{"action":"created","issue":{"url":"https://api.github.com/repos/ButterFlight/butterflight/issues/79","repository_url":"https://api.github.com/repos/ButterFlight/butterflight","labels_url":"https://api.github.com/repos/ButterFlight/butterflight/issues/79/labels{/name}","comments_url":"https://api.github.com/repos/ButterFlight/butterflight/issues/79/comments","events_url":"https://api.github.com/repos/ButterFlight/butterflight/issues/79/events","html_url":"https://github.com/ButterFlight/butterflight/pull/79","id":308924607,"number":79,"title":"IMU quaternion v4 ","user":{"login":"adrianmiriuta","id":29194202,"avatar_url":"https://avatars0.githubusercontent.com/u/29194202?v=4","gravatar_id":"","url":"https://api.github.com/users/adrianmiriuta","html_url":"https://github.com/adrianmiriuta","followers_url":"https://api.github.com/users/adrianmiriuta/followers","following_url":"https://api.github.com/users/adrianmiriuta/following{/other_user}","gists_url":"https://api.github.com/users/adrianmiriuta/gists{/gist_id}","starred_url":"https://api.github.com/users/adrianmiriuta/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/adrianmiriuta/subscriptions","organizations_url":"https://api.github.com/users/adrianmiriuta/orgs","repos_url":"https://api.github.com/users/adrianmiriuta/repos","events_url":"https://api.github.com/users/adrianmiriuta/events{/privacy}","received_events_url":"https://api.github.com/users/adrianmiriuta/received_events","type":"User","site_admin":false},"labels":[{"id":859169228,"url":"https://api.github.com/repos/ButterFlight/butterflight/labels/TESTING%20REQUIRED","name":"TESTING REQUIRED","color":"e5bb12","default":false}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":9,"created_at":"2018-03-27T11:13:41Z","updated_at":"2018-03-28T18:21:16Z","closed_at":null,"author_association":"NONE","pull_request":{"url":"https://api.github.com/repos/ButterFlight/butterflight/pulls/79","html_url":"https://github.com/ButterFlight/butterflight/pull/79","diff_url":"https://github.com/ButterFlight/butterflight/pull/79.diff","patch_url":"https://github.com/ButterFlight/butterflight/pull/79.patch"},"body":"phase out rmat (use quaternion)\r\n\r\nimplemented static gyro noise integration lock  trough standard deviation modulus\r\nimproved gyro Integration (PCDM Acta Mech 224, 3091–3109 (2013))\r\nseparated from Mahony PI\r\ncorrected acc\r\ncorrected gyro\r\nincreased default dcm_ki dcm_kp for faster convergence\r\nremoved ATTITUDE task rescheduling"},"comment":{"url":"https://api.github.com/repos/ButterFlight/butterflight/issues/comments/376986490","html_url":"https://github.com/ButterFlight/butterflight/pull/79#issuecomment-376986490","issue_url":"https://api.github.com/repos/ButterFlight/butterflight/issues/79","id":376986490,"user":{"login":"adrianmiriuta","id":29194202,"avatar_url":"https://avatars0.githubusercontent.com/u/29194202?v=4","gravatar_id":"","url":"https://api.github.com/users/adrianmiriuta","html_url":"https://github.com/adrianmiriuta","followers_url":"https://api.github.com/users/adrianmiriuta/followers","following_url":"https://api.github.com/users/adrianmiriuta/following{/other_user}","gists_url":"https://api.github.com/users/adrianmiriuta/gists{/gist_id}","starred_url":"https://api.github.com/users/adrianmiriuta/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/adrianmiriuta/subscriptions","organizations_url":"https://api.github.com/users/adrianmiriuta/orgs","repos_url":"https://api.github.com/users/adrianmiriuta/repos","events_url":"https://api.github.com/users/adrianmiriuta/events{/privacy}","received_events_url":"https://api.github.com/users/adrianmiriuta/received_events","type":"User","site_admin":false},"created_at":"2018-03-28T18:21:16Z","updated_at":"2018-03-28T18:21:16Z","author_association":"NONE","body":"@kidBrazil \r\ncpu load is about \r\n2% higher on F3\r\n1% higher on F4, F7\r\nin my tests\r\n\r\n"}}
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