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DM-47861: reject command with excessive AOS forces #176

Merged
merged 16 commits into from
Feb 10, 2025
Merged

DM-47861: reject command with excessive AOS forces #176

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4d4dd31
Fix: Velocity forces are calculated from speeds in rad/sec, not deg/sec.
pkubanek Nov 18, 2024
d62b7de
Remove MPU functions - those are now handled vy Transport class
pkubanek Nov 26, 2024
d0f6f8f
Merge pull request #171 from lsst-ts/tickets/DM-47616
pkubanek Nov 28, 2024
90293dc
VelocityXYTable for better velocity/centrifugal force fit
pkubanek Nov 29, 2024
7db481e
Velocity/inertia to angular velocity linear dependance
pkubanek Dec 1, 2024
c0c7784
Merge pull request #172 from lsst-ts/tickets/DM-47859
pkubanek Dec 7, 2024
8aefbc2
BalanceForcesOnInActiveState
pkubanek Nov 26, 2024
1f8bc55
Merge pull request #173 from lsst-ts/tickets/DM-47803
pkubanek Dec 7, 2024
bdee3e7
Enable FAs not longer disabled in the configuration file
pkubanek Dec 9, 2024
8562ae4
Don't bump test disabled FAs
pkubanek Dec 9, 2024
ac0ce0e
Version entry
pkubanek Dec 9, 2024
a41b6eb
Merge pull request #174 from lsst-ts/tickets/DM-48033
pkubanek Dec 16, 2024
d105c24
Report pressure and force as M1M3 force actuator is active
pkubanek Dec 8, 2024
36ea06a
Test settings, test duration commands
pkubanek Dec 8, 2024
eef7205
Merge pull request #175 from lsst-ts/tickets/DM-48025
pkubanek Dec 16, 2024
076c20c
Validate ActiveOpticsForces - low and high limits
pkubanek Feb 6, 2025
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3 changes: 3 additions & 0 deletions SettingFiles/v1/_init.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -115,6 +115,7 @@ ForceActuatorSettings:
VelocityZTablePath: VelocityZTable.csv
VelocityXZTablePath: VelocityXZTable.csv
VelocityYZTablePath: VelocityYZTable.csv
VelocityXYTablePath: VelocityXYTable.csv
MeasuredMirrorLimitTablePath: MeasuredMirrorLimitTable.csv
MeasuredWarningPercentage: 90
FollowingErrorPrimaryCylinderLimitTablePath: FollowingErrorPrimaryCylinderLimitTable.csv
Expand Down Expand Up @@ -171,6 +172,8 @@ ForceActuatorSettings:
RaiseIncrementPercentage: 0.05
LowerDecrementPercentage: 0.05
RaiseLowerFollowingErrorLimit: 50
# If true, automatically turn on hardpoint balance forces when mirror is raised in non-engineering state
HardpointBalanceForcesOnInActiveState: True
AccelerationForceComponent:
MaxRateOfChange: 105.0
NearZeroValue: 1.0
Expand Down
315 changes: 157 additions & 158 deletions SettingFiles/v1/tables/AccelerationXTable.csv
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Original file line number Diff line number Diff line change
@@ -1,159 +1,158 @@
# Don't use - old fit from July 2023
# Testing comments
# Calculated from slews 2024-11-29T21:12:00.000 - 2024-11-29T21:55:00.000
ID,X,Y,Z
101,0,0,-0.374538418
102,0,299327.8558,-21.07454859
103,0,299293.3786,-41.77532731
104,0,299258.9014,-62.47610983
105,0,299224.4242,-83.17689235
106,0,0,-99.59346839
107,0,0,-56006.10312
108,0,299345.0937,-56026.8039
109,0,299310.6165,-56047.50468
110,0,299276.1393,-56068.20549
111,0,299241.6635,-56088.90546
112,0,0,-56109.60628
113,0,299402.5553,-112008.3822
114,0,299362.3317,-112032.5333
115,0,299327.8558,-112053.2333
116,0,299293.3786,-112073.9341
117,0,299258.9014,-112094.6348
118,0,299224.4242,-112115.3356
119,0,0,-97020.89383
120,0,299379.5709,-168038.7481
121,0,299345.0937,-168059.4488
122,0,299310.6165,-168080.1496
123,0,299276.1406,-168100.8496
124,0,299241.6635,-168121.5504
125,0,0,-147557.9774
126,0,299402.5553,-224040.5409
127,0,299362.3317,-224064.692
128,0,0,-224085.392
129,0,299293.3786,-224106.0928
130,0,299258.9014,-224126.7936
131,0,0,-210641.3177
132,0,299379.5709,-280070.9186
133,0,299345.0937,-280091.6194
134,0,299310.6165,-280112.3202
135,0,0,-280133.0202
136,0,0,-266756.6312
137,0,299391.0624,-336079.6002
138,0,299356.5866,-336100.3002
139,0,0,-317449.1406
140,0,0,-333879.9509
141,0,0,-389090.0295
142,0,0,-376241.2439
143,0,0,-358772.6643
207,0,0,-55978.50259
208,0,299460.0171,-55957.80165
209,0,299494.4943,-55937.10088
210,0,299528.9715,-55916.40009
211,0,299563.4471,-55895.70024
212,0,0,-55874.99947
214,0,299442.7789,-111984.2312
215,0,299477.2549,-111963.5311
216,0,299511.7321,-111942.8303
217,0,299546.2093,-111922.1295
218,0,299580.6865,-111901.4288
219,0,0,-96778.35198
220,0,299425.5396,-168011.1475
221,0,299460.0171,-167990.4466
222,0,299494.4943,-167969.7458
223,0,299528.9699,-167949.046
224,0,299563.4471,-167928.3452
225,0,0,-147326.3826
227,0,299442.7789,-224016.3899
228,0,0,-223995.6898
229,0,299511.7321,-223974.989
230,0,299546.2093,-223954.2883
231,0,0,-210430.6472
232,0,299425.5396,-280043.3181
233,0,299460.0171,-280022.6172
234,0,299494.4943,-280001.9164
235,0,0,-279981.2166
236,0,0,-266573.8551
237,0,299414.0481,-336065.7992
238,0,299448.524,-336045.0992
239,0,0,-317352.5379
240,0,0,-333750.0067
241,0,0,-389067.2873
242,0,0,-376173.7707
243,0,0,-358672.9234
301,0,0,47.92756704
302,0,299477.2549,68.62763035
303,0,299511.7321,89.32840907
304,0,299546.2093,110.0291916
305,0,299580.6865,130.7299741
306,0,0,147.1463983
307,0,0,56053.69764
308,0,299460.0171,56074.39858
309,0,299494.4943,56095.09936
310,0,299528.9715,56115.80014
311,0,299563.4471,56136.49999
312,0,0,56157.20077
313,0,299402.5553,112056.042
314,0,299442.7789,112080.193
315,0,299477.2549,112100.8931
316,0,299511.7321,112121.5939
317,0,299546.2093,112142.2947
318,0,299580.6865,112162.9954
319,0,0,97068.40535
320,0,299425.5396,168085.9216
321,0,299460.0171,168106.6225
322,0,299494.4943,168127.3233
323,0,299528.9699,168148.0232
324,0,299563.4471,168168.7239
325,0,0,147606.0165
326,0,299402.5553,224088.3074
327,0,299442.7789,224112.4585
328,0,0,224133.1585
329,0,299511.7321,224153.8593
330,0,299546.2093,224174.5601
331,0,0,210688.5859
332,0,299425.5396,280118.1871
333,0,299460.0171,280138.888
334,0,299494.4943,280159.5888
335,0,0,280180.2886
336,0,0,266804.279
337,0,299414.0481,336127.3667
338,0,299448.524,336148.0667
339,0,0,317496.7884
340,0,0,333927.6224
341,0,0,389137.5825
342,0,0,376289.0816
343,0,0,358820.1225
407,0,0,56026.09712
408,0,299345.0937,56005.39634
409,0,299310.6165,55984.69556
410,0,299276.1393,55963.99475
411,0,299241.6635,55943.29477
412,0,0,55922.59396
414,0,299362.3317,112031.8909
415,0,299327.8558,112011.1909
416,0,299293.3786,111990.4901
417,0,299258.9014,111969.7893
418,0,299224.4242,111949.0886
419,0,0,96825.8635
420,0,299379.5709,168058.3211
421,0,299345.0937,168037.6203
422,0,299310.6165,168016.9195
423,0,299276.1406,167996.2195
424,0,299241.6635,167975.5187
425,0,0,147374.4217
427,0,299362.3317,224064.1564
428,0,0,224043.4564
429,0,299293.3786,224022.7556
430,0,299258.9014,224002.0548
431,0,0,210477.9155
432,0,299379.5709,280090.5865
433,0,299345.0937,280069.8857
434,0,299310.6165,280049.185
435,0,0,280028.485
436,0,0,266621.5028
437,0,299391.0624,336113.5656
438,0,299356.5866,336092.8656
439,0,0,317400.1858
440,0,0,333797.6782
441,0,0,389114.8403
442,0,0,376221.6084
443,0,0,358720.3815
0,0.0,0.0,-57015.9433264012
1,0.0,45313.668136488515,-75797.10705520916
2,0.0,29555.648065473568,-87282.25358015683
3,0.0,184550.5836118031,-111989.65547872192
4,0.0,-1400.3259665369487,-106988.8140924636
5,0.0,0.0,-131351.96391445122
6,0.0,0.0,-31612.66414894567
7,0.0,66528.97238335441,-40728.029144162465
8,0.0,75938.08303138036,-46108.954119032125
9,0.0,-2296.431742542465,-61201.32351800237
10,0.0,43942.626299199634,-68454.18840885557
11,65767.29005018063,0.0,-76106.94088802367
12,0.0,68867.80845871578,-6912.2209182841125
13,0.0,77340.48857082688,-6551.623952455445
14,0.0,77232.95587770574,-10170.172188447044
15,0.0,75516.91331666187,-15300.693171269635
16,0.0,79253.6744025941,-18977.00736089952
17,0.0,7789.238766365007,-22104.192161101328
18,0.0,0.0,-17733.08659122703
19,0.0,68643.78201471665,29266.841978441218
20,0.0,41169.17892247371,27488.487504578596
21,0.0,58105.57808892582,27175.34139595153
22,0.0,115846.15376566518,27350.987157320043
23,0.0,164580.86639357882,24029.615768087016
24,0.0,0.0,2157.851010640694
25,0.0,61322.597824780474,127377.21255974425
26,0.0,15634.644835271401,66117.30719615275
27,52836.483702460995,0.0,79573.45300996612
28,0.0,-35438.90386800557,74654.63302075719
29,0.0,-88398.75522977632,63485.353522996105
30,0.0,0.0,49720.07112624449
31,0.0,158612.80192540004,128720.0487329927
32,0.0,-76390.93783133038,133969.4185965272
33,0.0,165221.58202342124,103576.30407629468
34,-61744.0813461386,0.0,137782.22026695416
35,0.0,0.0,82998.18712638038
36,0.0,-153102.07278605146,174397.81906315387
37,0.0,201755.814511056,171287.26268009798
38,0.0,0.0,95500.54073073201
39,0.0,0.0,164372.6245957015
40,0.0,0.0,201730.25380667805
41,0.0,0.0,179113.9863579945
42,0.0,0.0,77703.38134956724
43,0.0,0.0,-28779.826361077798
44,0.0,67940.33898055705,-32718.146278337506
45,0.0,59198.82713565067,-32100.726304175885
46,0.0,134319.37433796554,-37216.2244677059
47,0.0,95334.29255296272,-36517.640015188226
48,65726.96529026091,0.0,-34300.469929782834
49,0.0,59127.13867356839,-1270.2886104457239
50,0.0,60453.37522206007,1440.4651421074082
51,0.0,55506.87133851715,4078.3398457689646
52,0.0,50712.70543690174,7896.004448772789
53,0.0,120402.85163664044,11418.37066264502
54,0.0,0.0,558.7284340091917
55,0.0,55497.91028075604,32862.23074782042
56,0.0,78061.8537205075,36919.042352632576
57,0.0,70265.73346928254,43391.64368608657
58,0.0,20961.993673606234,52704.280295321754
59,0.0,-31312.336769510854,58046.37084532739
60,0.0,0.0,33753.58647512683
61,0.0,103999.63540690974,72466.15656393488
62,65014.56119833749,0.0,94655.96720136517
63,0.0,179989.4052119481,96594.15660927049
64,0.0,221259.55672575725,89099.11312678835
65,0.0,0.0,80555.30388438424
66,0.0,1776.369009391381,133190.7858398315
67,0.0,291832.3671148575,146005.5573442717
68,0.0,-53016.01866430398,119105.79349544855
69,-75221.51221722263,0.0,166672.0232448224
70,0.0,0.0,106951.94609026606
71,0.0,290680.87119269813,176634.46443910978
72,0.0,-138289.44430873153,178049.85447378753
73,0.0,0.0,105017.49144197017
74,0.0,0.0,185470.63914426917
75,0.0,0.0,205023.08897686668
76,0.0,0.0,188483.85721126612
77,0.0,0.0,84334.04881457696
78,0.0,0.0,-52364.65545009714
79,0.0,86727.19657445587,-65031.429112084166
80,0.0,102140.2159217049,-69624.67684007577
81,0.0,-47478.08496860311,-83308.23382244274
82,0.0,134256.6469336446,-73876.68300598112
83,0.0,0.0,-85706.76722321716
84,0.0,0.0,-83294.81096776726
85,0.0,72429.82891833343,-96101.99732597201
86,0.0,58822.462709731684,-101505.50142145607
87,0.0,121307.91847040222,-123858.44795324588
88,0.0,160741.0531434077,-125922.82327062178
89,113287.77935160969,0.0,-131727.41816012474
90,0.0,66264.6211794307,-214518.86724366975
91,0.0,57178.10861076594,-122741.10167760428
92,0.0,55677.131435957366,-140284.40706031883
93,0.0,56420.89923004241,-157431.64224179822
94,0.0,52056.864100903316,-162105.23843071112
95,0.0,66381.1149303097,-160347.77212798345
96,0.0,0.0,-70716.26987749788
97,0.0,60726.68748373352,-181847.6714162775
98,0.0,70386.70774904334,-186794.0934680319
99,0.0,96754.62020792664,-200673.4291295375
100,0.0,-961.2341362993147,-222339.02554012663
101,0.0,19483.41914320626,-230942.75164651035
102,0.0,0.0,-161355.73074630895
103,0.0,70727.22794392674,-419206.0803172005
104,0.0,137021.1332526121,-224386.35097975523
105,145690.9642118715,0.0,-279104.4968615987
106,0.0,118879.47181743612,-272351.6444263246
107,0.0,196038.65966015775,-237378.54667411582
108,0.0,0.0,-220873.49253113408
109,0.0,49202.767204336036,-324443.3296409772
110,0.0,83501.2157808463,-339327.1625128998
111,0.0,90670.06198886801,-271200.90895112575
112,237976.41755351968,0.0,-363979.8913635273
113,0.0,0.0,-237627.72553836193
114,0.0,255495.2778979442,-367714.8082659264
115,0.0,-58177.58793407428,-365958.3394544534
116,0.0,0.0,-214532.71226700468
117,0.0,0.0,-359152.14180705446
118,0.0,0.0,-383214.8353154113
119,0.0,0.0,-350051.12059954583
120,0.0,0.0,-158799.56246772196
121,0.0,0.0,-86087.40800161223
122,0.0,59476.61992621238,-104060.03093669988
123,0.0,75351.13374810113,-115539.26553249522
124,0.0,10598.530374140266,-147766.16145224794
125,0.0,-31142.076672074014,-157797.46322325637
126,113435.63680464993,0.0,-173092.79147603002
127,0.0,76695.29241210238,-128091.31002658498
128,0.0,77896.07415194719,-151990.23035675441
129,0.0,75333.21163257936,-176648.16560113544
130,0.0,82614.071062604,-188808.00202754245
131,0.0,66627.54401871325,-193553.05552822637
132,0.0,0.0,-88784.44079319421
133,0.0,73240.8046456133,-185491.03815803785
134,0.0,65964.42574446843,-196178.21698531334
135,0.0,35219.03656981582,-217075.45674276375
136,0.0,131765.47287635598,-247839.35122557302
137,0.0,113413.22658381923,-264858.905507077
138,0.0,0.0,-192479.41434795185
139,0.0,-20039.32610739861,-230843.5401193371
140,145126.41757298936,0.0,-294566.20025429927
141,0.0,18349.8453365627,-294654.8801058814
142,0.0,-59974.280014963275,-263061.9532740632
143,0.0,0.0,-251584.9084072191
144,0.0,83012.83813292312,-329084.31496064836
145,0.0,68917.09427639966,-351750.22901707207
146,0.0,33149.03222725072,-287186.9731228652
147,237555.2478387986,0.0,-393821.53662222036
148,0.0,0.0,-261965.31630192
149,0.0,-121814.53961691355,-370152.6560752166
150,0.0,186060.52184436604,-375429.4255431638
151,0.0,0.0,-224788.69432463948
152,0.0,0.0,-381403.2010697938
153,0.0,0.0,-386871.38257664297
154,0.0,0.0,-360357.356623379
155,0.0,0.0,-165937.8799512295
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