OBS_CHECK #

# observer shadow check, on the encoder: link pid, link pmsm, link obs_check.
# obs0.pos_err: observer minus the encoder angle.
load obs
obs0.rt_prio = 9.4
obs0.r = conf0.r
obs0.ld = conf0.l
obs0.lq = conf0.lq
obs0.polecount = conf0.polecount
obs0.adv = hv0.adv
obs0.id = hv0.id_fb
obs0.iq = hv0.iq_fb
obs0.ud = hv0.ud_fb
obs0.uq = hv0.uq_fb
obs0.pos_ref = angle0.pos
obs0.vel_ref = angle0.vel
obs0.slip = 0
obs0.track = 0
term0.wave0 = obs0.pos_err
term0.wave1 = obs0.err
term0.wave2 = obs0.eq
term0.wave3 = obs0.ok
term0.gain0 = 10
term0.gain1 = 10
term0.gain2 = 0.1
term0.gain3 = 1