{"action":"created","comment":{"url":"https://api.github.com/repos/BYU-MAGICC/ROSflight2/pulls/comments/72966878","id":72966878,"diff_hunk":"@@ -52,8 +56,8 @@ bool check_mode(uint32_t now)\n       // if left stick is down and to the right\n       if (pwmRead(_params.values[PARAM_RC_F_CHANNEL]) < _params.values[PARAM_RC_F_BOTTOM] +\n           _params.values[PARAM_ARM_THRESHOLD]\n-          && pwmRead(_params.values[PARAM_RC_Z_CHANNEL]) > (_params.values[PARAM_RC_Z_CENTER] + _params.values[PARAM_RC_Z_RANGE]/2)\n-          - _params.values[PARAM_ARM_THRESHOLD])\n+          && pwmRead(_params.values[PARAM_RC_Z_CHANNEL]) < (_params.values[PARAM_RC_Z_CENTER] - _params.values[PARAM_RC_Z_RANGE]/2)","path":"src/mode.c","position":30,"original_position":30,"commit_id":"6448a848f9ff8fc01b6473c3acb8a3da8f82d711","original_commit_id":"6448a848f9ff8fc01b6473c3acb8a3da8f82d711","user":{"login":"dpkoch","id":2702490,"avatar_url":"https://avatars.githubusercontent.com/u/2702490?v=3","gravatar_id":"","url":"https://api.github.com/users/dpkoch","html_url":"https://github.com/dpkoch","followers_url":"https://api.github.com/users/dpkoch/followers","following_url":"https://api.github.com/users/dpkoch/following{/other_user}","gists_url":"https://api.github.com/users/dpkoch/gists{/gist_id}","starred_url":"https://api.github.com/users/dpkoch/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/dpkoch/subscriptions","organizations_url":"https://api.github.com/users/dpkoch/orgs","repos_url":"https://api.github.com/users/dpkoch/repos","events_url":"https://api.github.com/users/dpkoch/events{/privacy}","received_events_url":"https://api.github.com/users/dpkoch/received_events","type":"User","site_admin":false},"body":"I think we've already got an issue for this, but it'd be nice to have a separate RC module that handles all of the calibration stuff and just returns normalized values between -1 and 1 or 0 and 1 for each channel. But again, let's not worry about it here.","created_at":"2016-08-01T12:07:00Z","updated_at":"2016-08-01T12:07:00Z","html_url":"https://github.com/BYU-MAGICC/ROSflight2/pull/60#discussion_r72966878","pull_request_url":"https://api.github.com/repos/BYU-MAGICC/ROSflight2/pulls/60","_links":{"self":{"href":"https://api.github.com/repos/BYU-MAGICC/ROSflight2/pulls/comments/72966878"},"html":{"href":"https://github.com/BYU-MAGICC/ROSflight2/pull/60#discussion_r72966878"},"pull_request":{"href":"https://api.github.com/repos/BYU-MAGICC/ROSflight2/pulls/60"}}},"pull_request":{"url":"https://api.github.com/repos/BYU-MAGICC/ROSflight2/pulls/60","id":78388320,"html_url":"https://github.com/BYU-MAGICC/ROSflight2/pull/60","diff_url":"https://github.com/BYU-MAGICC/ROSflight2/pull/60.diff","patch_url":"https://github.com/BYU-MAGICC/ROSflight2/pull/60.patch","issue_url":"https://api.github.com/repos/BYU-MAGICC/ROSflight2/issues/60","number":60,"state":"open","locked":false,"title":"[WIP] Controller","user":{"login":"superjax","id":7344014,"avatar_url":"https://avatars.githubusercontent.com/u/7344014?v=3","gravatar_id":"","url":"https://api.github.com/users/superjax","html_url":"https://github.com/superjax","followers_url":"https://api.github.com/users/superjax/followers","following_url":"https://api.github.com/users/superjax/following{/other_user}","gists_url":"https://api.github.com/users/superjax/gists{/gist_id}","starred_url":"https://api.github.com/users/superjax/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/superjax/subscriptions","organizations_url":"https://api.github.com/users/superjax/orgs","repos_url":"https://api.github.com/users/superjax/repos","events_url":"https://api.github.com/users/superjax/events{/privacy}","received_events_url":"https://api.github.com/users/superjax/received_events","type":"User","site_admin":false},"body":"The controller is working on hardware.  There is a little bit of cleanup left, some that I was hoping you could help me with @dpkoch.\r\n\r\nBoth the attitude and rate loops are working from RC commands, however, I can't remember how to do integrator anti-windup.  I was wondering if you had ideas on that.   After the anti-windup is incorporated, then this branch is 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