{"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,"assignees":[],"milestone":null,"comments":88,"created_at":"2016-02-06T19:05:38Z","updated_at":"2016-07-16T06:39:50Z","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/233114650","html_url":"https://github.com/cleanflight/cleanflight/issues/1780#issuecomment-233114650","issue_url":"https://api.github.com/repos/cleanflight/cleanflight/issues/1780","id":233114650,"user":{"login":"rgluckman","id":20392251,"avatar_url":"https://avatars.githubusercontent.com/u/20392251?v=3","gravatar_id":"","url":"https://api.github.com/users/rgluckman","html_url":"https://github.com/rgluckman","followers_url":"https://api.github.com/users/rgluckman/followers","following_url":"https://api.github.com/users/rgluckman/following{/other_user}","gists_url":"https://api.github.com/users/rgluckman/gists{/gist_id}","starred_url":"https://api.github.com/users/rgluckman/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rgluckman/subscriptions","organizations_url":"https://api.github.com/users/rgluckman/orgs","repos_url":"https://api.github.com/users/rgluckman/repos","events_url":"https://api.github.com/users/rgluckman/events{/privacy}","received_events_url":"https://api.github.com/users/rgluckman/received_events","type":"User","site_admin":false},"created_at":"2016-07-16T06:39:50Z","updated_at":"2016-07-16T06:39:50Z","body":"I just built a 185mm Shrike, 130mm Rebel Rogue, and 130mm Airblade X. All using Motolab Cyclone FC's on BetaFlight 2.9 and all have the same exact drift issue in Angle\\Horizon. No matter how many times I level and calibrate it hovers great for about 15 seconds then it pulls hard to the right and rear. \r\nSometimes it pulls left and forward.  My 180mm Tweaker frame uses a Naze32 Rev 5 and it flys perfect. \r\nI don't get it. Is there a fix?"}}
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