{"action":"created","issue":{"url":"https://api.github.com/repos/paparazzi/paparazzi/issues/1170","labels_url":"https://api.github.com/repos/paparazzi/paparazzi/issues/1170/labels{/name}","comments_url":"https://api.github.com/repos/paparazzi/paparazzi/issues/1170/comments","events_url":"https://api.github.com/repos/paparazzi/paparazzi/issues/1170/events","html_url":"https://github.com/paparazzi/paparazzi/pull/1170","id":72865926,"number":1170,"title":"[rotorcraft] try to improve motor mixing priorities","user":{"login":"flixr","id":104257,"avatar_url":"https://avatars.githubusercontent.com/u/104257?v=3","gravatar_id":"","url":"https://api.github.com/users/flixr","html_url":"https://github.com/flixr","followers_url":"https://api.github.com/users/flixr/followers","following_url":"https://api.github.com/users/flixr/following{/other_user}","gists_url":"https://api.github.com/users/flixr/gists{/gist_id}","starred_url":"https://api.github.com/users/flixr/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/flixr/subscriptions","organizations_url":"https://api.github.com/users/flixr/orgs","repos_url":"https://api.github.com/users/flixr/repos","events_url":"https://api.github.com/users/flixr/events{/privacy}","received_events_url":"https://api.github.com/users/flixr/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/paparazzi/paparazzi/labels/Rotorcraft","name":"Rotorcraft","color":"fba004"}],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":5,"created_at":"2015-05-03T21:06:12Z","updated_at":"2015-05-11T17:31:13Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/paparazzi/paparazzi/pulls/1170","html_url":"https://github.com/paparazzi/paparazzi/pull/1170","diff_url":"https://github.com/paparazzi/paparazzi/pull/1170.diff","patch_url":"https://github.com/paparazzi/paparazzi/pull/1170.patch"},"body":"Calculate the amount of yaw authority left after applying roll, pitch and throttle commands.\r\nThen limit the yaw command to that.\r\n\r\nSimple first shot at improving the priorities in the saturation case, see #385.\r\n\r\nCalculating the mean_cmd should not not actually be necessary for symmetric airframes without any trims set.\r\nBut it shouldn't hurt....\r\n\r\nShould (tm) result in zero saturation failures like this, but might severly limit yaw authority.\r\nMaybe find some sort of compromise, e.g. use MOTOR_MIXING_MAX_SATURATION_OFFSET when bounding yaw or allow to give less throttle to get more yaw authority....\r\n\r\nNot tested in real flight, meant as a basis for discussion/tests..."},"comment":{"url":"https://api.github.com/repos/paparazzi/paparazzi/issues/comments/100986800","html_url":"https://github.com/paparazzi/paparazzi/pull/1170#issuecomment-100986800","issue_url":"https://api.github.com/repos/paparazzi/paparazzi/issues/1170","id":100986800,"user":{"login":"OpenUAS","id":483944,"avatar_url":"https://avatars.githubusercontent.com/u/483944?v=3","gravatar_id":"","url":"https://api.github.com/users/OpenUAS","html_url":"https://github.com/OpenUAS","followers_url":"https://api.github.com/users/OpenUAS/followers","following_url":"https://api.github.com/users/OpenUAS/following{/other_user}","gists_url":"https://api.github.com/users/OpenUAS/gists{/gist_id}","starred_url":"https://api.github.com/users/OpenUAS/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/OpenUAS/subscriptions","organizations_url":"https://api.github.com/users/OpenUAS/orgs","repos_url":"https://api.github.com/users/OpenUAS/repos","events_url":"https://api.github.com/users/OpenUAS/events{/privacy}","received_events_url":"https://api.github.com/users/OpenUAS/received_events","type":"User","site_admin":false},"created_at":"2015-05-11T17:31:12Z","updated_at":"2015-05-11T17:31:12Z","body":"It is that our multirotors are in \"create anew or in repair state\", sorry would love to test since this is one very welcomed improvement, but first need to repair something"}}