{"action":"opened","issue":{"url":"https://api.github.com/repos/digitalentity/cleanflight/issues/46","labels_url":"https://api.github.com/repos/digitalentity/cleanflight/issues/46/labels{/name}","comments_url":"https://api.github.com/repos/digitalentity/cleanflight/issues/46/comments","events_url":"https://api.github.com/repos/digitalentity/cleanflight/issues/46/events","html_url":"https://github.com/digitalentity/cleanflight/issues/46","id":110810974,"number":46,"title":"Feedback of 0710 build ","user":{"login":"skaman82","id":11768024,"avatar_url":"https://avatars.githubusercontent.com/u/11768024?v=3","gravatar_id":"","url":"https://api.github.com/users/skaman82","html_url":"https://github.com/skaman82","followers_url":"https://api.github.com/users/skaman82/followers","following_url":"https://api.github.com/users/skaman82/following{/other_user}","gists_url":"https://api.github.com/users/skaman82/gists{/gist_id}","starred_url":"https://api.github.com/users/skaman82/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/skaman82/subscriptions","organizations_url":"https://api.github.com/users/skaman82/orgs","repos_url":"https://api.github.com/users/skaman82/repos","events_url":"https://api.github.com/users/skaman82/events{/privacy}","received_events_url":"https://api.github.com/users/skaman82/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":0,"created_at":"2015-10-10T19:02:55Z","updated_at":"2015-10-10T19:02:55Z","closed_at":null,"body":"I tested your 0710 build today with my 350 class quad. naze32 full (mag removed), neo-8m GPS and external compass. Average satellite count: 12. AUW 1.2 kg. Hovering point: 63% throttle.\r\n\r\n• ALTOHOLD works like a charm. I love it!\r\n\r\n• POSHOLD works for me ok…ish. The quad starts to fly in circles after a short while. The radius increases over time. Calibrated my compass three times but the behavior didn't change. It was little windy - 12 km/h.\r\n\r\n• I little confused about RTH mode: Does it should keep the height by itself? When I activate RTH the quad starts immediately sinking until is hits the ground. It should come back to me and then attempt to land, right? nav_rth_alt_mode is set to 2, nav_rth_altitude is set to default 1000 (is this in cm or mm?). When I activate RTH and ALHOLD the quad is flying back in my direction but drifts to the right. It worked pretty precise in CF 1.9. I maybe have to check my compass, but I didn't explain the sinking to the ground in RTH. Tested all modes in 5-10m height and 20-40 m radius.\r\n\r\n# version\r\n# Cleanflight/NAZE 1.11.0 Oct  7 2015 / 07:05:31 (ba11933)\r\n# pflags\r\n# Persistent config flags: 0x00000001\r\n# dump master\r\n\r\n# mixer\r\nmixer QUADX\r\nmmix reset\r\nsmix reset\r\n\r\n\r\n# feature\r\nfeature -RX_PPM\r\nfeature -VBAT\r\nfeature -INFLIGHT_ACC_CAL\r\nfeature -RX_SERIAL\r\nfeature -MOTOR_STOP\r\nfeature -SERVO_TILT\r\nfeature -SOFTSERIAL\r\nfeature -GPS\r\nfeature -FAILSAFE\r\nfeature -SONAR\r\nfeature -TELEMETRY\r\nfeature -CURRENT_METER\r\nfeature -3D\r\nfeature -RX_PARALLEL_PWM\r\nfeature -RX_MSP\r\nfeature -RSSI_ADC\r\nfeature -LED_STRIP\r\nfeature -DISPLAY\r\nfeature -ONESHOT125\r\nfeature -BLACKBOX\r\nfeature -CHANNEL_FORWARDING\r\nfeature RX_PPM\r\nfeature VBAT\r\nfeature MOTOR_STOP\r\nfeature GPS\r\nfeature FAILSAFE\r\nfeature TELEMETRY\r\nfeature LED_STRIP\r\n\r\n\r\n# map\r\nmap AETR1234\r\n\r\n\r\n# serial\r\nserial 0 1 115200 57600 0 115200\r\nserial 1 2 115200 115200 0 115200\r\n\r\n\r\n# led\r\nled 0 3,2::C:6\r\nled 1 2,1::WC:6\r\nled 2 1,0::C:6\r\nled 3 3,5::C:2\r\nled 4 2,6::WC:2\r\nled 5 1,7::C:2\r\nled 6 5,5::WA:0\r\nled 7 6,5::WA:0\r\nled 8 8,5::C:2\r\nled 9 9,6::WC:2\r\nled 10 10,7::C:2\r\nled 11 8,2::C:6\r\nled 12 9,1::WC:6\r\nled 13 10,0::C:6\r\nled 14 0,0:::0\r\nled 15 0,0:::0\r\nled 16 0,0:::0\r\nled 17 0,0:::0\r\nled 18 0,0:::0\r\nled 19 0,0:::0\r\nled 20 0,0:::0\r\nled 21 0,0:::0\r\nled 22 0,0:::0\r\nled 23 0,0:::0\r\nled 24 0,0:::0\r\nled 25 0,0:::0\r\nled 26 0,0:::0\r\nled 27 0,0:::0\r\nled 28 0,0:::0\r\nled 29 0,0:::0\r\nled 30 0,0:::0\r\nled 31 0,0:::0\r\n\r\n\r\n# color\r\ncolor 0 0,0,0\r\ncolor 1 0,255,255\r\ncolor 2 0,0,255\r\ncolor 3 30,0,255\r\ncolor 4 60,0,255\r\ncolor 5 90,0,255\r\ncolor 6 120,0,255\r\ncolor 7 150,0,255\r\ncolor 8 180,0,255\r\ncolor 9 210,0,255\r\ncolor 10 240,0,255\r\ncolor 11 270,0,255\r\ncolor 12 300,0,255\r\ncolor 13 330,0,255\r\ncolor 14 0,0,0\r\ncolor 15 0,0,0\r\n\r\nset looptime = 3500\r\nset emf_avoidance = 0\r\nset mid_rc = 1500\r\nset min_check = 1100\r\nset max_check = 1900\r\nset rssi_channel = 0\r\nset rssi_scale = 30\r\nset rssi_ppm_invert = 0\r\nset rc_smoothing = 1\r\nset input_filtering_mode = 0\r\nset min_throttle = 1050\r\nset max_throttle = 1900\r\nset min_command = 1000\r\nset servo_center_pulse = 1500\r\nset 3d_deadband_low = 1406\r\nset 3d_deadband_high = 1514\r\nset 3d_neutral = 1460\r\nset 3d_deadband_throttle = 50\r\nset motor_pwm_rate = 400\r\nset servo_pwm_rate = 50\r\nset retarded_arm = 0\r\nset disarm_kill_switch = 0\r\nset auto_disarm_delay = 10\r\nset small_angle = 25\r\nset reboot_character = 82\r\nset gps_provider = 1\r\nset gps_sbas_mode = 1\r\nset gps_auto_config = 1\r\nset gps_auto_baud = 0\r\nset inav_dead_reckoning = 0\r\nset inav_gps_delay = 200\r\nset inav_w_z_baro_p =  1.000\r\nset inav_w_z_baro_v =  0.500\r\nset inav_w_z_sonar_p =  2.000\r\nset inav_w_z_sonar_v =  1.000\r\nset inav_w_z_gps_p =  0.300\r\nset inav_w_z_gps_v =  0.300\r\nset inav_w_xy_gps_p =  1.000\r\nset inav_w_xy_gps_v =  2.000\r\nset inav_w_xy_dr_p =  0.050\r\nset inav_w_xy_dr_v =  0.050\r\nset inav_w_z_res_v =  0.500\r\nset inav_w_xy_res_v =  0.500\r\nset inav_max_eph_epv =  1000.000\r\nset inav_sonar_epv =  20.000\r\nset inav_baro_epv =  100.000\r\nset nav_use_midrc_for_althold = 1\r\nset nav_throttle_tilt_comp = 1\r\nset nav_lock_until_takeoff = 0\r\nset nav_user_control_mode = 0\r\nset nav_pterm_cut_hz = 20\r\nset nav_dterm_cut_hz = 15\r\nset nav_wp_radius = 200\r\nset nav_max_speed = 500\r\nset nav_manual_speed = 500\r\nset nav_manual_climb_rate = 200\r\nset pos_hold_deadband = 20\r\nset alt_hold_deadband = 40\r\nset nav_min_rth_distance = 500\r\nset nav_rth_alt_mode = 2\r\nset nav_rth_altitude = 1000\r\nset serialrx_provider = 1\r\nset spektrum_sat_bind = 0\r\nset telemetry_switch = 0\r\nset telemetry_inversion = 0\r\nset frsky_default_lattitude =  0.000\r\nset frsky_default_longitude =  0.000\r\nset frsky_coordinates_format = 0\r\nset frsky_unit = 0\r\nset frsky_vfas_precision = 0\r\nset hott_alarm_sound_interval = 5\r\nset battery_capacity = 0\r\nset vbat_scale = 110\r\nset vbat_max_cell_voltage = 43\r\nset vbat_min_cell_voltage = 34\r\nset vbat_warning_cell_voltage = 35\r\nset current_meter_scale = 400\r\nset current_meter_offset = 0\r\nset multiwii_current_meter_output = 0\r\nset current_meter_type = 1\r\nset align_gyro = 0\r\nset align_acc = 0\r\nset align_mag = 2\r\nset align_board_roll = 0\r\nset align_board_pitch = 0\r\nset align_board_yaw = 0\r\nset max_angle_inclination = 350\r\nset gyro_lpf = 42\r\nset moron_threshold = 32\r\nset gyro_cmpf_factor = 600\r\nset gyro_cmpfm_factor = 250\r\nset yaw_control_direction = 1\r\nset pid_at_min_throttle = 1\r\nset yaw_motor_direction = 1\r\nset yaw_jump_prevention_limit = 200\r\nset tri_unarmed_servo = 1\r\nset servo_lowpass_freq = 400\r\nset servo_lowpass_enable = 0\r\nset failsafe_delay = 10\r\nset failsafe_off_delay = 200\r\nset failsafe_throttle = 1400\r\nset failsafe_kill_switch = 0\r\nset failsafe_throttle_low_delay = 100\r\nset rx_min_usec = 985\r\nset rx_max_usec = 2115\r\nset acc_hardware = 0\r\nset baro_hardware = 0\r\nset mag_hardware = 0\r\nset blackbox_rate_num = 1\r\nset blackbox_rate_denom = 1\r\nset blackbox_device = 1\r\nset magzero_x = -18\r\nset magzero_y = -281\r\nset magzero_z = 22\r\n\r\n# rxfail\r\nrxfail 0 a\r\nrxfail 1 a\r\nrxfail 2 a\r\nrxfail 3 a\r\nrxfail 4 h\r\nrxfail 5 h\r\nrxfail 6 h\r\nrxfail 7 h\r\nrxfail 8 h\r\nrxfail 9 h\r\nrxfail 10 h\r\nrxfail 11 h\r\nrxfail 12 h\r\nrxfail 13 h\r\nrxfail 14 h\r\nrxfail 15 h\r\nrxfail 16 h\r\nrxfail 17 h\r\n\r\n# dump profile\r\n\r\n# profile\r\nprofile 0\r\n\r\n# aux\r\naux 0 1 0 900 2100\r\naux 1 23 0 1500 2100\r\naux 2 24 1 1350 1475\r\naux 3 25 1 1850 2100\r\naux 4 9 1 1850 2100\r\naux 5 0 0 900 900\r\naux 6 0 0 900 900\r\naux 7 0 0 900 900\r\naux 8 0 0 900 900\r\naux 9 0 0 900 900\r\naux 10 0 0 900 900\r\naux 11 0 0 900 900\r\naux 12 0 0 900 900\r\naux 13 0 0 900 900\r\naux 14 0 0 900 900\r\naux 15 0 0 900 900\r\naux 16 0 0 900 900\r\naux 17 0 0 900 900\r\naux 18 0 0 900 900\r\naux 19 0 0 900 900\r\n\r\n# adjrange\r\nadjrange 0 0 0 900 900 0 0\r\nadjrange 1 0 0 900 900 0 0\r\nadjrange 2 0 0 900 900 0 0\r\nadjrange 3 0 0 900 900 0 0\r\nadjrange 4 0 0 900 900 0 0\r\nadjrange 5 0 0 900 900 0 0\r\nadjrange 6 0 0 900 900 0 0\r\nadjrange 7 0 0 900 900 0 0\r\nadjrange 8 0 0 900 900 0 0\r\nadjrange 9 0 0 900 900 0 0\r\nadjrange 10 0 0 900 900 0 0\r\nadjrange 11 0 0 900 900 0 0\r\n\r\n# rxrange\r\nrxrange 0 1000 2000\r\nrxrange 1 1000 2000\r\nrxrange 2 1000 2000\r\nrxrange 3 1000 2000\r\n\r\n# servo\r\nservo 0 1000 2000 1500 90 90 100 -1\r\nservo 1 1000 2000 1500 90 90 100 -1\r\nservo 2 1000 2000 1500 90 90 100 -1\r\nservo 3 1000 2000 1500 90 90 100 -1\r\nservo 4 1000 2000 1500 90 90 100 -1\r\nservo 5 1000 2000 1500 90 90 100 -1\r\nservo 6 1000 2000 1500 90 90 100 -1\r\nservo 7 1000 2000 1500 90 90 100 -1\r\n\r\nset gps_pos_p = 15\r\nset gps_pos_i = 0\r\nset gps_pos_d = 0\r\nset gps_posr_p = 90\r\nset gps_posr_i = 15\r\nset gps_posr_d = 1\r\nset gps_nav_p = 0\r\nset gps_nav_i = 0\r\nset gps_nav_d = 0\r\nset deadband = 0\r\nset yaw_deadband = 5\r\nset throttle_correction_value = 0\r\nset throttle_correction_angle = 800\r\nset default_rate_profile = 0\r\nset gimbal_mode = 0\r\nset acc_lpf_factor = 4\r\nset acc_unarmedcal = 1\r\nset acc_trim_pitch = -8\r\nset acc_trim_roll = -6\r\nset baro_tab_size = 7\r\nset baro_noise_lpf =  0.350\r\nset mag_declination = 200\r\nset pid_controller = 3\r\nset p_pitch = 40\r\nset i_pitch = 30\r\nset d_pitch = 23\r\nset p_roll = 40\r\nset i_roll = 30\r\nset d_roll = 23\r\nset p_yaw = 85\r\nset i_yaw = 45\r\nset d_yaw = 0\r\nset p_pitchf =  1.600\r\nset i_pitchf =  0.300\r\nset d_pitchf =  0.030\r\nset p_rollf =  1.600\r\nset i_rollf =  0.300\r\nset d_rollf =  0.030\r\nset p_yawf =  5.500\r\nset i_yawf =  0.150\r\nset d_yawf =  0.050\r\nset level_horizon =  3.000\r\nset level_angle =  5.000\r\nset sensitivity_horizon = 75\r\nset p_alt = 30\r\nset i_alt = 150\r\nset d_alt = 0\r\nset p_level = 90\r\nset i_level = 10\r\nset d_level = 100\r\nset p_vel = 80\r\nset i_vel = 50\r\nset d_vel = 50\r\nset yaw_p_limit = 500\r\nset dterm_cut_hz = 0\r\nset pterm_cut_hz = 0\r\nset gyro_cut_hz = 0\r\nset pid5_oldyw = 0\r\n\r\n# dump rates\r\n\r\n# rateprofile\r\nrateprofile 0\r\n\r\nset rc_rate = 90\r\nset rc_expo = 50\r\nset rc_yaw_expo = 0\r\nset thr_mid = 55\r\nset thr_expo = 10\r\nset roll_rate = 0\r\nset pitch_rate = 0\r\nset yaw_rate = 25\r\nset tpa_rate = 0\r\nset tpa_breakpoint = 1500\r\n\r\n# "}}