{"action":"created","issue":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/7942","repository_url":"https://api.github.com/repos/ArduPilot/ardupilot","labels_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/7942/labels{/name}","comments_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/7942/comments","events_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/7942/events","html_url":"https://github.com/ArduPilot/ardupilot/pull/7942","id":305917830,"node_id":"MDExOlB1bGxSZXF1ZXN0MTc1NTI1Mzg1","number":7942,"title":"Copter: fix CH6 tuning of small values, like D gains","user":{"login":"hsteinhaus","id":3057137,"node_id":"MDQ6VXNlcjMwNTcxMzc=","avatar_url":"https://avatars2.githubusercontent.com/u/3057137?v=4","gravatar_id":"","url":"https://api.github.com/users/hsteinhaus","html_url":"https://github.com/hsteinhaus","followers_url":"https://api.github.com/users/hsteinhaus/followers","following_url":"https://api.github.com/users/hsteinhaus/following{/other_user}","gists_url":"https://api.github.com/users/hsteinhaus/gists{/gist_id}","starred_url":"https://api.github.com/users/hsteinhaus/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hsteinhaus/subscriptions","organizations_url":"https://api.github.com/users/hsteinhaus/orgs","repos_url":"https://api.github.com/users/hsteinhaus/repos","events_url":"https://api.github.com/users/hsteinhaus/events{/privacy}","received_events_url":"https://api.github.com/users/hsteinhaus/received_events","type":"User","site_admin":false},"labels":[{"id":24269224,"node_id":"MDU6TGFiZWwyNDI2OTIyNA==","url":"https://api.github.com/repos/ArduPilot/ardupilot/labels/Copter","name":"Copter","color":"02e10c","default":false}],"state":"open","locked":false,"assignee":{"login":"rmackay9","id":1498098,"node_id":"MDQ6VXNlcjE0OTgwOTg=","avatar_url":"https://avatars2.githubusercontent.com/u/1498098?v=4","gravatar_id":"","url":"https://api.github.com/users/rmackay9","html_url":"https://github.com/rmackay9","followers_url":"https://api.github.com/users/rmackay9/followers","following_url":"https://api.github.com/users/rmackay9/following{/other_user}","gists_url":"https://api.github.com/users/rmackay9/gists{/gist_id}","starred_url":"https://api.github.com/users/rmackay9/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rmackay9/subscriptions","organizations_url":"https://api.github.com/users/rmackay9/orgs","repos_url":"https://api.github.com/users/rmackay9/repos","events_url":"https://api.github.com/users/rmackay9/events{/privacy}","received_events_url":"https://api.github.com/users/rmackay9/received_events","type":"User","site_admin":false},"assignees":[{"login":"rmackay9","id":1498098,"node_id":"MDQ6VXNlcjE0OTgwOTg=","avatar_url":"https://avatars2.githubusercontent.com/u/1498098?v=4","gravatar_id":"","url":"https://api.github.com/users/rmackay9","html_url":"https://github.com/rmackay9","followers_url":"https://api.github.com/users/rmackay9/followers","following_url":"https://api.github.com/users/rmackay9/following{/other_user}","gists_url":"https://api.github.com/users/rmackay9/gists{/gist_id}","starred_url":"https://api.github.com/users/rmackay9/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rmackay9/subscriptions","organizations_url":"https://api.github.com/users/rmackay9/orgs","repos_url":"https://api.github.com/users/rmackay9/repos","events_url":"https://api.github.com/users/rmackay9/events{/privacy}","received_events_url":"https://api.github.com/users/rmackay9/received_events","type":"User","site_admin":false}],"milestone":null,"comments":3,"created_at":"2018-03-16T12:56:52Z","updated_at":"2018-10-02T07:01:46Z","closed_at":null,"author_association":"CONTRIBUTOR","pull_request":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/pulls/7942","html_url":"https://github.com/ArduPilot/ardupilot/pull/7942","diff_url":"https://github.com/ArduPilot/ardupilot/pull/7942.diff","patch_url":"https://github.com/ArduPilot/ardupilot/pull/7942.patch"},"body":"In the current code the input value of channel 6 goes through a very obscure cast to int16_t, instead of keeping it in the float domain. This cast to int causes the tuning of very small values, like a D gain of 0.005, to get very very coarse. \r\n\r\nI removed that cast and also replaced a divison by an equivalent multiplication."},"comment":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/comments/426169806","html_url":"https://github.com/ArduPilot/ardupilot/pull/7942#issuecomment-426169806","issue_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/7942","id":426169806,"node_id":"MDEyOklzc3VlQ29tbWVudDQyNjE2OTgwNg==","user":{"login":"hsteinhaus","id":3057137,"node_id":"MDQ6VXNlcjMwNTcxMzc=","avatar_url":"https://avatars2.githubusercontent.com/u/3057137?v=4","gravatar_id":"","url":"https://api.github.com/users/hsteinhaus","html_url":"https://github.com/hsteinhaus","followers_url":"https://api.github.com/users/hsteinhaus/followers","following_url":"https://api.github.com/users/hsteinhaus/following{/other_user}","gists_url":"https://api.github.com/users/hsteinhaus/gists{/gist_id}","starred_url":"https://api.github.com/users/hsteinhaus/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hsteinhaus/subscriptions","organizations_url":"https://api.github.com/users/hsteinhaus/orgs","repos_url":"https://api.github.com/users/hsteinhaus/repos","events_url":"https://api.github.com/users/hsteinhaus/events{/privacy}","received_events_url":"https://api.github.com/users/hsteinhaus/received_events","type":"User","site_admin":false},"created_at":"2018-10-02T07:01:46Z","updated_at":"2018-10-02T07:01:46Z","author_association":"CONTRIBUTOR","body":"Is there any chance to get at least the tuning bugfix in before 3.6? Currently with master it is impossible to manually tune D of a big prop frame with CH6 tuning due to this bug."}}
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