I found strange oscillation happened when FPMI was locked with observation state as like fig1.
As shown in fig2, the oscillation frequency is about 15 Hz.
I'm not sure the reason at this moment, so I will check it tomorrow if possible.
Note:
To keep avoid the oscillation during the obs. state, I changed the guardian not to requst OBSERVATION state to ETMX (L834, L835, L844, and L845 are modified).