{"action":"created","issue":{"url":"https://api.github.com/repos/cleanflight/cleanflight/issues/741","labels_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/741/labels{/name}","comments_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/741/comments","events_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/741/events","html_url":"https://github.com/cleanflight/cleanflight/issues/741","id":66783521,"number":741,"title":"Yaw 'bounce back' PID controller 3","user":{"login":"ctzsnooze","id":11737748,"avatar_url":"https://avatars.githubusercontent.com/u/11737748?v=3","gravatar_id":"","url":"https://api.github.com/users/ctzsnooze","html_url":"https://github.com/ctzsnooze","followers_url":"https://api.github.com/users/ctzsnooze/followers","following_url":"https://api.github.com/users/ctzsnooze/following{/other_user}","gists_url":"https://api.github.com/users/ctzsnooze/gists{/gist_id}","starred_url":"https://api.github.com/users/ctzsnooze/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ctzsnooze/subscriptions","organizations_url":"https://api.github.com/users/ctzsnooze/orgs","repos_url":"https://api.github.com/users/ctzsnooze/repos","events_url":"https://api.github.com/users/ctzsnooze/events{/privacy}","received_events_url":"https://api.github.com/users/ctzsnooze/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/cleanflight/cleanflight/labels/enhancement","name":"enhancement","color":"c7def8"}],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":77,"created_at":"2015-04-07T05:50:43Z","updated_at":"2015-04-17T16:12:26Z","closed_at":null,"body":"A number of people have now reported this in detail on rcgroups for PID controller 3 in acro mode.  By bounce back I mean:\r\n\r\n- the user does a hard yaw, say 180 or 360 degrees\r\n- the quad yaws normally; \r\n- the user then quickly brings the yaw stick back to centre\r\n- the quad stops quickly, but then gently and slowly (say over 1/2-1s) yaws in the reverse direction (to an amount that seems to depend on the cumulative amount of yaw) and then stabilises\r\n\r\nIt seems to happen in cleanflight more than multiwii controllers.  It seems resistant to changing P or I up or down.  In my case (well balanced acro X-quad mostly flown LOS) it is subtle - but as soon as I went to FPV using cleanflight it was obvious, then looking closely in LOS I could see it for sure.\r\n\r\nI don't know the cause but feel that there must be something someplace in cleanflight contributing to it.\r\n\r\nI will experiment with P and I settings but I've never had this issue with default P or I for yaw.  \r\n\r\nI know hydra is aware of the issue just thought it should be a formal item here.\r\n\r\nC"},"comment":{"url":"https://api.github.com/repos/cleanflight/cleanflight/issues/comments/94018311","html_url":"https://github.com/cleanflight/cleanflight/issues/741#issuecomment-94018311","issue_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/741","id":94018311,"user":{"login":"ledvinap","id":2318015,"avatar_url":"https://avatars.githubusercontent.com/u/2318015?v=3","gravatar_id":"","url":"https://api.github.com/users/ledvinap","html_url":"https://github.com/ledvinap","followers_url":"https://api.github.com/users/ledvinap/followers","following_url":"https://api.github.com/users/ledvinap/following{/other_user}","gists_url":"https://api.github.com/users/ledvinap/gists{/gist_id}","starred_url":"https://api.github.com/users/ledvinap/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ledvinap/subscriptions","organizations_url":"https://api.github.com/users/ledvinap/orgs","repos_url":"https://api.github.com/users/ledvinap/repos","events_url":"https://api.github.com/users/ledvinap/events{/privacy}","received_events_url":"https://api.github.com/users/ledvinap/received_events","type":"User","site_admin":false},"created_at":"2015-04-17T16:12:26Z","updated_at":"2015-04-17T16:12:26Z","body":"mj666: The 'micro oscillations' seems to be caused by steps in RC signal:\r\n![mj666-osc](https://cloud.githubusercontent.com/assets/2318015/7205919/24be461a-e52d-11e4-998a-64f217b5c930.png)\r\n"}}