{"action":"created","issue":{"url":"https://api.github.com/repos/d-ronin/dRonin/issues/2046","repository_url":"https://api.github.com/repos/d-ronin/dRonin","labels_url":"https://api.github.com/repos/d-ronin/dRonin/issues/2046/labels{/name}","comments_url":"https://api.github.com/repos/d-ronin/dRonin/issues/2046/comments","events_url":"https://api.github.com/repos/d-ronin/dRonin/issues/2046/events","html_url":"https://github.com/d-ronin/dRonin/pull/2046","id":294150032,"number":2046,"title":"autotune widget: shift slow pole to control overshoot","user":{"login":"mlyle","id":90903,"avatar_url":"https://avatars2.githubusercontent.com/u/90903?v=4","gravatar_id":"","url":"https://api.github.com/users/mlyle","html_url":"https://github.com/mlyle","followers_url":"https://api.github.com/users/mlyle/followers","following_url":"https://api.github.com/users/mlyle/following{/other_user}","gists_url":"https://api.github.com/users/mlyle/gists{/gist_id}","starred_url":"https://api.github.com/users/mlyle/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mlyle/subscriptions","organizations_url":"https://api.github.com/users/mlyle/orgs","repos_url":"https://api.github.com/users/mlyle/repos","events_url":"https://api.github.com/users/mlyle/events{/privacy}","received_events_url":"https://api.github.com/users/mlyle/received_events","type":"User","site_admin":false},"labels":[{"id":311672781,"url":"https://api.github.com/repos/d-ronin/dRonin/labels/flight/autotune","name":"flight/autotune","color":"ffa840","default":false},{"id":291868055,"url":"https://api.github.com/repos/d-ronin/dRonin/labels/gcs","name":"gcs","color":"fad8c7","default":false},{"id":292630938,"url":"https://api.github.com/repos/d-ronin/dRonin/labels/status/requires-test","name":"status/requires-test","color":"207de5","default":false}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":10,"created_at":"2018-02-03T22:20:38Z","updated_at":"2018-02-06T18:29:34Z","closed_at":null,"author_association":"OWNER","pull_request":{"url":"https://api.github.com/repos/d-ronin/dRonin/pulls/2046","html_url":"https://github.com/d-ronin/dRonin/pull/2046","diff_url":"https://github.com/d-ronin/dRonin/pull/2046.diff","patch_url":"https://github.com/d-ronin/dRonin/pull/2046.patch"},"body":"On modern craft, it's just too aggressive.  Also eliminate the outer KP\r\nsoft-limit, since it was probably a reaction to the very same overshoot."},"comment":{"url":"https://api.github.com/repos/d-ronin/dRonin/issues/comments/363518828","html_url":"https://github.com/d-ronin/dRonin/pull/2046#issuecomment-363518828","issue_url":"https://api.github.com/repos/d-ronin/dRonin/issues/2046","id":363518828,"user":{"login":"mlyle","id":90903,"avatar_url":"https://avatars2.githubusercontent.com/u/90903?v=4","gravatar_id":"","url":"https://api.github.com/users/mlyle","html_url":"https://github.com/mlyle","followers_url":"https://api.github.com/users/mlyle/followers","following_url":"https://api.github.com/users/mlyle/following{/other_user}","gists_url":"https://api.github.com/users/mlyle/gists{/gist_id}","starred_url":"https://api.github.com/users/mlyle/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mlyle/subscriptions","organizations_url":"https://api.github.com/users/mlyle/orgs","repos_url":"https://api.github.com/users/mlyle/repos","events_url":"https://api.github.com/users/mlyle/events{/privacy}","received_events_url":"https://api.github.com/users/mlyle/received_events","type":"User","site_admin":false},"created_at":"2018-02-06T18:29:34Z","updated_at":"2018-02-06T18:29:34Z","author_association":"OWNER","body":"Status: Before last  commit, flew on everything of mine, including giant quad.\r\n\r\n@ufoDziner flew and got an uncommanded flip at non-standard noise setting in attitude mode.  Audited attitude loop and it looks OK, so my theory is that you can still run into problems with slew-rate limits on very aggressive things.\r\n\r\nHe is going to fly the old code at default noise sens to see if his vehicle is stable at this operating point, and I have a change to soften outer kP response beyond 7 (still more aggressive than what we had before)."}}
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