{"action":"created","issue":{"url":"https://api.github.com/repos/rs2k/raceflight/issues/173","repository_url":"https://api.github.com/repos/rs2k/raceflight","labels_url":"https://api.github.com/repos/rs2k/raceflight/issues/173/labels{/name}","comments_url":"https://api.github.com/repos/rs2k/raceflight/issues/173/comments","events_url":"https://api.github.com/repos/rs2k/raceflight/issues/173/events","html_url":"https://github.com/rs2k/raceflight/issues/173","id":152542613,"number":173,"title":"Seperate TPA for yaw","user":{"login":"ankjaers","id":3286075,"avatar_url":"https://avatars.githubusercontent.com/u/3286075?v=3","gravatar_id":"","url":"https://api.github.com/users/ankjaers","html_url":"https://github.com/ankjaers","followers_url":"https://api.github.com/users/ankjaers/followers","following_url":"https://api.github.com/users/ankjaers/following{/other_user}","gists_url":"https://api.github.com/users/ankjaers/gists{/gist_id}","starred_url":"https://api.github.com/users/ankjaers/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ankjaers/subscriptions","organizations_url":"https://api.github.com/users/ankjaers/orgs","repos_url":"https://api.github.com/users/ankjaers/repos","events_url":"https://api.github.com/users/ankjaers/events{/privacy}","received_events_url":"https://api.github.com/users/ankjaers/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2016-05-02T12:22:10Z","updated_at":"2016-05-02T14:52:12Z","closed_at":null,"body":"When tuning it's always yaw at full throttle that's giving me problems. Using rewrite I can run with almost 11.0 on P in the 0-70% throttle range (clean traces in BB + it feels great in the air), but to keep it from going nuts on full throttle I have to lower it all the way down to around 8. I feel like this could be fixed with seperate TPA for yaw. "},"comment":{"url":"https://api.github.com/repos/rs2k/raceflight/issues/comments/216256599","html_url":"https://github.com/rs2k/raceflight/issues/173#issuecomment-216256599","issue_url":"https://api.github.com/repos/rs2k/raceflight/issues/173","id":216256599,"user":{"login":"rs2k","id":9113146,"avatar_url":"https://avatars.githubusercontent.com/u/9113146?v=3","gravatar_id":"","url":"https://api.github.com/users/rs2k","html_url":"https://github.com/rs2k","followers_url":"https://api.github.com/users/rs2k/followers","following_url":"https://api.github.com/users/rs2k/following{/other_user}","gists_url":"https://api.github.com/users/rs2k/gists{/gist_id}","starred_url":"https://api.github.com/users/rs2k/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rs2k/subscriptions","organizations_url":"https://api.github.com/users/rs2k/orgs","repos_url":"https://api.github.com/users/rs2k/repos","events_url":"https://api.github.com/users/rs2k/events{/privacy}","received_events_url":"https://api.github.com/users/rs2k/received_events","type":"User","site_admin":false},"created_at":"2016-05-02T14:52:12Z","updated_at":"2016-05-02T14:52:12Z","body":"I've had plans for a full TPS curve based on actuators with Kp, Ki and Kd separated for next. It's easy to make yaw separate from roll and pitch while doing that. "}}