{"action":"created","issue":{"url":"https://api.github.com/repos/multiwii/baseflight/issues/248","labels_url":"https://api.github.com/repos/multiwii/baseflight/issues/248/labels{/name}","comments_url":"https://api.github.com/repos/multiwii/baseflight/issues/248/comments","events_url":"https://api.github.com/repos/multiwii/baseflight/issues/248/events","html_url":"https://github.com/multiwii/baseflight/pull/248","id":58460770,"number":248,"title":"Two new PID controllers (MultiWii 2.3 and Harakiri)","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":3,"created_at":"2015-02-21T14:18:20Z","updated_at":"2015-02-21T14:33:23Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/multiwii/baseflight/pulls/248","html_url":"https://github.com/multiwii/baseflight/pull/248","diff_url":"https://github.com/multiwii/baseflight/pull/248.diff","patch_url":"https://github.com/multiwii/baseflight/pull/248.patch"},"body":"During the work on the AlienWii32 FC we added two new PID controllers which both perform better then the ones included in BF for our Nanocopters. They will improve yaw behavior. There are many pilots of larger gear which are also quite satisfied with them. They will be activated in CLI with set pid_controller = \"X\". X will be 2 for the MultiWii 2.3 and 3 for the Harakiri PID controller. They are already flight tested for a couple of days on AlienWii based Nanocopters. An compiled hex for the NAZE can be found here:\r\n\r\nhttps://github.com/AlienWiiBF/baseflight/tree/AlienWii32/obj\r\n\r\n@trollcop I leave it up to you if you are interested to merge this. May be some more BF pilots are interested in this."},"comment":{"url":"https://api.github.com/repos/multiwii/baseflight/issues/comments/75374090","html_url":"https://github.com/multiwii/baseflight/pull/248#issuecomment-75374090","issue_url":"https://api.github.com/repos/multiwii/baseflight/issues/248","id":75374090,"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":"2015-02-21T14:33:23Z","updated_at":"2015-02-21T14:33:23Z","body":"@trollcop Don't understand? If you are more specific and interested to merge I can make the required changes."}}