{"action":"created","issue":{"url":"https://api.github.com/repos/diydrones/ardupilot/issues/2661","labels_url":"https://api.github.com/repos/diydrones/ardupilot/issues/2661/labels{/name}","comments_url":"https://api.github.com/repos/diydrones/ardupilot/issues/2661/comments","events_url":"https://api.github.com/repos/diydrones/ardupilot/issues/2661/events","html_url":"https://github.com/diydrones/ardupilot/pull/2661","id":99143588,"number":2661,"title":"Refactor AP_MotorsHeli for easier extensibility","user":{"login":"fhedberg","id":1039714,"avatar_url":"https://avatars.githubusercontent.com/u/1039714?v=3","gravatar_id":"","url":"https://api.github.com/users/fhedberg","html_url":"https://github.com/fhedberg","followers_url":"https://api.github.com/users/fhedberg/followers","following_url":"https://api.github.com/users/fhedberg/following{/other_user}","gists_url":"https://api.github.com/users/fhedberg/gists{/gist_id}","starred_url":"https://api.github.com/users/fhedberg/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/fhedberg/subscriptions","organizations_url":"https://api.github.com/users/fhedberg/orgs","repos_url":"https://api.github.com/users/fhedberg/repos","events_url":"https://api.github.com/users/fhedberg/events{/privacy}","received_events_url":"https://api.github.com/users/fhedberg/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":17,"created_at":"2015-08-05T07:41:19Z","updated_at":"2015-08-08T01:16:37Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/diydrones/ardupilot/pulls/2661","html_url":"https://github.com/diydrones/ardupilot/pull/2661","diff_url":"https://github.com/diydrones/ardupilot/pull/2661.diff","patch_url":"https://github.com/diydrones/ardupilot/pull/2661.patch"},"body":"Refactors AP_MotorsHeli for easier extensibility:\r\n\r\n* Abstracts traditional helicopter code by moving the single rotor swash calculations and tail-rotor yaw control into AP_MotorsHeli_Single.\r\n* Abstracts rotor control (run-up/ramp-up) into AP_MotorsHeli_RSC which is used both for main rotors and direct-drive variable pitch tail-rotors.\r\n\r\nThis is a prerequisite for adding support for new helicopter frames, which is provided separately in #1860. Also makes it easier to add new RSC modes such as throttle curves or internal governors."},"comment":{"url":"https://api.github.com/repos/diydrones/ardupilot/issues/comments/128878806","html_url":"https://github.com/diydrones/ardupilot/pull/2661#issuecomment-128878806","issue_url":"https://api.github.com/repos/diydrones/ardupilot/issues/2661","id":128878806,"user":{"login":"R-Lefebvre","id":3228111,"avatar_url":"https://avatars.githubusercontent.com/u/3228111?v=3","gravatar_id":"","url":"https://api.github.com/users/R-Lefebvre","html_url":"https://github.com/R-Lefebvre","followers_url":"https://api.github.com/users/R-Lefebvre/followers","following_url":"https://api.github.com/users/R-Lefebvre/following{/other_user}","gists_url":"https://api.github.com/users/R-Lefebvre/gists{/gist_id}","starred_url":"https://api.github.com/users/R-Lefebvre/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/R-Lefebvre/subscriptions","organizations_url":"https://api.github.com/users/R-Lefebvre/orgs","repos_url":"https://api.github.com/users/R-Lefebvre/repos","events_url":"https://api.github.com/users/R-Lefebvre/events{/privacy}","received_events_url":"https://api.github.com/users/R-Lefebvre/received_events","type":"User","site_admin":false},"created_at":"2015-08-08T01:16:37Z","updated_at":"2015-08-08T01:16:37Z","body":"Here's where I'm at for now.  Will continue, still have a long way to go.\r\n\r\nhttps://github.com/R-Lefebvre/ardupilot/commits/RSC_Mode3_WIP2"}}