{"action":"created","issue":{"url":"https://api.github.com/repos/iNavFlight/inav/issues/195","repository_url":"https://api.github.com/repos/iNavFlight/inav","labels_url":"https://api.github.com/repos/iNavFlight/inav/issues/195/labels{/name}","comments_url":"https://api.github.com/repos/iNavFlight/inav/issues/195/comments","events_url":"https://api.github.com/repos/iNavFlight/inav/issues/195/events","html_url":"https://github.com/iNavFlight/inav/pull/195","id":153837108,"number":195,"title":"MAG_HOLD diff limiting and MAG controller refactoring","user":{"login":"DzikuVx","id":966811,"avatar_url":"https://avatars.githubusercontent.com/u/966811?v=3","gravatar_id":"","url":"https://api.github.com/users/DzikuVx","html_url":"https://github.com/DzikuVx","followers_url":"https://api.github.com/users/DzikuVx/followers","following_url":"https://api.github.com/users/DzikuVx/following{/other_user}","gists_url":"https://api.github.com/users/DzikuVx/gists{/gist_id}","starred_url":"https://api.github.com/users/DzikuVx/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/DzikuVx/subscriptions","organizations_url":"https://api.github.com/users/DzikuVx/orgs","repos_url":"https://api.github.com/users/DzikuVx/repos","events_url":"https://api.github.com/users/DzikuVx/events{/privacy}","received_events_url":"https://api.github.com/users/DzikuVx/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/iNavFlight/inav/labels/experimental","name":"experimental","color":"1d76db"}],"state":"open","locked":false,"assignee":{"login":"DzikuVx","id":966811,"avatar_url":"https://avatars.githubusercontent.com/u/966811?v=3","gravatar_id":"","url":"https://api.github.com/users/DzikuVx","html_url":"https://github.com/DzikuVx","followers_url":"https://api.github.com/users/DzikuVx/followers","following_url":"https://api.github.com/users/DzikuVx/following{/other_user}","gists_url":"https://api.github.com/users/DzikuVx/gists{/gist_id}","starred_url":"https://api.github.com/users/DzikuVx/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/DzikuVx/subscriptions","organizations_url":"https://api.github.com/users/DzikuVx/orgs","repos_url":"https://api.github.com/users/DzikuVx/repos","events_url":"https://api.github.com/users/DzikuVx/events{/privacy}","received_events_url":"https://api.github.com/users/DzikuVx/received_events","type":"User","site_admin":false},"milestone":{"url":"https://api.github.com/repos/iNavFlight/inav/milestones/5","html_url":"https://github.com/iNavFlight/inav/milestones/1.2","labels_url":"https://api.github.com/repos/iNavFlight/inav/milestones/5/labels","id":1623760,"number":5,"title":"1.2","description":null,"creator":{"login":"digitalentity","id":11059099,"avatar_url":"https://avatars.githubusercontent.com/u/11059099?v=3","gravatar_id":"","url":"https://api.github.com/users/digitalentity","html_url":"https://github.com/digitalentity","followers_url":"https://api.github.com/users/digitalentity/followers","following_url":"https://api.github.com/users/digitalentity/following{/other_user}","gists_url":"https://api.github.com/users/digitalentity/gists{/gist_id}","starred_url":"https://api.github.com/users/digitalentity/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/digitalentity/subscriptions","organizations_url":"https://api.github.com/users/digitalentity/orgs","repos_url":"https://api.github.com/users/digitalentity/repos","events_url":"https://api.github.com/users/digitalentity/events{/privacy}","received_events_url":"https://api.github.com/users/digitalentity/received_events","type":"User","site_admin":false},"open_issues":15,"closed_issues":3,"state":"open","created_at":"2016-03-05T15:40:12Z","updated_at":"2016-05-11T01:24:45Z","due_on":null,"closed_at":null},"comments":4,"created_at":"2016-05-09T18:18:21Z","updated_at":"2016-05-11T13:40:34Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/iNavFlight/inav/pulls/195","html_url":"https://github.com/iNavFlight/inav/pull/195","diff_url":"https://github.com/iNavFlight/inav/pull/195.diff","patch_url":"https://github.com/iNavFlight/inav/pull/195.patch"},"body":"This is an attempt to solve rapid yaw movements indicated in #156 \r\nOn underpowered multirotor rapid YAW movement induced by MAG_HOLD controller (WAYPOINT change, RTH) can cause roll/pitch instability.\r\n\r\nBy default, MAG diff between desired and current heading is not constrained (`mag_hold_heading_diff_limit = 180`). If this value is lowered, max heading error passed to ***P*** controller will be constrained between `-mag_hold_heading_diff_limit` and `mag_hold_heading_diff_limit`\r\nMissing error will be applied as UAV start to rotate in given direction\r\n\r\nField tested this last weekend with hardcoded 30 degrees and it worked nice. It also allowed for higher MAG P gain.\r\n\r\nNext step would be to refactor MAG controller and move it inside PID loop"},"comment":{"url":"https://api.github.com/repos/iNavFlight/inav/issues/comments/218462101","html_url":"https://github.com/iNavFlight/inav/pull/195#issuecomment-218462101","issue_url":"https://api.github.com/repos/iNavFlight/inav/issues/195","id":218462101,"user":{"login":"DzikuVx","id":966811,"avatar_url":"https://avatars.githubusercontent.com/u/966811?v=3","gravatar_id":"","url":"https://api.github.com/users/DzikuVx","html_url":"https://github.com/DzikuVx","followers_url":"https://api.github.com/users/DzikuVx/followers","following_url":"https://api.github.com/users/DzikuVx/following{/other_user}","gists_url":"https://api.github.com/users/DzikuVx/gists{/gist_id}","starred_url":"https://api.github.com/users/DzikuVx/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/DzikuVx/subscriptions","organizations_url":"https://api.github.com/users/DzikuVx/orgs","repos_url":"https://api.github.com/users/DzikuVx/repos","events_url":"https://api.github.com/users/DzikuVx/events{/privacy}","received_events_url":"https://api.github.com/users/DzikuVx/received_events","type":"User","site_admin":false},"created_at":"2016-05-11T13:40:34Z","updated_at":"2016-05-11T13:40:34Z","body":"OK, let's say this is done. I'll try to field test it during weekend"}}