{"action":"created","issue":{"url":"https://api.github.com/repos/iNavFlight/inav/issues/329","repository_url":"https://api.github.com/repos/iNavFlight/inav","labels_url":"https://api.github.com/repos/iNavFlight/inav/issues/329/labels{/name}","comments_url":"https://api.github.com/repos/iNavFlight/inav/issues/329/comments","events_url":"https://api.github.com/repos/iNavFlight/inav/issues/329/events","html_url":"https://github.com/iNavFlight/inav/issues/329","id":163557498,"number":329,"title":"Decouple gyro update from PID loop","user":{"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},"labels":[{"url":"https://api.github.com/repos/iNavFlight/inav/labels/enhancement","name":"enhancement","color":"bfe5bf"}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":1,"created_at":"2016-07-03T11:08:14Z","updated_at":"2016-07-03T11:13:45Z","closed_at":null,"body":"Allow gyroscope to be sampled and filtered faster than PID loop makes corrections.\r\n\r\nSettings:\r\n`gyro_lpf` will define built-in filtering\r\n`gyro_rate` will define gyro sampling rate. Possible settings 500HZ, 1KHZ, 2KHZ, 4KHZ, 8KHZ.\r\n`gyro_sync` define if we allow gyro interrupt.\r\n`gyro_pid_denom` - how much slower PID process will make corrections\r\n`gyro_downsample_method` - what method will be used to downsample the gyro to PID frequency. Values: SCATTER, AVERAGE\r\n\r\nThis will make `looptime` deprecated.\r\n\r\nSome hardware won't allow all possible settings, i.e. MPU6500 with gyro_lpf=256HZ doesn't respect the denominator and fires gyro_interrupt at fixed 8kHz rate."},"comment":{"url":"https://api.github.com/repos/iNavFlight/inav/issues/comments/230148005","html_url":"https://github.com/iNavFlight/inav/issues/329#issuecomment-230148005","issue_url":"https://api.github.com/repos/iNavFlight/inav/issues/329","id":230148005,"user":{"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},"created_at":"2016-07-03T11:13:45Z","updated_at":"2016-07-03T11:13:45Z","body":"We can also chose to apply gyro low-pass filtering before or after downsampling. If we have CPU resources it's better to filter at highest possible rate, but on lower-performance boards filtering after downsampling is adequate enough."}}
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