{"action":"opened","issue":{"url":"https://api.github.com/repos/bitcraze/crazyflie-firmware/issues/119","repository_url":"https://api.github.com/repos/bitcraze/crazyflie-firmware","labels_url":"https://api.github.com/repos/bitcraze/crazyflie-firmware/issues/119/labels{/name}","comments_url":"https://api.github.com/repos/bitcraze/crazyflie-firmware/issues/119/comments","events_url":"https://api.github.com/repos/bitcraze/crazyflie-firmware/issues/119/events","html_url":"https://github.com/bitcraze/crazyflie-firmware/issues/119","id":159192783,"number":119,"title":"PID angle controllers are initialized with IMU_UPDATE_DT instead of ...","user":{"login":"lkdo","id":9528915,"avatar_url":"https://avatars.githubusercontent.com/u/9528915?v=3","gravatar_id":"","url":"https://api.github.com/users/lkdo","html_url":"https://github.com/lkdo","followers_url":"https://api.github.com/users/lkdo/followers","following_url":"https://api.github.com/users/lkdo/following{/other_user}","gists_url":"https://api.github.com/users/lkdo/gists{/gist_id}","starred_url":"https://api.github.com/users/lkdo/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/lkdo/subscriptions","organizations_url":"https://api.github.com/users/lkdo/orgs","repos_url":"https://api.github.com/users/lkdo/repos","events_url":"https://api.github.com/users/lkdo/events{/privacy}","received_events_url":"https://api.github.com/users/lkdo/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":0,"created_at":"2016-06-08T15:24:39Z","updated_at":"2016-06-08T15:24:39Z","closed_at":null,"body":"Tag 2016.02\r\n\r\nin file controller.c, function controllerInit() we have:\r\n\r\n  pidInit(&pidRoll, 0, PID_ROLL_KP, PID_ROLL_KI, PID_ROLL_KD, IMU_UPDATE_DT);\r\n  pidInit(&pidPitch, 0, PID_PITCH_KP, PID_PITCH_KI, PID_PITCH_KD, IMU_UPDATE_DT);\r\n  pidInit(&pidYaw, 0, PID_YAW_KP, PID_YAW_KI, PID_YAW_KD, IMU_UPDATE_DT);\r\n\r\nGiven that in stabilizer.c->stabilizerTask(), the  attitude controller is only updated/called with a frequency of   IMU_UPDATE_DT/(ATTITUDE_UPDATE_RATE_DIVIDER/2), that is same as FUSION_UPDATE_DT,  shouldn't the pid be initialized with FUSION_UPDATE_DT ?\r\n"}}
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