{"action":"created","issue":{"url":"https://api.github.com/repos/cleanflight/cleanflight/issues/304","labels_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/304/labels{/name}","comments_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/304/comments","events_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/304/events","html_url":"https://github.com/cleanflight/cleanflight/pull/304","id":53330615,"number":304,"title":"Enable self-leveling at minimum throttle","user":{"login":"timkostka","id":10164522,"avatar_url":"https://avatars.githubusercontent.com/u/10164522?v=3","gravatar_id":"","url":"https://api.github.com/users/timkostka","html_url":"https://github.com/timkostka","followers_url":"https://api.github.com/users/timkostka/followers","following_url":"https://api.github.com/users/timkostka/following{/other_user}","gists_url":"https://api.github.com/users/timkostka/gists{/gist_id}","starred_url":"https://api.github.com/users/timkostka/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/timkostka/subscriptions","organizations_url":"https://api.github.com/users/timkostka/orgs","repos_url":"https://api.github.com/users/timkostka/repos","events_url":"https://api.github.com/users/timkostka/events{/privacy}","received_events_url":"https://api.github.com/users/timkostka/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":13,"created_at":"2015-01-04T09:10:07Z","updated_at":"2015-01-23T13:24:40Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/cleanflight/cleanflight/pulls/304","html_url":"https://github.com/cleanflight/cleanflight/pull/304","diff_url":"https://github.com/cleanflight/cleanflight/pull/304.diff","patch_url":"https://github.com/cleanflight/cleanflight/pull/304.patch"},"body":"Previously, at minimum throttle, the quad would do absolutely no self-leveling\r\nand simply run the motors at constant minthrottle.  This allowed the chance\r\nfor the quad to lose control during flight if the throttle was set to minimum,\r\nsay, to drop from a high altitude to a lower one.\r\n\r\nWith this edit, the quad will still self-level at minimum throttle when armed,\r\nallowing for safe decents from altitude.  To prevent motors spinning when\r\narming/disarming, the yaw input is ignored if the throttle is at minimum and\r\nwe're using the sticks to arm/disarm.  I believe that was the intent of the\r\noriginal code which also had the unfortunate side effect of disabling self-leveling.\r\n\r\nAlso renamed isUsingSticksForArming->areUsingSticksToArm and isUsingSticksToArm->useSticksToArm."},"comment":{"url":"https://api.github.com/repos/cleanflight/cleanflight/issues/comments/71192366","html_url":"https://github.com/cleanflight/cleanflight/pull/304#issuecomment-71192366","issue_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/304","id":71192366,"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":"2015-01-23T13:24:40Z","updated_at":"2015-01-23T13:24:40Z","body":"Hmm .. turned on baro mode by mistake. So in baro mode with minimum throttle. Some tuning should fix it ... "}}