{"action":"created","issue":{"url":"https://api.github.com/repos/iNavFlight/inav/issues/87","repository_url":"https://api.github.com/repos/iNavFlight/inav","labels_url":"https://api.github.com/repos/iNavFlight/inav/issues/87/labels{/name}","comments_url":"https://api.github.com/repos/iNavFlight/inav/issues/87/comments","events_url":"https://api.github.com/repos/iNavFlight/inav/issues/87/events","html_url":"https://github.com/iNavFlight/inav/issues/87","id":135741121,"number":87,"title":"NAV - Reset altitude and position setpoint when ALTHOLD/POSHOLD is activated before arming","user":{"login":"Mathotg","id":17430979,"avatar_url":"https://avatars.githubusercontent.com/u/17430979?v=3","gravatar_id":"","url":"https://api.github.com/users/Mathotg","html_url":"https://github.com/Mathotg","followers_url":"https://api.github.com/users/Mathotg/followers","following_url":"https://api.github.com/users/Mathotg/following{/other_user}","gists_url":"https://api.github.com/users/Mathotg/gists{/gist_id}","starred_url":"https://api.github.com/users/Mathotg/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Mathotg/subscriptions","organizations_url":"https://api.github.com/users/Mathotg/orgs","repos_url":"https://api.github.com/users/Mathotg/repos","events_url":"https://api.github.com/users/Mathotg/events{/privacy}","received_events_url":"https://api.github.com/users/Mathotg/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/iNavFlight/inav/labels/bug","name":"bug","color":"eb6420"},{"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/4","html_url":"https://github.com/iNavFlight/inav/milestones/1.1","labels_url":"https://api.github.com/repos/iNavFlight/inav/milestones/4/labels","id":1537454,"number":4,"title":"1.1","description":"","creator":{"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},"open_issues":12,"closed_issues":5,"state":"open","created_at":"2016-01-23T02:02:42Z","updated_at":"2016-03-18T04:42:42Z","due_on":null,"closed_at":null},"comments":8,"created_at":"2016-02-23T13:43:58Z","updated_at":"2016-03-19T16:27:57Z","closed_at":null,"body":"\r\nThe throttle management is a bit strange when\r\n1) taking off with GPS-HOLD + ALT-HOLD mode enabled. Full throttle is needed for a while and the machine goes up very slowly. With the time, the throttle management improve and the altitude hold is around 50% of the stick. A video is available on https://www.youtube.com/watch?v=Ucc2pPwoOeA\r\n2) When in flight switching to GPS-HOLD + ALT-HOLD ; the machine drops and if enabled to low, basically you finish on the ground.  here below is the graph showing the logs\r\n\r\n![gps_hold alt_old](https://cloud.githubusercontent.com/assets/17430979/13253193/2892f02a-da3b-11e5-943f-d72e73bc2dd1.jpg)\r\n\r\nIt seems that with set nav_use_midrc_for_althold = ON it's better but I need more testing.\r\n\r\nI'm pretty new to INAV and I'm running the original gains. My feeling is that the integral term fro the gain for alt-hold takes too much time to stabilize.\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/iNavFlight/inav/issues/comments/198743775","html_url":"https://github.com/iNavFlight/inav/issues/87#issuecomment-198743775","issue_url":"https://api.github.com/repos/iNavFlight/inav/issues/87","id":198743775,"user":{"login":"Mathotg","id":17430979,"avatar_url":"https://avatars.githubusercontent.com/u/17430979?v=3","gravatar_id":"","url":"https://api.github.com/users/Mathotg","html_url":"https://github.com/Mathotg","followers_url":"https://api.github.com/users/Mathotg/followers","following_url":"https://api.github.com/users/Mathotg/following{/other_user}","gists_url":"https://api.github.com/users/Mathotg/gists{/gist_id}","starred_url":"https://api.github.com/users/Mathotg/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Mathotg/subscriptions","organizations_url":"https://api.github.com/users/Mathotg/orgs","repos_url":"https://api.github.com/users/Mathotg/repos","events_url":"https://api.github.com/users/Mathotg/events{/privacy}","received_events_url":"https://api.github.com/users/Mathotg/received_events","type":"User","site_admin":false},"created_at":"2016-03-19T16:27:57Z","updated_at":"2016-03-19T16:27:57Z","body":"Hello Konstantin,\n\nThe work around does not seems to work...\nHere his what I tested:\n\n1) connect the battery and wait for satellites\n2) arm the motor but no take off\n3) switch to pos+alt mode : there the motor spin dangerously for a few\nseconds. The quad is nearly taking off himself\n4) full throttle to take off\n\nHope this helps\n\nRegards\n\nGilles\nLe 18 mars 2016 13:14, \"Konstantin Sharlaimov\" <notifications@github.com> a\nécrit :\n\n> Yes, exactly. Please check it if you have the time.\n>\n> —\n> You are receiving this because you were mentioned.\n> Reply to this email directly or view it on GitHub\n> <https://github.com/iNavFlight/inav/issues/87#issuecomment-198326806>\n>\n"}}