{"action":"created","issue":{"url":"https://api.github.com/repos/cleanflight/cleanflight/issues/560","labels_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/560/labels{/name}","comments_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/560/comments","events_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/560/events","html_url":"https://github.com/cleanflight/cleanflight/issues/560","id":59245710,"number":560,"title":"Some Harakiri PID controller updates and G-Tune support","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":22,"created_at":"2015-02-27T14:52:35Z","updated_at":"2015-04-13T04:20:51Z","closed_at":null,"body":"I'm actually working on G-Tune support for CF and a few minor Harakiri PID controller updates. Here is my development repository:\r\n\r\nhttps://github.com/MJ666/cleanflight/commits/Harakiri_PID_update\r\n\r\nThe coding is completed and I will go into testing phase now. I can do some initial tests but for an wider test I need some interested and experienced pilots to help.\r\n\r\nHere is the related documentation:\r\n\r\nhttps://github.com/MJ666/cleanflight/blob/Harakiri_PID_update/docs/Gtune.md\r\n\r\nG-Tune is actually only enabled for NAZE, ALIENWIIF1 and ALIENWIIF3 targets in my code. Can be easily done with an define GTUNE in the related target.h file.\r\n\r\nThe formerly hardcoded parameters for the Harakiri PID controller are now also configurable.\r\n\r\nset pid5_maincuthz = 12     [1-50Hz] Cuf Off Frequency for D term of main Pid controller\r\nset pid5_oldyw = 0               [0/1] 0 = multiwii 2.3 yaw (default), 1 = older yaw\r\n\r\nSome feedback is appreciated. Thanks. "},"comment":{"url":"https://api.github.com/repos/cleanflight/cleanflight/issues/comments/92201293","html_url":"https://github.com/cleanflight/cleanflight/issues/560#issuecomment-92201293","issue_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/560","id":92201293,"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":"2015-04-13T04:20:51Z","updated_at":"2015-04-13T04:20:51Z","body":"I have added Sparky support to the PR an published an build on RCG forum."}}