{"action":"created","issue":{"url":"https://api.github.com/repos/iNavFlight/inav/issues/197","repository_url":"https://api.github.com/repos/iNavFlight/inav","labels_url":"https://api.github.com/repos/iNavFlight/inav/issues/197/labels{/name}","comments_url":"https://api.github.com/repos/iNavFlight/inav/issues/197/comments","events_url":"https://api.github.com/repos/iNavFlight/inav/issues/197/events","html_url":"https://github.com/iNavFlight/inav/issues/197","id":153998304,"number":197,"title":"Move from arbitrary rates to degrees per second in FP-PID controller ","user":{"login":"DzikuVx","id":966811,"avatar_url":"https://avatars.githubusercontent.com/u/966811?v=3","gravatar_id":"","url":"https://api.github.com/users/DzikuVx","html_url":"https://github.com/DzikuVx","followers_url":"https://api.github.com/users/DzikuVx/followers","following_url":"https://api.github.com/users/DzikuVx/following{/other_user}","gists_url":"https://api.github.com/users/DzikuVx/gists{/gist_id}","starred_url":"https://api.github.com/users/DzikuVx/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/DzikuVx/subscriptions","organizations_url":"https://api.github.com/users/DzikuVx/orgs","repos_url":"https://api.github.com/users/DzikuVx/repos","events_url":"https://api.github.com/users/DzikuVx/events{/privacy}","received_events_url":"https://api.github.com/users/DzikuVx/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,"milestone":{"url":"https://api.github.com/repos/iNavFlight/inav/milestones/6","html_url":"https://github.com/iNavFlight/inav/milestones/1.3","labels_url":"https://api.github.com/repos/iNavFlight/inav/milestones/6/labels","id":1757669,"number":6,"title":"1.3","description":null,"creator":{"login":"DzikuVx","id":966811,"avatar_url":"https://avatars.githubusercontent.com/u/966811?v=3","gravatar_id":"","url":"https://api.github.com/users/DzikuVx","html_url":"https://github.com/DzikuVx","followers_url":"https://api.github.com/users/DzikuVx/followers","following_url":"https://api.github.com/users/DzikuVx/following{/other_user}","gists_url":"https://api.github.com/users/DzikuVx/gists{/gist_id}","starred_url":"https://api.github.com/users/DzikuVx/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/DzikuVx/subscriptions","organizations_url":"https://api.github.com/users/DzikuVx/orgs","repos_url":"https://api.github.com/users/DzikuVx/repos","events_url":"https://api.github.com/users/DzikuVx/events{/privacy}","received_events_url":"https://api.github.com/users/DzikuVx/received_events","type":"User","site_admin":false},"open_issues":1,"closed_issues":0,"state":"open","created_at":"2016-05-10T12:24:14Z","updated_at":"2016-05-10T12:50:24Z","due_on":null,"closed_at":null},"comments":4,"created_at":"2016-05-10T12:50:24Z","updated_at":"2016-05-10T18:28:44Z","closed_at":null,"body":"Current rates implementation of rates for roll/pitch/yaw uses hard to understand arbitrary numbers like 0,10. How much rotation 0,10 is? It is 300 degrees per second. And how much 0,20 is? Twice 0,10? Nope, it is 400dps. Plus, you can not go below 200dps.\r\n\r\nIdea is to drop those arbitrary values and introduce absolute rotation speeds at max stick deflection. This approach is used for example in OpenPilot/LibrePilot and is very easy to understand. You set 360dps for roll/pitch and 90dps for yaw and you know you can do roll in 1s and full yaw rotation in 4 seconds.\r\n\r\nThis would break CF compability, including Configurator but it is worth it"},"comment":{"url":"https://api.github.com/repos/iNavFlight/inav/issues/comments/218247621","html_url":"https://github.com/iNavFlight/inav/issues/197#issuecomment-218247621","issue_url":"https://api.github.com/repos/iNavFlight/inav/issues/197","id":218247621,"user":{"login":"DzikuVx","id":966811,"avatar_url":"https://avatars.githubusercontent.com/u/966811?v=3","gravatar_id":"","url":"https://api.github.com/users/DzikuVx","html_url":"https://github.com/DzikuVx","followers_url":"https://api.github.com/users/DzikuVx/followers","following_url":"https://api.github.com/users/DzikuVx/following{/other_user}","gists_url":"https://api.github.com/users/DzikuVx/gists{/gist_id}","starred_url":"https://api.github.com/users/DzikuVx/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/DzikuVx/subscriptions","organizations_url":"https://api.github.com/users/DzikuVx/orgs","repos_url":"https://api.github.com/users/DzikuVx/repos","events_url":"https://api.github.com/users/DzikuVx/events{/privacy}","received_events_url":"https://api.github.com/users/DzikuVx/received_events","type":"User","site_admin":false},"created_at":"2016-05-10T18:28:44Z","updated_at":"2016-05-10T18:28:44Z","body":"Ah... That would have to be configurator issue"}}