Abstract:
I modified the control of BFY and TMY for lowering the resial angular motion of PR3.
BF control can be engaged by guardian but TM control can be engaged only manually.

Detail:
For reducing residual angular motion, especially yaw DOF, some local controls of PR3 was modified.
I increased overall gain of BFY to damp the resonances at 0.15 Hz well.

Also, I modified the DC controls of TM _OLDAMP_Y filter.
New control cannot be engaged by guardian now, we need to engage it manually if necessary.

Procedure s as follows:
1. Request ALIGNED state to guardian.
2. Request PAYFLOAT state to guardian.
3. turn off the cntrols of TM_OLDAMP_{P,Y} (change gains from -1 to 0).
4. turn off the FM3 (DAMP).
5. turn o the FM8 (DAMP_temp).
6. tur on the controls of TM_OLDAMP_{P,Y} (hange gains from 0 to -1)
7. turn on the FM9 (DC_temp).
8. turn on FM6 (resG) for pitch and FM9 (BOOST) for yaw.

Turn off procedure is reverse order of the above procedure.

New control can be reduced the residual yaw motion of TM stage by about a  factor of 4 (fig1: before t=0 -> old control, after t=0 -> new control).