{"action":"created","issue":{"url":"https://api.github.com/repos/cleanflight/cleanflight/issues/568","labels_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/568/labels{/name}","comments_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/568/comments","events_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/568/events","html_url":"https://github.com/cleanflight/cleanflight/pull/568","id":59365533,"number":568,"title":"G-Tune implementation and Harakiri pid updates","user":{"login":"MJ666","id":8107952,"avatar_url":"https://avatars.githubusercontent.com/u/8107952?v=3","gravatar_id":"","url":"https://api.github.com/users/MJ666","html_url":"https://github.com/MJ666","followers_url":"https://api.github.com/users/MJ666/followers","following_url":"https://api.github.com/users/MJ666/following{/other_user}","gists_url":"https://api.github.com/users/MJ666/gists{/gist_id}","starred_url":"https://api.github.com/users/MJ666/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/MJ666/subscriptions","organizations_url":"https://api.github.com/users/MJ666/orgs","repos_url":"https://api.github.com/users/MJ666/repos","events_url":"https://api.github.com/users/MJ666/events{/privacy}","received_events_url":"https://api.github.com/users/MJ666/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":{"url":"https://api.github.com/repos/cleanflight/cleanflight/milestones/7","html_url":"https://github.com/cleanflight/cleanflight/milestones/1.10.0","labels_url":"https://api.github.com/repos/cleanflight/cleanflight/milestones/7/labels","id":1110639,"number":7,"title":"1.10.0","description":null,"creator":{"login":"hydra","id":57075,"avatar_url":"https://avatars.githubusercontent.com/u/57075?v=3","gravatar_id":"","url":"https://api.github.com/users/hydra","html_url":"https://github.com/hydra","followers_url":"https://api.github.com/users/hydra/followers","following_url":"https://api.github.com/users/hydra/following{/other_user}","gists_url":"https://api.github.com/users/hydra/gists{/gist_id}","starred_url":"https://api.github.com/users/hydra/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hydra/subscriptions","organizations_url":"https://api.github.com/users/hydra/orgs","repos_url":"https://api.github.com/users/hydra/repos","events_url":"https://api.github.com/users/hydra/events{/privacy}","received_events_url":"https://api.github.com/users/hydra/received_events","type":"User","site_admin":false},"open_issues":13,"closed_issues":1,"state":"open","created_at":"2015-05-14T18:07:30Z","updated_at":"2015-06-04T10:24:35Z","due_on":null,"closed_at":null},"comments":150,"created_at":"2015-02-28T23:18:14Z","updated_at":"2015-06-14T21:18:32Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/cleanflight/cleanflight/pulls/568","html_url":"https://github.com/cleanflight/cleanflight/pull/568","diff_url":"https://github.com/cleanflight/cleanflight/pull/568.diff","patch_url":"https://github.com/cleanflight/cleanflight/pull/568.patch"},"body":"Implement G-Tune (ported from Harakiri). Documentation can be found here:\r\n\r\nhttps://github.com/MJ666/cleanflight/blob/Harakiri_PID_update/docs/Gtune.md\r\n\r\nG-Tune is tested in a quite some test flights and is working much more saver and less intrusive than the CF Autotune. It should work on all PID controllers (PID 0, PID 3 and PID 5 are tested). Please see also here #560.\r\n\r\nMake two formerly hardcoded parameter for the Harakiri PID configurable. The first one has helped some users with there tuning problem to eliminate some wobble.\r\n\r\n        set pid5_maincuthz = 12     [1-50Hz] Cut Off Frequency for D term of main Pid controller\r\n        set pid5_oldyw = 0          [0/1] 0 = multiwii 2.3 yaw (default), 1 = older yaw\r\n\r\nAdded an yaw constrain if yaw stick commands are given to PID 3, PID 4 and PID 5 controllers. Recommendation by Crashpilot1000.\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/cleanflight/cleanflight/issues/comments/111876681","html_url":"https://github.com/cleanflight/cleanflight/pull/568#issuecomment-111876681","issue_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/568","id":111876681,"user":{"login":"Zero9r","id":12740931,"avatar_url":"https://avatars.githubusercontent.com/u/12740931?v=3","gravatar_id":"","url":"https://api.github.com/users/Zero9r","html_url":"https://github.com/Zero9r","followers_url":"https://api.github.com/users/Zero9r/followers","following_url":"https://api.github.com/users/Zero9r/following{/other_user}","gists_url":"https://api.github.com/users/Zero9r/gists{/gist_id}","starred_url":"https://api.github.com/users/Zero9r/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Zero9r/subscriptions","organizations_url":"https://api.github.com/users/Zero9r/orgs","repos_url":"https://api.github.com/users/Zero9r/repos","events_url":"https://api.github.com/users/Zero9r/events{/privacy}","received_events_url":"https://api.github.com/users/Zero9r/received_events","type":"User","site_admin":false},"created_at":"2015-06-14T21:18:32Z","updated_at":"2015-06-14T21:18:32Z","body":"@MJ666 Ya I have no idea.  I did not get any errors while uploading, but after words I could not connect my USB, wither it was under power or not.  but was able to rescue it back to the master 1.9.0.  I have now uploaded Boris filtering PR1007 someone link to.  which worked and going to go try it this afternoon. "}}