I owrked on the ITMX MNOLDAMP filter tuning for R and Y, at the PAY_FLOAT state and applying R, P, Y filters.
During the pitch measurement, the yau was oscillated and it was not stopped at the excitation was finisshed. Whan I turned off the yau filter, this oscillation was stopped.
The frequency was about 3.12 Hz. So the notch filter (FM8; 3.14Hz, Q=10, 60dB) for yaw needs to be tuned.
About the ~3 Hz oscillation of the yaw during the pitch OLG measurement, Ushiba-san suggested me to apply the NBDAMP Y1 filter (3.13Hz).
I followed his suggestion and confirmed the oscillation was not occurred in the yaw.
For some filters, the coefficients were not loaded. So I measured the OLG again (and also tuned again):
L3, L5, T2, T3, V1, Y2, Y3, Y4
Now the coefficient differences are not remain.
[Ushiba, Washimi]
We tuned the Y4 filter more (decrease gain, bandwidth 10%->30%)
