Thanks for the suggestion, I have been doing a lot of reading in the manual and am still wrapping my head around all the different modes and commands available. The manual lists that the open loop rate move ramp rate has to be above 0, but does not list a maximum limit, is there some way to disable the ramping entirely, or do I just need a very large value to keep it out of the way?
If I ran the inner loop, then I would need to change the control axis to Virtual, correct? Then set the outer loop command to the setpoint for the inner swashplate angle control loop? The manual mentions that the inner loop should be ~4x as fast as the outer loop, is that a fairly hard rule or just a rough guideline? I haven’t looked at data yet to see what the relationship is but I might be able to get my hands on some old data.
Each motor has an on-board servo valve for control so I will need to have a separate output for each one. The motors/pumps will all spin with the gearbox whenever there is rotation, so when they are not in use they need to be kept at zero swash plate angle. I do not think they have on board electronics since the test stand was built in the late 90’s.