SRM M3, try re-balancing after coil driver swap Former balancing numbers with SRM M3 H1:SUS-SRM_M3_COILOUTF_UL_GAIN 0.972 H1:SUS-SRM_M3_COILOUTF_LL_GAIN -1.014 H1:SUS-SRM_M3_COILOUTF_UR_GAIN -0.972 H1:SUS-SRM_M3_COILOUTF_LR_GAIN 0.964 Hand-tuned phase PIT 145.200 YAW 154.300 Demod output with balance gains set to previous values: H1:SUS-SRM_LKIN_P_DEMOD_I_OUT 834.140155364 984.572993454 H1:SUS-SRM_LKIN_P_DEMOD_Q_OUT 0.498583179486 1.96366386161 H1:SUS-SRM_LKIN_Y_DEMOD_I_OUT -539.285394612 384.238087629 H1:SUS-SRM_LKIN_Y_DEMOD_Q_OUT 0.0392783470605 2.23174625352 BIG PITCH perturbation to refine YAW demod phase +P is the wrong direction BIG PTICH for YAW phase tuning H1:SUS-SRM_LKIN_P_DEMOD_I_OUT 883.963894996 1.8593546841 H1:SUS-SRM_LKIN_P_DEMOD_Q_OUT 12.4137009488 3.2195018471 H1:SUS-SRM_LKIN_Y_DEMOD_I_OUT -798.020498359 4.02128074456 H1:SUS-SRM_LKIN_Y_DEMOD_Q_OUT 644.880931431 1.6094056463 Calculate new YAW phase DETLA = 180/pi*atan( ((0.0392783470605)-(644.880931431))/((-539.285394612)-(-798.020498359)) ) -68.1375 Try 154.300 - 68.1375 = 86.1625 ~ 86.2 BIG YAW for PITCH phase tuning H1:SUS-SRM_LKIN_P_DEMOD_I_OUT 1398.52565511 367.977293334 H1:SUS-SRM_LKIN_P_DEMOD_Q_OUT -827.285357445 598.334033454 H1:SUS-SRM_LKIN_Y_DEMOD_I_OUT -828.15270257 19.3013835775 H1:SUS-SRM_LKIN_Y_DEMOD_Q_OUT 647.178536304 2.30723444202 Calculate new PITCH phase DELTA = 180/pi*atan( ((0.498583179486)-(-827.285357445))/((834.140155364)-(1398.52565511)) ) -55.7137 Try 145.200 - 55.7137 = 89.4863 restored COILOUTF gains to previously balanced values. Scale of Striptool is huge, but Q phases didn't change much for a large I phase change... might be good. PIT Q phase changed by 10 YAW Q phase changed by 20 ... hrm Change back to hand-tuned phase PIT 145.200 YAW 154.300 Perturb YAW by 5%, P I&Q change as much as before. No surprise. Restore to COILOUTF gains to previously balanced values. Let's try the other way with the phases, YAW 154.300 + 68.1375 = 222.400 PIT 145.200 + 55.7137 = 200.900 Hrm -- that didn't work either.Going back to hand tuned phases. But with hand-tuned phases, Q phases change much more with perturbation. I'll stick with PIT 89.5 YAW 86.2 Balanced ... H1:SUS-SRM_M3_COILOUTF_UL_GAIN 0.934242 H1:SUS-SRM_M3_COILOUTF_LL_GAIN -1.00269 H1:SUS-SRM_M3_COILOUTF_UR_GAIN -0.979864 H1:SUS-SRM_M3_COILOUTF_LR_GAIN 0.999795 or H1:SUS-SRM_M3_COILOUTF_UL_GAIN 0.934 H1:SUS-SRM_M3_COILOUTF_LL_GAIN -1.003 H1:SUS-SRM_M3_COILOUTF_UR_GAIN -0.980 H1:SUS-SRM_M3_COILOUTF_LR_GAIN 1.000