{"action":"created","issue":{"url":"https://api.github.com/repos/Pitt-RAS/iarc7_motion/issues/40","repository_url":"https://api.github.com/repos/Pitt-RAS/iarc7_motion","labels_url":"https://api.github.com/repos/Pitt-RAS/iarc7_motion/issues/40/labels{/name}","comments_url":"https://api.github.com/repos/Pitt-RAS/iarc7_motion/issues/40/comments","events_url":"https://api.github.com/repos/Pitt-RAS/iarc7_motion/issues/40/events","html_url":"https://github.com/Pitt-RAS/iarc7_motion/pull/40","id":212189601,"number":40,"title":"Takeoff land xy","user":{"login":"aftersomemath","id":6125615,"avatar_url":"https://avatars0.githubusercontent.com/u/6125615?v=3","gravatar_id":"","url":"https://api.github.com/users/aftersomemath","html_url":"https://github.com/aftersomemath","followers_url":"https://api.github.com/users/aftersomemath/followers","following_url":"https://api.github.com/users/aftersomemath/following{/other_user}","gists_url":"https://api.github.com/users/aftersomemath/gists{/gist_id}","starred_url":"https://api.github.com/users/aftersomemath/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/aftersomemath/subscriptions","organizations_url":"https://api.github.com/users/aftersomemath/orgs","repos_url":"https://api.github.com/users/aftersomemath/repos","events_url":"https://api.github.com/users/aftersomemath/events{/privacy}","received_events_url":"https://api.github.com/users/aftersomemath/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":7,"created_at":"2017-03-06T17:14:43Z","updated_at":"2017-03-08T00:23:55Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/Pitt-RAS/iarc7_motion/pulls/40","html_url":"https://github.com/Pitt-RAS/iarc7_motion/pull/40","diff_url":"https://github.com/Pitt-RAS/iarc7_motion/pull/40.diff","patch_url":"https://github.com/Pitt-RAS/iarc7_motion/pull/40.patch"},"body":"Adds position holding to the takeoff and land tasks. Introduces the concept of helper classes that tasks can use to perform particular motions. I'm expecting there will be a good amount of debate about how these helper classes should be implemented.\r\n\r\nOne thing I noticed in this PR is that the trapezoidal movement profile code could be further abstracted from the PositionHold class. However I feel that that would be appropriate for a second PR when another type of motion is added that requires trapezoidal motion as well."},"comment":{"url":"https://api.github.com/repos/Pitt-RAS/iarc7_motion/issues/comments/284905471","html_url":"https://github.com/Pitt-RAS/iarc7_motion/pull/40#issuecomment-284905471","issue_url":"https://api.github.com/repos/Pitt-RAS/iarc7_motion/issues/40","id":284905471,"user":{"login":"aftersomemath","id":6125615,"avatar_url":"https://avatars0.githubusercontent.com/u/6125615?v=3","gravatar_id":"","url":"https://api.github.com/users/aftersomemath","html_url":"https://github.com/aftersomemath","followers_url":"https://api.github.com/users/aftersomemath/followers","following_url":"https://api.github.com/users/aftersomemath/following{/other_user}","gists_url":"https://api.github.com/users/aftersomemath/gists{/gist_id}","starred_url":"https://api.github.com/users/aftersomemath/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/aftersomemath/subscriptions","organizations_url":"https://api.github.com/users/aftersomemath/orgs","repos_url":"https://api.github.com/users/aftersomemath/repos","events_url":"https://api.github.com/users/aftersomemath/events{/privacy}","received_events_url":"https://api.github.com/users/aftersomemath/received_events","type":"User","site_admin":false},"created_at":"2017-03-08T00:23:55Z","updated_at":"2017-03-08T00:23:55Z","body":"This PR now includes fixing a gimbal lock situation and adjusting the tuning parameters for the sim.\r\n\r\nThe slew rate and max angle limits are effectively disabled now. It was found that they were greatly affecting the control abilities of the PID controllers. In the case of the throttle the slew rate limit was the only thing stopping the throttle from oscillating wildly from 0-100%. Their effects are disabled now so that the PID loops can be tuned properly."}}
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