{"action":"created","issue":{"url":"https://api.github.com/repos/iNavFlight/inav/issues/3784","repository_url":"https://api.github.com/repos/iNavFlight/inav","labels_url":"https://api.github.com/repos/iNavFlight/inav/issues/3784/labels{/name}","comments_url":"https://api.github.com/repos/iNavFlight/inav/issues/3784/comments","events_url":"https://api.github.com/repos/iNavFlight/inav/issues/3784/events","html_url":"https://github.com/iNavFlight/inav/issues/3784","id":353353799,"node_id":"MDU6SXNzdWUzNTMzNTM3OTk=","number":3784,"title":"Copter only throttle while start in acro mode","user":{"login":"TIMSCHMITZ","id":21319002,"node_id":"MDQ6VXNlcjIxMzE5MDAy","avatar_url":"https://avatars0.githubusercontent.com/u/21319002?v=4","gravatar_id":"","url":"https://api.github.com/users/TIMSCHMITZ","html_url":"https://github.com/TIMSCHMITZ","followers_url":"https://api.github.com/users/TIMSCHMITZ/followers","following_url":"https://api.github.com/users/TIMSCHMITZ/following{/other_user}","gists_url":"https://api.github.com/users/TIMSCHMITZ/gists{/gist_id}","starred_url":"https://api.github.com/users/TIMSCHMITZ/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/TIMSCHMITZ/subscriptions","organizations_url":"https://api.github.com/users/TIMSCHMITZ/orgs","repos_url":"https://api.github.com/users/TIMSCHMITZ/repos","events_url":"https://api.github.com/users/TIMSCHMITZ/events{/privacy}","received_events_url":"https://api.github.com/users/TIMSCHMITZ/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":2,"created_at":"2018-08-23T12:14:54Z","updated_at":"2018-08-25T03:55:03Z","closed_at":null,"author_association":"NONE","body":"## Current Behavior\r\nThe copter accepts only throttle while arming at acro mode. Starting in Angle or Horizon Mode works properly.\r\nWhen flying in angle mode and switching to acro there is no problem.\r\n## Steps to Reproduce\r\n<!-- Steps to reproduce the behavior: -->\r\n1. Attach Battery\r\n2. Switch to Acro Mode\r\n3. Arm\r\n4. Takeoff\r\n\r\n## Expected behavior\r\nThe copter should stabilized in the air\r\n## Suggested solution(s)\r\n\r\n## Additional context\r\n\r\n# version\r\n# INAV/OMNIBUSF4V3 1.9.1 Apr 21 2018 / 13:13:58 (03a5c1922)\r\n\r\n# resources\r\n\r\n# mixer\r\n\r\n# servo mix\r\n\r\n# servo\r\n\r\n# feature\r\nfeature -OSD\r\nfeature MOTOR_STOP\r\nfeature SOFTSERIAL\r\nfeature GPS\r\nfeature PWM_OUTPUT_ENABLE\r\n\r\n# beeper\r\n\r\n# map\r\nmap TEAR\r\n\r\n# name\r\nname X520D-SR\r\n\r\n# serial\r\nserial 0 2 115200 57600 0 115200\r\nserial 5 64 115200 38400 0 115200\r\n\r\n# led\r\n\r\n# color\r\n\r\n# mode_color\r\n\r\n# aux\r\naux 0 0 3 1500 2100\r\naux 1 1 0 900 1325\r\naux 2 2 0 1350 1750\r\naux 3 3 2 1275 1700\r\naux 4 9 2 1700 2100\r\naux 5 18 4 1500 2100\r\n\r\n# adjrange\r\n\r\n# rxrange\r\n\r\n# master\r\nset gyro_sync = ON\r\nset gyro_hardware_lpf = 188HZ\r\nset gyro_lpf_hz = 70\r\nset gyro_notch1_hz = 170\r\nset gyro_notch1_cutoff = 125\r\nset gyro_notch2_hz = 85\r\nset gyro_notch2_cutoff = 43\r\nset acc_hardware = MPU6000\r\nset acczero_x = 200\r\nset acczero_y = -11\r\nset acczero_z = -530\r\nset accgain_x = 4073\r\nset accgain_y = 4073\r\nset accgain_z = 4056\r\nset mag_hardware = HMC5883\r\nset mag_declination = 190\r\nset magzero_x = -79\r\nset magzero_y = -169\r\nset magzero_z = -18\r\nset baro_hardware = BMP280\r\nset pitot_hardware = NONE\r\nset receiver_type = SERIAL\r\nset serialrx_provider = SBUS\r\nset failsafe_throttle = 1575\r\nset failsafe_throttle_low_delay = 0\r\nset vbat_max_cell_voltage = 420\r\nset battery_capacity = 6000\r\nset imu_dcm_ki = 0\r\nset gps_sbas_mode = AUTO\r\nset nav_extra_arming_safety = OFF\r\nset nav_mc_hover_thr = 1575\r\nset async_mode = GYRO\r\n\r\n# profile\r\nprofile 1\r\n\r\nset mc_p_pitch = 80\r\nset mc_d_pitch = 18\r\nset mc_p_roll = 80\r\nset mc_d_roll = 18\r\nset mc_p_yaw = 95\r\nset dterm_notch_hz = 125\r\nset dterm_notch_cutoff = 90\r\nset pidsum_limit = 0\r\nset rate_accel_limit_roll_pitch = 3600\r\nset rate_accel_limit_yaw = 720\r\nset heading_hold_rate_limit = 30\r\nset roll_rate = 40\r\nset pitch_rate = 40\r\n"},"comment":{"url":"https://api.github.com/repos/iNavFlight/inav/issues/comments/415932406","html_url":"https://github.com/iNavFlight/inav/issues/3784#issuecomment-415932406","issue_url":"https://api.github.com/repos/iNavFlight/inav/issues/3784","id":415932406,"node_id":"MDEyOklzc3VlQ29tbWVudDQxNTkzMjQwNg==","user":{"login":"TIMSCHMITZ","id":21319002,"node_id":"MDQ6VXNlcjIxMzE5MDAy","avatar_url":"https://avatars0.githubusercontent.com/u/21319002?v=4","gravatar_id":"","url":"https://api.github.com/users/TIMSCHMITZ","html_url":"https://github.com/TIMSCHMITZ","followers_url":"https://api.github.com/users/TIMSCHMITZ/followers","following_url":"https://api.github.com/users/TIMSCHMITZ/following{/other_user}","gists_url":"https://api.github.com/users/TIMSCHMITZ/gists{/gist_id}","starred_url":"https://api.github.com/users/TIMSCHMITZ/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/TIMSCHMITZ/subscriptions","organizations_url":"https://api.github.com/users/TIMSCHMITZ/orgs","repos_url":"https://api.github.com/users/TIMSCHMITZ/repos","events_url":"https://api.github.com/users/TIMSCHMITZ/events{/privacy}","received_events_url":"https://api.github.com/users/TIMSCHMITZ/received_events","type":"User","site_admin":false},"created_at":"2018-08-25T03:55:03Z","updated_at":"2018-08-25T03:55:03Z","author_association":"NONE","body":"Hey, what Tim Explained is exactly right but one fact is missing.\nThe pid controller isn’t function when arming in acro. The copter only accepts throttle roll pitch and yaw inputs via rc are ignored. And if you tilt the copter at angle mode one side of motors spins up the other slows down as I would suggest. When armed in acro mode and the copter was tilted no of the motor reacts. If you switch so angle mode and back to acro the pidcontroller works fine recognized by tilting the copter results in speeding up motors and slows down the others.\n\n\n> Am 24.08.2018 um 22:21 schrieb Tim Eckel <notifications@github.com>:\n> \n> I believe what he's saying is that it's different when he arms in acro mode compared to when he switches from angle to acro after arming. Also, there is stabilization in acro mode (which is why STAB was renamed ANGL) here: b2a937e\n> \n> —\n> You are receiving this because you authored the thread.\n> Reply to this email directly, view it on GitHub, or mute the thread.\n"}}
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