{"action":"created","issue":{"url":"https://api.github.com/repos/PX4/Firmware/issues/2790","labels_url":"https://api.github.com/repos/PX4/Firmware/issues/2790/labels{/name}","comments_url":"https://api.github.com/repos/PX4/Firmware/issues/2790/comments","events_url":"https://api.github.com/repos/PX4/Firmware/issues/2790/events","html_url":"https://github.com/PX4/Firmware/issues/2790","id":103939909,"number":2790,"title":"Altitude hold performance for multicopters with default gains","user":{"login":"LorenzMeier","id":1208119,"avatar_url":"https://avatars.githubusercontent.com/u/1208119?v=3","gravatar_id":"","url":"https://api.github.com/users/LorenzMeier","html_url":"https://github.com/LorenzMeier","followers_url":"https://api.github.com/users/LorenzMeier/followers","following_url":"https://api.github.com/users/LorenzMeier/following{/other_user}","gists_url":"https://api.github.com/users/LorenzMeier/gists{/gist_id}","starred_url":"https://api.github.com/users/LorenzMeier/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/LorenzMeier/subscriptions","organizations_url":"https://api.github.com/users/LorenzMeier/orgs","repos_url":"https://api.github.com/users/LorenzMeier/repos","events_url":"https://api.github.com/users/LorenzMeier/events{/privacy}","received_events_url":"https://api.github.com/users/LorenzMeier/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/PX4/Firmware/labels/enhancement","name":"enhancement","color":"84b6eb"}],"state":"open","locked":false,"assignee":{"login":"tumbili","id":7610489,"avatar_url":"https://avatars.githubusercontent.com/u/7610489?v=3","gravatar_id":"","url":"https://api.github.com/users/tumbili","html_url":"https://github.com/tumbili","followers_url":"https://api.github.com/users/tumbili/followers","following_url":"https://api.github.com/users/tumbili/following{/other_user}","gists_url":"https://api.github.com/users/tumbili/gists{/gist_id}","starred_url":"https://api.github.com/users/tumbili/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/tumbili/subscriptions","organizations_url":"https://api.github.com/users/tumbili/orgs","repos_url":"https://api.github.com/users/tumbili/repos","events_url":"https://api.github.com/users/tumbili/events{/privacy}","received_events_url":"https://api.github.com/users/tumbili/received_events","type":"User","site_admin":false},"milestone":{"url":"https://api.github.com/repos/PX4/Firmware/milestones/8","html_url":"https://github.com/PX4/Firmware/milestones/Release%20v1.1.0","labels_url":"https://api.github.com/repos/PX4/Firmware/milestones/8/labels","id":1183652,"number":8,"title":"Release v1.1.0","description":"This release should add functionality currently held back like the unified sensor fault detection facility and delta angles for the EKF.","creator":{"login":"LorenzMeier","id":1208119,"avatar_url":"https://avatars.githubusercontent.com/u/1208119?v=3","gravatar_id":"","url":"https://api.github.com/users/LorenzMeier","html_url":"https://github.com/LorenzMeier","followers_url":"https://api.github.com/users/LorenzMeier/followers","following_url":"https://api.github.com/users/LorenzMeier/following{/other_user}","gists_url":"https://api.github.com/users/LorenzMeier/gists{/gist_id}","starred_url":"https://api.github.com/users/LorenzMeier/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/LorenzMeier/subscriptions","organizations_url":"https://api.github.com/users/LorenzMeier/orgs","repos_url":"https://api.github.com/users/LorenzMeier/repos","events_url":"https://api.github.com/users/LorenzMeier/events{/privacy}","received_events_url":"https://api.github.com/users/LorenzMeier/received_events","type":"User","site_admin":false},"open_issues":15,"closed_issues":19,"state":"open","created_at":"2015-06-27T14:09:11Z","updated_at":"2015-09-02T09:12:12Z","due_on":"2015-09-09T22:00:00Z","closed_at":null},"comments":6,"created_at":"2015-08-30T18:47:39Z","updated_at":"2015-09-02T09:41:07Z","closed_at":null,"body":"@SimonWilks @AndreasAntener Could you share your altitude control tuning gains? The ones I tried were not great:\r\nhttp://logs.uaventure.com/view/xd3G45GPty2yZLwuaiXJB"},"comment":{"url":"https://api.github.com/repos/PX4/Firmware/issues/comments/137001225","html_url":"https://github.com/PX4/Firmware/issues/2790#issuecomment-137001225","issue_url":"https://api.github.com/repos/PX4/Firmware/issues/2790","id":137001225,"user":{"login":"LorenzMeier","id":1208119,"avatar_url":"https://avatars.githubusercontent.com/u/1208119?v=3","gravatar_id":"","url":"https://api.github.com/users/LorenzMeier","html_url":"https://github.com/LorenzMeier","followers_url":"https://api.github.com/users/LorenzMeier/followers","following_url":"https://api.github.com/users/LorenzMeier/following{/other_user}","gists_url":"https://api.github.com/users/LorenzMeier/gists{/gist_id}","starred_url":"https://api.github.com/users/LorenzMeier/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/LorenzMeier/subscriptions","organizations_url":"https://api.github.com/users/LorenzMeier/orgs","repos_url":"https://api.github.com/users/LorenzMeier/repos","events_url":"https://api.github.com/users/LorenzMeier/events{/privacy}","received_events_url":"https://api.github.com/users/LorenzMeier/received_events","type":"User","site_admin":false},"created_at":"2015-09-02T09:41:07Z","updated_at":"2015-09-02T09:41:07Z","body":"The data is suggesting that the system is under-estimating the vertical velocity if GPS were right. That means that increasing MPC_Z_FF is the most likely candidate to improve the control response, assuming that I'm guessing right that its a direct feedforward from altitude error, rather than going through the nested altitude rate loop like the MPC_Z_P value does.\r\n\r\n<img width=\"822\" alt=\"screen shot 2015-09-02 at 11 37 46\" src=\"https://cloud.githubusercontent.com/assets/1208119/9627849/32ed5ec8-5167-11e5-9d54-ecc8fd9ef3a6.png\">\r\n"}}