{"action":"created","issue":{"url":"https://api.github.com/repos/betaflight/betaflight/issues/709","repository_url":"https://api.github.com/repos/betaflight/betaflight","labels_url":"https://api.github.com/repos/betaflight/betaflight/issues/709/labels{/name}","comments_url":"https://api.github.com/repos/betaflight/betaflight/issues/709/comments","events_url":"https://api.github.com/repos/betaflight/betaflight/issues/709/events","html_url":"https://github.com/betaflight/betaflight/issues/709","id":164669132,"number":709,"title":"Hybrid Dterm calculation method suggestion","user":{"login":"etracer65","id":17088539,"avatar_url":"https://avatars.githubusercontent.com/u/17088539?v=3","gravatar_id":"","url":"https://api.github.com/users/etracer65","html_url":"https://github.com/etracer65","followers_url":"https://api.github.com/users/etracer65/followers","following_url":"https://api.github.com/users/etracer65/following{/other_user}","gists_url":"https://api.github.com/users/etracer65/gists{/gist_id}","starred_url":"https://api.github.com/users/etracer65/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/etracer65/subscriptions","organizations_url":"https://api.github.com/users/etracer65/orgs","repos_url":"https://api.github.com/users/etracer65/repos","events_url":"https://api.github.com/users/etracer65/events{/privacy}","received_events_url":"https://api.github.com/users/etracer65/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/betaflight/betaflight/labels/Discussion%20Needed","name":"Discussion Needed","color":"bfe5bf"}],"state":"closed","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":11,"created_at":"2016-07-09T14:23:53Z","updated_at":"2016-08-04T17:22:16Z","closed_at":"2016-08-02T09:51:48Z","body":"@borisbstyle \r\n\r\nI was thinking about the benefits/detriments between the different Dterm calculation methods and thought that a hybrid approach might me useful.  The \"error\" method is great for sharp stick response (due to the \"kick\") but not so great at actually doing it's job in the PID controller since it doesn't respond directly to the gyro.  The \"measurement\" method is better for managing the actual PID response and does a better job around transitions (like the end of moves, prop wash, etc.) because it's seeing the actual gyro data, but it's \"softer\" because there's no coupling to the stick.\r\n\r\nSo how about a hybrid method that is primarily based on measurement, but utilizes the **derivative** of the stick movement to \"accelerate\" the Dterm?  The rate of change in the stick becomes the accelerating factor not the magnitude of the stick change."},"comment":{"url":"https://api.github.com/repos/betaflight/betaflight/issues/comments/237622133","html_url":"https://github.com/betaflight/betaflight/issues/709#issuecomment-237622133","issue_url":"https://api.github.com/repos/betaflight/betaflight/issues/709","id":237622133,"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},"created_at":"2016-08-04T17:22:16Z","updated_at":"2016-08-04T17:22:16Z","body":"Pid delta method is only for legacy pid controller.\nDoesnt do anything on the new pid controller.\n"}}
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