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.