{"action":"created","issue":{"url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1028","labels_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1028/labels{/name}","comments_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1028/comments","events_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1028/events","html_url":"https://github.com/cleanflight/cleanflight/pull/1028","id":89410467,"number":1028,"title":"Selective Software Filtering (Gyro, Acc, Dterm, Pterm)","user":{"login":"borisbstyle","id":10757508,"avatar_url":"https://avatars.githubusercontent.com/u/10757508?v=3","gravatar_id":"","url":"https://api.github.com/users/borisbstyle","html_url":"https://github.com/borisbstyle","followers_url":"https://api.github.com/users/borisbstyle/followers","following_url":"https://api.github.com/users/borisbstyle/following{/other_user}","gists_url":"https://api.github.com/users/borisbstyle/gists{/gist_id}","starred_url":"https://api.github.com/users/borisbstyle/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/borisbstyle/subscriptions","organizations_url":"https://api.github.com/users/borisbstyle/orgs","repos_url":"https://api.github.com/users/borisbstyle/repos","events_url":"https://api.github.com/users/borisbstyle/events{/privacy}","received_events_url":"https://api.github.com/users/borisbstyle/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":118,"created_at":"2015-06-18T22:15:42Z","updated_at":"2015-06-25T10:29:31Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/cleanflight/cleanflight/pulls/1028","html_url":"https://github.com/cleanflight/cleanflight/pull/1028","diff_url":"https://github.com/cleanflight/cleanflight/pull/1028.diff","patch_url":"https://github.com/cleanflight/cleanflight/pull/1028.patch"},"body":"It is finalization on my previous PR's. This time code is better to understand and reuse on all PID controllers. Also the main_cut_hz has been renamed to dterm_cut_hz, which is more suitable. Nobody knows what main_cut_hz is.\r\nThere is no impact at all on PID controller 0-4 by default. Harakiri PID controller already had a hardcoded filter of 12, but that one is now disabled by default to keep the same variable in all PID controllers.\r\nAbility to separately control filters should make tuning much easier. I recommend to disable MPU60xx filtering when trying these profile based filters.\r\n\r\nnew introduced filters:\r\ndterm_cut_hz\r\npterm_cut_hz\r\ngyro_cut_hz\r\nacc_cut_hz\r\n\r\nhttps://github.com/cleanflight/cleanflight/pull/1016\r\nhttps://github.com/cleanflight/cleanflight/pull/1007\r\n\r\nFor those who can't compile for testing:\r\n\r\nNAZE32:\r\nhttps://dl.dropboxusercontent.com/u/31537757/cleanflight/cleanflight_NAZE.hex\r\n\r\nSPRACINGF3:\r\nhttps://dl.dropboxusercontent.com/u/31537757/cleanflight/cleanflight_SPRACINGF3.hex\r\n\r\nCC3D:\r\nhttps://dl.dropboxusercontent.com/u/31537757/cleanflight/cleanflight_CC3D.bin\r\n"},"comment":{"url":"https://api.github.com/repos/cleanflight/cleanflight/issues/comments/115203543","html_url":"https://github.com/cleanflight/cleanflight/pull/1028#issuecomment-115203543","issue_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1028","id":115203543,"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":"2015-06-25T10:29:31Z","updated_at":"2015-06-25T10:29:31Z","body":"@borisbstyle no dont make a new PR. You can squash all the changes in this PR by using git interactive rebase and forced push of squashed branch.  If you dont know how dont worry. Just add commits and i can do the squash, but its useful to learn.\r\n\r\n\r\n\r\n"}}