{"action":"created","issue":{"url":"https://api.github.com/repos/cleanflight/cleanflight/issues/489","labels_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/489/labels{/name}","comments_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/489/comments","events_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/489/events","html_url":"https://github.com/cleanflight/cleanflight/issues/489","id":57120671,"number":489,"title":"Rates Overhaul","user":{"login":"dave-pitman","id":1668170,"avatar_url":"https://avatars.githubusercontent.com/u/1668170?v=3","gravatar_id":"","url":"https://api.github.com/users/dave-pitman","html_url":"https://github.com/dave-pitman","followers_url":"https://api.github.com/users/dave-pitman/followers","following_url":"https://api.github.com/users/dave-pitman/following{/other_user}","gists_url":"https://api.github.com/users/dave-pitman/gists{/gist_id}","starred_url":"https://api.github.com/users/dave-pitman/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/dave-pitman/subscriptions","organizations_url":"https://api.github.com/users/dave-pitman/orgs","repos_url":"https://api.github.com/users/dave-pitman/repos","events_url":"https://api.github.com/users/dave-pitman/events{/privacy}","received_events_url":"https://api.github.com/users/dave-pitman/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":4,"created_at":"2015-02-10T02:09:19Z","updated_at":"2015-02-10T04:19:24Z","closed_at":null,"body":"First, a little background.  I'm not an expert at this, so I may be wrong. Please correct me if I am so that we can get to the heart of the matter.\r\n\r\nWhat we have now.\r\n\r\nRC Rates and Expo   and   PID Rates\r\n\r\nAccording to the multiwii wiki (http://www.multiwii.com/wiki/index.php?title=RC_rates_%26_expo)  RC Rate controls FC sensitivity and reaction to pilot input across the entire flight envelope.\r\n\r\nRC Expo, if used, creates a 'flat' spot of varying degree in the center of the control line so as to soften sensitivity when  the pilot is not intending to add input in any direction.\r\n\r\nPID Rates are intended to allow for full deflection at axis extremes to allow full and fast rotation for flips and rolls.\r\n\r\nPutting it together.\r\n\r\nCurrently, the RC Rates and PID Rates, while intending to target different parts of the flight envelope, at some point overlap. What we want is to control each axis. Each pilot will prefer a different response to stick input. The goal should be to make this adjustment to how the aircraft reacts to stick input as simple as possible.  Adjusting RC Rates and Expo, then adjusting PID Rates, and possibly back to RC rates, etc., is not super efficient.\r\n\r\nWhat is proposed is to have a Rate, Expo, and Curve for each axis only.  \r\nEach axis' sensitivity to input, soft (or null) zone in the center, and curve shape when combined would be all that should be needed without the current back and forth.\r\n\r\nA novice or even AP pilot will probably want less sensitivity, a larger null zone, and a linear curve profile.  While an acro pilot would obviously want more sensitivity, less or no null zone, and perhaps a steep curve at the max endpoints.  Both of these extremes should be easier without the current back and forth.\r\n\r\nAgain, I'm going by the documentation.  Perhaps the calculus in the code tells a different story.\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/cleanflight/cleanflight/issues/comments/73642023","html_url":"https://github.com/cleanflight/cleanflight/issues/489#issuecomment-73642023","issue_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/489","id":73642023,"user":{"login":"dave-pitman","id":1668170,"avatar_url":"https://avatars.githubusercontent.com/u/1668170?v=3","gravatar_id":"","url":"https://api.github.com/users/dave-pitman","html_url":"https://github.com/dave-pitman","followers_url":"https://api.github.com/users/dave-pitman/followers","following_url":"https://api.github.com/users/dave-pitman/following{/other_user}","gists_url":"https://api.github.com/users/dave-pitman/gists{/gist_id}","starred_url":"https://api.github.com/users/dave-pitman/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/dave-pitman/subscriptions","organizations_url":"https://api.github.com/users/dave-pitman/orgs","repos_url":"https://api.github.com/users/dave-pitman/repos","events_url":"https://api.github.com/users/dave-pitman/events{/privacy}","received_events_url":"https://api.github.com/users/dave-pitman/received_events","type":"User","site_admin":false},"created_at":"2015-02-10T04:19:24Z","updated_at":"2015-02-10T04:19:24Z","body":">The idea of expo is so that you can have very high rates near your endpoints while still maintaining fine control around centre. What you have described above is solved by deadband.<\r\n\r\nVery good.  Do you think that Rate and Expo alone would be sufficient to achieve high enough response at endpoint while not being too sharp in the center without a user plottable curve?"}}