This has been running for a couple weeks, but I've been lagging in my logging. I've installed inertial isolation on HAM1 HEPI, it seems to be working okay. The first 3 attached plots HAM1's L4Cs (in X, Z and RY, other dofs are similar) from earlier today versus HAM1's performance on Feb 9th, before I installed higher ugf loops and blend filters. On each plot solid is the currnet inertial set, dashed are from before. Red and blue are the L4Cs, green ad brow are the ground STS. Z shows quite a bit of improvement up to 9 hz, with some amplification above coming from isolation loop gain peaking. X looks pretty good, but not quite as nice. Below .1hz there is quite a bit of gain peaking from the Hua sensor correction, and more gain peaking above 10hz, similar to Z. RY doesn't get much benefit below 1hz and gets some gain peaking from  the blend filters, but it gets a nice suppression of ~50 at a few hz, over what the old configuration got  with 2hz loops, no inertial sensors, sensor correction only on Z.

I think it's possible the blend filters could be tuned a little better, all dofs are the same blend that I stole from LLO, so some more thought could be put in there. My last attached plot is the blend being used. When I get around to it, I'll post the complementary version, but for now suffer with the raw foton display. I haven't messed with this at all, but it's possible we are being limited by IPS noise. Similar blends on the ISI are limited by CPS noise, so it seems likely.