{"action":"created","issue":{"url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1028","labels_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1028/labels{/name}","comments_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1028/comments","events_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1028/events","html_url":"https://github.com/cleanflight/cleanflight/pull/1028","id":89410467,"number":1028,"title":"Selective Software Filtering (Gyro, Acc, Dterm, Pterm)","user":{"login":"borisbstyle","id":10757508,"avatar_url":"https://avatars.githubusercontent.com/u/10757508?v=3","gravatar_id":"","url":"https://api.github.com/users/borisbstyle","html_url":"https://github.com/borisbstyle","followers_url":"https://api.github.com/users/borisbstyle/followers","following_url":"https://api.github.com/users/borisbstyle/following{/other_user}","gists_url":"https://api.github.com/users/borisbstyle/gists{/gist_id}","starred_url":"https://api.github.com/users/borisbstyle/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/borisbstyle/subscriptions","organizations_url":"https://api.github.com/users/borisbstyle/orgs","repos_url":"https://api.github.com/users/borisbstyle/repos","events_url":"https://api.github.com/users/borisbstyle/events{/privacy}","received_events_url":"https://api.github.com/users/borisbstyle/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":172,"created_at":"2015-06-18T22:15:42Z","updated_at":"2015-06-26T15:38:33Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/cleanflight/cleanflight/pulls/1028","html_url":"https://github.com/cleanflight/cleanflight/pull/1028","diff_url":"https://github.com/cleanflight/cleanflight/pull/1028.diff","patch_url":"https://github.com/cleanflight/cleanflight/pull/1028.patch"},"body":"It is finalization on my previous PR's. This time code is better to understand and reuse on all PID controllers. Also the main_cut_hz has been renamed to dterm_cut_hz, which is more suitable. Nobody knows what main_cut_hz is.\r\nThere is no impact at all on PID controller 0-4 by default. Harakiri PID controller already had a hardcoded filter of 12, but that one is now disabled by default to keep the same variable in all PID controllers.\r\nAbility to separately control filters should make tuning much easier. I recommend to disable MPU60xx filtering when trying these profile based filters.\r\n\r\nnew introduced filters:\r\ndterm_cut_hz\r\npterm_cut_hz\r\ngyro_cut_hz\r\nacc_cut_hz\r\n\r\nhttps://github.com/cleanflight/cleanflight/pull/1016\r\nhttps://github.com/cleanflight/cleanflight/pull/1007\r\n\r\nFor those who can't compile for testing:\r\n\r\nNAZE32:\r\nhttps://dl.dropboxusercontent.com/u/31537757/cleanflight/cleanflight_NAZE.hex\r\n\r\nSPRACINGF3:\r\nhttps://dl.dropboxusercontent.com/u/31537757/cleanflight/cleanflight_SPRACINGF3.hex\r\n\r\nCC3D:\r\nhttps://dl.dropboxusercontent.com/u/31537757/cleanflight/cleanflight_CC3D.bin\r\n"},"comment":{"url":"https://api.github.com/repos/cleanflight/cleanflight/issues/comments/115734788","html_url":"https://github.com/cleanflight/cleanflight/pull/1028#issuecomment-115734788","issue_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1028","id":115734788,"user":{"login":"stronnag","id":158229,"avatar_url":"https://avatars.githubusercontent.com/u/158229?v=3","gravatar_id":"","url":"https://api.github.com/users/stronnag","html_url":"https://github.com/stronnag","followers_url":"https://api.github.com/users/stronnag/followers","following_url":"https://api.github.com/users/stronnag/following{/other_user}","gists_url":"https://api.github.com/users/stronnag/gists{/gist_id}","starred_url":"https://api.github.com/users/stronnag/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/stronnag/subscriptions","organizations_url":"https://api.github.com/users/stronnag/orgs","repos_url":"https://api.github.com/users/stronnag/repos","events_url":"https://api.github.com/users/stronnag/events{/privacy}","received_events_url":"https://api.github.com/users/stronnag/received_events","type":"User","site_admin":false},"created_at":"2015-06-26T15:38:33Z","updated_at":"2015-06-26T15:38:33Z","body":"On a bench / tethered test, the violent horizon oscillations have gone. "}}