{"action":"created","issue":{"url":"https://api.github.com/repos/paparazzi/paparazzi/issues/1916","repository_url":"https://api.github.com/repos/paparazzi/paparazzi","labels_url":"https://api.github.com/repos/paparazzi/paparazzi/issues/1916/labels{/name}","comments_url":"https://api.github.com/repos/paparazzi/paparazzi/issues/1916/comments","events_url":"https://api.github.com/repos/paparazzi/paparazzi/issues/1916/events","html_url":"https://github.com/paparazzi/paparazzi/pull/1916","id":185955134,"number":1916,"title":"update INDI tu use full control effecitvens matrix","user":{"login":"EwoudSmeur","id":2464596,"avatar_url":"https://avatars.githubusercontent.com/u/2464596?v=3","gravatar_id":"","url":"https://api.github.com/users/EwoudSmeur","html_url":"https://github.com/EwoudSmeur","followers_url":"https://api.github.com/users/EwoudSmeur/followers","following_url":"https://api.github.com/users/EwoudSmeur/following{/other_user}","gists_url":"https://api.github.com/users/EwoudSmeur/gists{/gist_id}","starred_url":"https://api.github.com/users/EwoudSmeur/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/EwoudSmeur/subscriptions","organizations_url":"https://api.github.com/users/EwoudSmeur/orgs","repos_url":"https://api.github.com/users/EwoudSmeur/repos","events_url":"https://api.github.com/users/EwoudSmeur/events{/privacy}","received_events_url":"https://api.github.com/users/EwoudSmeur/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":4,"created_at":"2016-10-28T15:40:17Z","updated_at":"2016-11-04T18:17:14Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/paparazzi/paparazzi/pulls/1916","html_url":"https://github.com/paparazzi/paparazzi/pull/1916","diff_url":"https://github.com/paparazzi/paparazzi/pull/1916.diff","patch_url":"https://github.com/paparazzi/paparazzi/pull/1916.patch"},"body":"Instead of using commands (roll, pitch, yaw, thrust), give the\ncontroller direct control over all actuators.\nThis allows for online individual actuator control effectiveness\nestimation and inversion, as well as better saturation handling.\nThe INDI controller as it was previous is renamed to 'simple'.\n\nI think this is an essential step in making a more complete controller.\nThis will allow us to do much better control allocation, for which we already did successful experiments.\nI will still update the code to make it look a bit better, for instance the hardcoded matrices should go of course.\nBut perhaps you can already see if you like how the controller is interfacing with the actuators instead of commands, or if there is a better way.\n"},"comment":{"url":"https://api.github.com/repos/paparazzi/paparazzi/issues/comments/258508833","html_url":"https://github.com/paparazzi/paparazzi/pull/1916#issuecomment-258508833","issue_url":"https://api.github.com/repos/paparazzi/paparazzi/issues/1916","id":258508833,"user":{"login":"podhrmic","id":2790461,"avatar_url":"https://avatars.githubusercontent.com/u/2790461?v=3","gravatar_id":"","url":"https://api.github.com/users/podhrmic","html_url":"https://github.com/podhrmic","followers_url":"https://api.github.com/users/podhrmic/followers","following_url":"https://api.github.com/users/podhrmic/following{/other_user}","gists_url":"https://api.github.com/users/podhrmic/gists{/gist_id}","starred_url":"https://api.github.com/users/podhrmic/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/podhrmic/subscriptions","organizations_url":"https://api.github.com/users/podhrmic/orgs","repos_url":"https://api.github.com/users/podhrmic/repos","events_url":"https://api.github.com/users/podhrmic/events{/privacy}","received_events_url":"https://api.github.com/users/podhrmic/received_events","type":"User","site_admin":false},"created_at":"2016-11-04T18:17:14Z","updated_at":"2016-11-04T18:17:14Z","body":"Imho OK with a bigger PR - that way the new INDI is added in one merge:) Also, try to rebase on the master branch, that should fix the compilation errors. "}}
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