{"action":"created","issue":{"url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1780","repository_url":"https://api.github.com/repos/cleanflight/cleanflight","labels_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1780/labels{/name}","comments_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1780/comments","events_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1780/events","html_url":"https://github.com/cleanflight/cleanflight/issues/1780","id":131888925,"number":1780,"title":"Drift issue in ANGLE and HORIZON","user":{"login":"skaman82","id":11768024,"avatar_url":"https://avatars.githubusercontent.com/u/11768024?v=3","gravatar_id":"","url":"https://api.github.com/users/skaman82","html_url":"https://github.com/skaman82","followers_url":"https://api.github.com/users/skaman82/followers","following_url":"https://api.github.com/users/skaman82/following{/other_user}","gists_url":"https://api.github.com/users/skaman82/gists{/gist_id}","starred_url":"https://api.github.com/users/skaman82/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/skaman82/subscriptions","organizations_url":"https://api.github.com/users/skaman82/orgs","repos_url":"https://api.github.com/users/skaman82/repos","events_url":"https://api.github.com/users/skaman82/events{/privacy}","received_events_url":"https://api.github.com/users/skaman82/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":75,"created_at":"2016-02-06T19:05:38Z","updated_at":"2016-05-11T23:36:40Z","closed_at":"2016-05-07T20:38:39Z","body":"My micro quad is drifting to the right in ANGLE and HORIZON mode. It gets stronger over time until I really have to fight the quad hard not to drift. As you see in this video the drift grows over time - the quad is standing COMPLETELY still on the table the whole time. Tested with CF 1.12, 1.11 and Betaflight 2.3.5. Tested the Naze32 and AlienWiiF1 versions. I think this is a bug that needs looking in to it. I don't have a spare SciSky board to test with, so I can not rule out a hardware issue. \r\n\r\nVideo: https://youtu.be/PO5ohBe4a_E\r\nBoard: SciSky32. \r\nDump: \r\n\r\n# version\r\n# Cleanflight/ALIENWIIF1 1.12.0 Feb  5 2016 / 14:18:34 (360fd1a)\r\n# dump master\r\n\r\n# mixer\r\nmixer QUADX\r\nmmix reset\r\nmmix 0 1.000 -0.414 1.000 -1.000\r\nmmix 1 1.000 -0.414 -1.000 1.000\r\nmmix 2 1.000 0.414 1.000 1.000\r\nmmix 3 1.000 0.414 -1.000 -1.000\r\nmmix 4 1.000 -1.000 -0.414 -1.000\r\nmmix 5 1.000 1.000 -0.414 1.000\r\nmmix 6 1.000 -1.000 0.414 1.000\r\nmmix 7 1.000 1.000 0.414 -1.000\r\nsmix reset\r\n\r\n\r\n# feature\r\nfeature -RX_PPM\r\nfeature -VBAT\r\nfeature -INFLIGHT_ACC_CAL\r\nfeature -RX_SERIAL\r\nfeature -MOTOR_STOP\r\nfeature -SERVO_TILT\r\nfeature -SOFTSERIAL\r\nfeature -GPS\r\nfeature -FAILSAFE\r\nfeature -SONAR\r\nfeature -TELEMETRY\r\nfeature -CURRENT_METER\r\nfeature -3D\r\nfeature -RX_PARALLEL_PWM\r\nfeature -RX_MSP\r\nfeature -RSSI_ADC\r\nfeature -LED_STRIP\r\nfeature -DISPLAY\r\nfeature -ONESHOT125\r\nfeature -BLACKBOX\r\nfeature -CHANNEL_FORWARDING\r\nfeature -TRANSPONDER\r\nfeature RX_SERIAL\r\nfeature MOTOR_STOP\r\nfeature FAILSAFE\r\n\r\n\r\n# map\r\nmap TAER1234\r\n\r\n\r\n# serial\r\nserial 0 1 115200 57600 0 115200\r\nserial 1 64 115200 57600 0 115200\r\n\r\n\r\n# led\r\nled 0 15,15:ES:IA:0\r\nled 1 15,8:E:WF:0\r\nled 2 15,7:E:WF:0\r\nled 3 15,0:NE:IA:0\r\nled 4 8,0:N:F:0\r\nled 5 7,0:N:F:0\r\nled 6 0,0:NW:IA:0\r\nled 7 0,7:W:WF:0\r\nled 8 0,8:W:WF:0\r\nled 9 0,15:SW:IA:0\r\nled 10 7,15:S:WF:0\r\nled 11 8,15:S:WF:0\r\nled 12 7,7:U:WF:0\r\nled 13 8,7:U:WF:0\r\nled 14 7,8:D:WF:0\r\nled 15 8,8:D:WF:0\r\nled 16 8,9::R:3\r\nled 17 9,10::R:3\r\nled 18 10,11::R:3\r\nled 19 10,12::R:3\r\nled 20 9,13::R:3\r\nled 21 8,14::R:3\r\nled 22 7,14::R:3\r\nled 23 6,13::R:3\r\nled 24 5,12::R:3\r\nled 25 5,11::R:3\r\nled 26 6,10::R:3\r\nled 27 7,9::R:3\r\nled 28 0,0:::0\r\nled 29 0,0:::0\r\nled 30 0,0:::0\r\nled 31 0,0:::0\r\n\r\n\r\n# color\r\ncolor 0 0,0,0\r\ncolor 1 0,255,255\r\ncolor 2 0,0,255\r\ncolor 3 30,0,255\r\ncolor 4 60,0,255\r\ncolor 5 90,0,255\r\ncolor 6 120,0,255\r\ncolor 7 150,0,255\r\ncolor 8 180,0,255\r\ncolor 9 210,0,255\r\ncolor 10 240,0,255\r\ncolor 11 270,0,255\r\ncolor 12 300,0,255\r\ncolor 13 330,0,255\r\ncolor 14 0,0,0\r\ncolor 15 0,0,0\r\n\r\nset looptime = 2000\r\nset emf_avoidance = OFF\r\nset i2c_highspeed = ON\r\nset gyro_sync = ON\r\nset gyro_sync_denom = 1\r\nset mid_rc = 1500\r\nset min_check = 1100\r\nset max_check = 1900\r\nset rssi_channel = 0\r\nset rssi_scale = 30\r\nset rssi_ppm_invert = OFF\r\nset rc_smoothing = OFF\r\nset input_filtering_mode = OFF\r\nset min_throttle = 1000\r\nset max_throttle = 2000\r\nset min_command = 1000\r\nset servo_center_pulse = 1500\r\nset 3d_deadband_low = 1406\r\nset 3d_deadband_high = 1514\r\nset 3d_neutral = 1460\r\nset 3d_deadband_throttle = 50\r\nset motor_pwm_rate = 32000\r\nset servo_pwm_rate = 50\r\nset retarded_arm = OFF\r\nset disarm_kill_switch = ON\r\nset auto_disarm_delay = 5\r\nset small_angle = 25\r\nset fixedwing_althold_dir = 1\r\nset reboot_character = 82\r\nset gps_provider = NMEA\r\nset gps_sbas_mode = AUTO\r\nset gps_auto_config = ON\r\nset gps_auto_baud = OFF\r\nset serialrx_provider = SPEK2048\r\nset sbus_inversion = ON\r\nset spektrum_sat_bind = 5\r\nset telemetry_switch = OFF\r\nset telemetry_inversion = OFF\r\nset frsky_default_lattitude =  0.000\r\nset frsky_default_longitude =  0.000\r\nset frsky_coordinates_format = 0\r\nset frsky_unit = IMPERIAL\r\nset frsky_vfas_precision = 0\r\nset hott_alarm_sound_interval = 5\r\nset battery_capacity = 0\r\nset vbat_scale = 110\r\nset vbat_max_cell_voltage = 43\r\nset vbat_min_cell_voltage = 33\r\nset vbat_warning_cell_voltage = 35\r\nset current_meter_scale = 400\r\nset current_meter_offset = 0\r\nset multiwii_current_meter_output = OFF\r\nset current_meter_type = ADC\r\nset align_gyro = DEFAULT\r\nset align_acc = DEFAULT\r\nset align_mag = DEFAULT\r\nset align_board_roll = 0\r\nset align_board_pitch = 0\r\nset align_board_yaw = 0\r\nset max_angle_inclination = 500\r\nset gyro_lpf = 188HZ\r\nset gyro_soft_lpf =  60.000\r\nset moron_threshold = 32\r\nset imu_dcm_kp = 2500\r\nset imu_dcm_ki = 0\r\nset yaw_control_direction = 1\r\nset pid_at_min_throttle = ON\r\nset yaw_motor_direction = 1\r\nset yaw_jump_prevention_limit = 200\r\nset tri_unarmed_servo = ON\r\nset servo_lowpass_freq = 400\r\nset servo_lowpass_enable = OFF\r\nset failsafe_delay = 2\r\nset failsafe_off_delay = 0\r\nset failsafe_throttle = 1000\r\nset failsafe_kill_switch = OFF\r\nset failsafe_throttle_low_delay = 100\r\nset failsafe_procedure = 0\r\nset rx_min_usec = 885\r\nset rx_max_usec = 2115\r\nset acc_hardware = 0\r\nset baro_hardware = 0\r\nset mag_hardware = 0\r\nset blackbox_rate_num = 1\r\nset blackbox_rate_denom = 1\r\nset blackbox_device = SERIAL\r\nset magzero_x = 0\r\nset magzero_y = 0\r\nset magzero_z = 0\r\n\r\n# rxfail\r\nrxfail 0 a\r\nrxfail 1 a\r\nrxfail 2 a\r\nrxfail 3 a\r\nrxfail 4 h\r\nrxfail 5 h\r\nrxfail 6 h\r\nrxfail 7 h\r\nrxfail 8 h\r\nrxfail 9 h\r\nrxfail 10 h\r\nrxfail 11 h\r\nrxfail 12 h\r\nrxfail 13 h\r\nrxfail 14 h\r\nrxfail 15 h\r\nrxfail 16 h\r\nrxfail 17 h\r\n\r\n# dump profile\r\n\r\n# profile\r\nprofile 0\r\n\r\n# aux\r\naux 0 0 0 900 900\r\naux 1 0 0 900 900\r\naux 2 0 0 900 900\r\naux 3 0 0 900 900\r\naux 4 0 0 900 900\r\naux 5 0 0 900 900\r\naux 6 0 0 900 900\r\naux 7 0 0 900 900\r\naux 8 0 0 900 900\r\naux 9 0 0 900 900\r\naux 10 0 0 900 900\r\naux 11 0 0 900 900\r\naux 12 0 0 900 900\r\naux 13 0 0 900 900\r\naux 14 0 0 900 900\r\naux 15 0 0 900 900\r\naux 16 0 0 900 900\r\naux 17 0 0 900 900\r\naux 18 0 0 900 900\r\naux 19 0 0 900 900\r\n\r\n# adjrange\r\nadjrange 0 0 0 900 900 0 0\r\nadjrange 1 0 0 900 900 0 0\r\nadjrange 2 0 0 900 900 0 0\r\nadjrange 3 0 0 900 900 0 0\r\nadjrange 4 0 0 900 900 0 0\r\nadjrange 5 0 0 900 900 0 0\r\nadjrange 6 0 0 900 900 0 0\r\nadjrange 7 0 0 900 900 0 0\r\nadjrange 8 0 0 900 900 0 0\r\nadjrange 9 0 0 900 900 0 0\r\nadjrange 10 0 0 900 900 0 0\r\nadjrange 11 0 0 900 900 0 0\r\n\r\n# rxrange\r\nrxrange 0 1000 2000\r\nrxrange 1 1000 2000\r\nrxrange 2 1000 2000\r\nrxrange 3 1000 2000\r\n\r\n# servo\r\nservo 0 1000 2000 1500 45 45 100 -1\r\nservo 1 1000 2000 1500 45 45 100 -1\r\nservo 2 1000 2000 1500 45 45 100 -1\r\nservo 3 1000 2000 1500 45 45 100 -1\r\nservo 4 1000 2000 1500 45 45 100 -1\r\nservo 5 1000 2000 1500 45 45 100 -1\r\nservo 6 1000 2000 1500 45 45 100 -1\r\nservo 7 1000 2000 1500 45 45 100 -1\r\n\r\nset gps_pos_p = 15\r\nset gps_pos_i = 0\r\nset gps_pos_d = 0\r\nset gps_posr_p = 34\r\nset gps_posr_i = 14\r\nset gps_posr_d = 53\r\nset gps_nav_p = 25\r\nset gps_nav_i = 33\r\nset gps_nav_d = 83\r\nset gps_wp_radius = 200\r\nset nav_controls_heading = ON\r\nset nav_speed_min = 100\r\nset nav_speed_max = 300\r\nset nav_slew_rate = 30\r\nset alt_hold_deadband = 40\r\nset alt_hold_fast_change = ON\r\nset deadband = 0\r\nset yaw_deadband = 0\r\nset throttle_correction_value = 0\r\nset throttle_correction_angle = 800\r\nset default_rate_profile = 0\r\nset gimbal_mode = NORMAL\r\nset acc_cut_hz = 15\r\nset accxy_deadband = 40\r\nset accz_deadband = 40\r\nset accz_lpf_cutoff =  5.000\r\nset acc_unarmedcal = ON\r\nset acc_trim_pitch = 0\r\nset acc_trim_roll = 0\r\nset baro_tab_size = 21\r\nset baro_noise_lpf =  0.600\r\nset baro_cf_vel =  0.985\r\nset baro_cf_alt =  0.965\r\nset mag_declination = 0\r\nset pid_delta_method = MEASUREMENT\r\nset pid_controller = NORMAL\r\nset p_pitch = 36\r\nset i_pitch = 30\r\nset d_pitch = 23\r\nset p_roll = 36\r\nset i_roll = 30\r\nset d_roll = 23\r\nset p_yaw = 85\r\nset i_yaw = 45\r\nset d_yaw = 0\r\nset p_pitchf =  1.400\r\nset i_pitchf =  0.400\r\nset d_pitchf =  0.030\r\nset p_rollf =  1.400\r\nset i_rollf =  0.400\r\nset d_rollf =  0.030\r\nset p_yawf =  3.500\r\nset i_yawf =  0.400\r\nset d_yawf =  0.010\r\nset level_horizon =  3.000\r\nset level_angle =  5.000\r\nset sensitivity_horizon = 75\r\nset p_alt = 50\r\nset i_alt = 0\r\nset d_alt = 0\r\nset p_level = 90\r\nset i_level = 10\r\nset d_level = 100\r\nset p_vel = 120\r\nset i_vel = 45\r\nset d_vel = 1\r\nset yaw_p_limit = 500\r\nset dterm_cut_hz =  0.000\r\nset gtune_loP_rll = 10\r\nset gtune_loP_ptch = 10\r\nset gtune_loP_yw = 10\r\nset gtune_hiP_rll = 100\r\nset gtune_hiP_ptch = 100\r\nset gtune_hiP_yw = 100\r\nset gtune_pwr = 0\r\nset gtune_settle_time = 450\r\nset gtune_average_cycles = 16\r\n\r\n# dump rates\r\n\r\n# rateprofile\r\nrateprofile 0\r\n\r\nset rc_rate = 130\r\nset rc_expo = 65\r\nset rc_yaw_expo = 0\r\nset thr_mid = 50\r\nset thr_expo = 0\r\nset roll_rate = 20\r\nset pitch_rate = 20\r\nset yaw_rate = 100\r\nset tpa_rate = 0\r\nset tpa_breakpoint = 1500\r\n\r\n# "},"comment":{"url":"https://api.github.com/repos/cleanflight/cleanflight/issues/comments/218621103","html_url":"https://github.com/cleanflight/cleanflight/issues/1780#issuecomment-218621103","issue_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1780","id":218621103,"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":"2016-05-11T23:36:40Z","updated_at":"2016-05-11T23:36:40Z","body":"@DeetAus very soon!"}}