{"action":"created","issue":{"url":"https://api.github.com/repos/cleanflight/cleanflight/issues/432","labels_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/432/labels{/name}","comments_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/432/comments","events_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/432/events","html_url":"https://github.com/cleanflight/cleanflight/pull/432","id":55586117,"number":432,"title":"Harakiri PID controller","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":null,"comments":2,"created_at":"2015-01-27T07:50:13Z","updated_at":"2015-01-28T06:30:08Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/cleanflight/cleanflight/pulls/432","html_url":"https://github.com/cleanflight/cleanflight/pull/432","diff_url":"https://github.com/cleanflight/cleanflight/pull/432.diff","patch_url":"https://github.com/cleanflight/cleanflight/pull/432.patch"},"body":"Finally ported the Harakiri PID controller algorithm.\r\n\r\nFrom the documentation:\r\n\r\nPID Controller 5 is an port of the PID controller from the Harakiri firmware.\r\n\r\nThe algorithm is leveraging more floating point math. This PID controller is also compensates for different looptimes on roll and pitch. It likely dont need retuning of the PID values. Actually there are two settings hardcoded which are configurable via the GUI in Harakiri:\r\n\r\n        OLD_YAW 0 // [0/1] 0 = multiwii 2.3 yaw, 1 = older yaw.\r\n        MAIN_CUT_HZ 12.0f // (default 12Hz, Range 1-50Hz)\r\n\r\nThe PID controller is flight tested and running well with the default PID settings. If you want do acrobatics start slowly.\r\n\r\nYaw authority is also quite good. \r\n\r\nBlackbox code for yaw need some fixes. I need to sort out the different controller parameters (P, I, D terms) and make them available in the code first."},"comment":{"url":"https://api.github.com/repos/cleanflight/cleanflight/issues/comments/71787635","html_url":"https://github.com/cleanflight/cleanflight/pull/432#issuecomment-71787635","issue_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/432","id":71787635,"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},"created_at":"2015-01-28T06:30:08Z","updated_at":"2015-01-28T06:30:08Z","body":"Last code updates are now also flight tested. Blackbox recording should now also work for yaw. Autotune is implemented but have no real success with the Nanos and all of the PID controller's (PIC 2 is known to not work). For good testing I need some more open space but the weather is not quit nice here (rain, snow, cold) and the battery's are also weak at this temperatures. So not a good time for the flying field.\r\n\r\n@marksev1\r\nI agree this would be interesting but also a big challenge since this require many code changes in the core of CF."}}