{"action":"created","issue":{"url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1007","labels_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1007/labels{/name}","comments_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1007/comments","events_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1007/events","html_url":"https://github.com/cleanflight/cleanflight/pull/1007","id":86880337,"number":1007,"title":"Added PT1 Element to PID1,2 and 3","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":47,"created_at":"2015-06-10T07:57:23Z","updated_at":"2015-06-15T09:31:37Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/cleanflight/cleanflight/pulls/1007","html_url":"https://github.com/cleanflight/cleanflight/pull/1007","diff_url":"https://github.com/cleanflight/cleanflight/pull/1007.diff","patch_url":"https://github.com/cleanflight/cleanflight/pull/1007.patch"},"body":"PID1 on gyro_lpf = 256 without PT1 element (current logic)\r\n![pid1](https://cloud.githubusercontent.com/assets/10757508/8077547/fc20867e-0f56-11e5-852a-a54385802833.png)\r\n\r\nPID1 on gyro_lpf = 256 with PT1 element\r\n![pid6](https://cloud.githubusercontent.com/assets/10757508/8077548/fd8e4cb2-0f56-11e5-8fec-948340be04ca.png)\r\n\r\n\r\nFlown on PID1 with this mod\r\nhttps://www.youtube.com/watch?v=D41JSw75D4c\r\n"},"comment":{"url":"https://api.github.com/repos/cleanflight/cleanflight/issues/comments/111993571","html_url":"https://github.com/cleanflight/cleanflight/pull/1007#issuecomment-111993571","issue_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1007","id":111993571,"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},"created_at":"2015-06-15T09:31:37Z","updated_at":"2015-06-15T09:31:37Z","body":"@MJ666 Thanks for clarification.\r\nYes I was also pretty happy with the handling of harakiri. Nice stable and aggressive, but the rate scaling is a nightmare and especially if P gets below 2-3 on roll and pitch axis. \r\nThe main cause of that is the multiwii legacy where P is scaled dynamically in mw.c to dynP8. That was the multiwii super expo implementation for the rates.\r\n@Crashpilot1000 I can open an issue for the above mentioned. Do you see an issue of replacing dynP8 to pidProfile->P8[axis]? When doing that normal TPA functionality will be removed, but you can use the new PIDweight[axis] to scale the P directly without influence of pitch/roll stick.\r\nIt has nothing to do with this PR, but might be a part of full pid controller optimalization part :dancer: \r\nDoing this will require re-scaling some multipliers to make a nice configurable range and adding race  multiplier to error calculations as well. See for example how this was done in PID1 and PID2."}}