_B_RF45_PIT and YAW, and we set  H1:ASC-AS_A_RF45_Q_YAW_GAIN and H1:ASC-AS_A_RF45_Q_PIT_GAIN to 1.

We were engaging the WFS with the following settings:  (This is in the guardian but hasn't been tested yet.)

        ezca['ASC-AS_B_RF45_WHITEN_GAIN'] =  3   (we changed this from 0 to 3dB)
        ezca['ASC-INMATRIX_P_8_6'] =  1
        ezca['ASC-INMATRIX_Y_8_6'] =  1
        ezca['ASC-DHARD_P_GAIN'] =  0.003
        ezca['ASC-DHARD_Y_GAIN'] =  0.003
        ezca['ASC-OUTMATRIX_P_7_8'] =  1
        ezca['ASC-OUTMATRIX_P_8_8'] =  -1
        ezca['ASC-OUTMATRIX_Y_7_8'] =  1
        ezca['ASC-OUTMATRIX_Y_8_8'] =  1
        ezca.switch('ASC-DHARD_P', 'FM1', 'FM2', 'FM3','FM6','FM7', 'ON')
        ezca.switch('ASC-DHARD_Y', 'FM1', 'FM2', 'FM3','FM6','FM7', 'ON')
        ezca.switch('ASC-DHARD_P', 'INPUT', 'ON')
        ezca.switch('ASC-DHARD_Y', 'INPUT', 'ON')

Where FM1 is 10dB gain, FM2 is 20dB gain, FM3 is z1p0 integrator, FM6 is an approximate inverse of the suspension response with a sneaky 1e-5 gain thrown in  (zpk([1],[50+i*86.6025;50-i*86.6025],1,"n")gain(1e-05)), FM7 is a 1Hz low pass filter.