{"action":"created","issue":{"url":"https://api.github.com/repos/cleanflight/cleanflight/issues/321","labels_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/321/labels{/name}","comments_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/321/comments","events_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/321/events","html_url":"https://github.com/cleanflight/cleanflight/issues/321","id":53578257,"number":321,"title":"MultiWii 2.3+ PID controller with Cleanflight","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":[{"url":"https://api.github.com/repos/cleanflight/cleanflight/labels/critical","name":"critical","color":"e11d21"},{"url":"https://api.github.com/repos/cleanflight/cleanflight/labels/enhancement","name":"enhancement","color":"c7def8"}],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":32,"created_at":"2015-01-06T23:37:43Z","updated_at":"2015-01-26T17:18:18Z","closed_at":"2015-01-26T17:18:18Z","body":"We are actually testing the MultiWii 2.3 PID controller implementation with CF and small nanocopters. Actual CF is still using the MultiWii 2.2 PID algorithm as the default beside 2 two other PID algorithms. The goal was mainly to improve yaw handling. The code is already flight tested and is available for more field testing from here:\r\n\r\nhttps://github.com/MJ666/cleanflight/tree/MultiWii_PID_32\r\n\r\nThe MultiWii 2.3 PID controller will be activated with set pid_controller = 3. Please be prepared to the need to retune the PID values of your copter.\r\n\r\nPlease don't use with a Tricopter since the code is not fully implemented for this special case.\r\n\r\nIf there is more interest to get this integrated in CF I can make an related pull request. I also can provide binaries for testing on the different targets if needed. Please let me know."},"comment":{"url":"https://api.github.com/repos/cleanflight/cleanflight/issues/comments/71498094","html_url":"https://github.com/cleanflight/cleanflight/issues/321#issuecomment-71498094","issue_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/321","id":71498094,"user":{"login":"hydra","id":57075,"avatar_url":"https://avatars.githubusercontent.com/u/57075?v=3","gravatar_id":"","url":"https://api.github.com/users/hydra","html_url":"https://github.com/hydra","followers_url":"https://api.github.com/users/hydra/followers","following_url":"https://api.github.com/users/hydra/following{/other_user}","gists_url":"https://api.github.com/users/hydra/gists{/gist_id}","starred_url":"https://api.github.com/users/hydra/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hydra/subscriptions","organizations_url":"https://api.github.com/users/hydra/orgs","repos_url":"https://api.github.com/users/hydra/repos","events_url":"https://api.github.com/users/hydra/events{/privacy}","received_events_url":"https://api.github.com/users/hydra/received_events","type":"User","site_admin":false},"created_at":"2015-01-26T17:18:18Z","updated_at":"2015-01-26T17:18:18Z","body":"This is now merged, closing.  Please create new issues and PR's if problems are found."}}