Since we've been having issues with PI24 ringing up lately we decided to change the SUS_PI guardian code to increase the bias offset on ETMY L3 LOCK. That bias offset value is normally -4.9, and we noticed that when damping PI24, we typically start hitting our damping limit when PI24 RMSMON exceeds a value of 10. I have turned the PI_DAMPING state into a generator function so it can now make two different states, PI_DAMPING and EXTREME_PI_DAMPING. When in PI_DAMPING, pi24 will be damped with our normal bias until we reach an RMSMON average value of 20. Once that happens, the guardian will jump to a state called INCREASE_BIAS (what it does is self-explanatory), and then goes into XTREME_PI_DAMPING, where it continues damping and changing phase as needed until we are back under an RMSMON value of 4(pi24 script logic). Once we are good the guardian will take us through DECREASE_BIAS (guess what that does) and then back into PI_DAMPING(node graph, states list).
Because the nominal state for Observing is PI_DAMPING, when we move into one of these other states we will be taken out of Observing (tagging OPS). Once we are back in PI_DAMPING we will automatically go back into Observing as long as we are in AUTOMATIC.
Occasionally we do get small quick ringups that go up above 20 that are capable of being damped by regular damping and just changing the phase - ndscope1(versus the slower ringups that cannot - ndscope2), so with these script changes, when these happen we will be taken out of Observing as the SUS_PI guardian jumps to up the bias and damp harder. These don't happen very often so we are okay for now, but a future to-do is to edit the script to keep it from increasing the bias at least until it's tried all phase changes.
