{"id":8219,"date":"2024-11-16T10:16:27","date_gmt":"2024-11-16T01:16:27","guid":{"rendered":"https:\/\/www.nkozawa.com\/blog\/?p=8219"},"modified":"2024-11-16T10:16:27","modified_gmt":"2024-11-16T01:16:27","slug":"%e5%ae%a4%e5%86%85%e3%81%a7pid%e3%83%81%e3%83%a5%e3%83%bc%e3%83%8b%e3%83%b3%e3%82%b0bf4-5%e7%89%88%e3%80%81pid%e8%a8%ad%e5%ae%9a","status":"publish","type":"post","link":"https:\/\/www.nkozawa.com\/blog\/archives\/8219","title":{"rendered":"\u5ba4\u5185\u3067PID\u30c1\u30e5\u30fc\u30cb\u30f3\u30b0BF4.5\u7248\u3001PID\u8a2d\u5b9a"},"content":{"rendered":"<p>\u524d\u56de\u3001<a href=\"https:\/\/www.nkozawa.com\/blog\/archives\/8196\">\u30d5\u30a3\u30eb\u30bf\u30fc\u306e\u8a2d\u5b9a<\/a>\u304c\u51fa\u6765\u307e\u3057\u305f\u3002\u3044\u3088\u3044\u3088PID\u3092\u8a2d\u5b9a\u3057\u3066\u3044\u304d\u307e\u3059\u3002<\/p>\n<p>\u307e\u305a\u6700\u521d\u306bBetaflight Configurator\u3092Expert\u30e2\u30fc\u30c9\u306b\u3057\u3066\u304a\u304d\u307e\u3059\u3002(\u4e0a\u306e\u65b9\u306b\u5c0f\u3055\u304f\u66f8\u304b\u308c\u3066\u3044\u308b\u3084\u3064\u3067\u3059)<\/p>\n<p><strong>[ \u57fa\u6e96\u5024 \u500d\u7387\u8a2d\u5b9a(Master multiplier)\u306e\u6c7a\u5b9a ]<\/strong><br \/>\n\u6700\u521d\u306b\u52d5\u7684\u30c0\u30f3\u30d4\u30f3\u30b0(Dynamic Damping) D Max\u30920\u306b\u3057\u307e\u3059\u3002\u3053\u306e\u72b6\u614b\u3067\u500d\u7387\u8a2d\u5b9a(Master Mulitplier)\u30921\u3088\u308a\u5c11\u3057\u5c0f\u3055\u3044\u5024\u304b\u30890.05\u305a\u3064\u4e0a\u3052\u3001\u5b9f\u969b\u306b\u98db\u3070\u3057\u3066\u307f\u307e\u3059\u3002\u3053\u306e\u30b9\u30c6\u30c3\u30d7\u306f\u5168\u304f\u306e\u4f53\u611f\u3067\u884c\u3044\u307e\u3059\u3002\u7d30\u304b\u3044\u8abf\u6574\u306f\u5f8c\u304b\u3089\u884c\u3046\u306e\u3067\u5fc3\u914d\u306f\u8981\u308a\u307e\u305b\u3093\u76f4\u611f\u3092\u4fe1\u3058\u3066\u9032\u3081\u307e\u3059\u3002<br \/>\n\u500d\u7387\u8a2d\u5b9a\u3092\u4e0a\u3052\u3066\u3044\u304f\u3068\u3060\u3093\u3060\u3093\u53cd\u5fdc\u304c\u826f\u304f\u306a\u308a\u307e\u3059\u3002\u305d\u308c\u304c\u3042\u308b\u3068\u3053\u308d\u3092\u8d85\u3048\u308b\u3068\u307e\u305f\u53cd\u5fdc\u304c\u60aa\u304f\u306a\u3063\u305f\u308a\u3001\u30e2\u30fc\u30bf\u30fc\u97f3\u306e\u7570\u5e38\u3001\u30e2\u30fc\u30bf\u30fc\u306e\u52a0\u71b1\u304c\u767a\u751f\u3057\u307e\u3059\u3002\u6c17\u6301\u3061\u826f\u304f\u98db\u3070\u305b\u308b\u4e2d\u3067\u4e00\u756a\u9ad8\u3044\u6570\u5024\u306b\u3057\u3066\u304a\u304d\u307e\u3059\u3002<\/p>\n<p>\u79c1\u306e\u5834\u5408\u306f1.25\u306b\u8a2d\u5b9a\u3057\u307e\u3057\u305f\u3002<\/p>\n<p><strong>[ \u52d5\u7684\u30a2\u30a4\u30c9\u30eb\u5024(Dynamic Idle) ]<\/strong><br \/>\n<iframe loading=\"lazy\" width=\"560\" height=\"315\" src=\"https:\/\/www.youtube.com\/embed\/1oYoVE4xu1U?si=Py6BhUWXt2-i9zoO&amp;start=786\" title=\"YouTube video player\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe><br \/>\n\u52d5\u753b\u4e2d\u306b\u3042\u308b\u8868\u3092\u53c2\u8003\u306b\u8a2d\u5b9a\u3057\u307e\u3059\u300265\u30b5\u30a4\u30ba\u304c\u66f8\u3044\u3066\u306a\u3044\u3067\u3059\u3057\u3001\u30d7\u30ed\u30da\u30e9\u306e\u30d4\u30c3\u30c1\u306b\u3088\u308b\u8a2d\u5b9a\u5024\u306e\u5e45\u304c\u5927\u304d\u3044\u306e\u3067\u3001\u5927\u4f53\u306e\u3068\u3053\u308d\u3067100\u306b\u30bb\u30c3\u30c8\u3057\u3066\u307f\u307e\u3057\u305f\u3002<\/p>\n<p><strong>[ PD\u30d0\u30e9\u30f3\u30b9 ]<\/strong><br \/>\n\u3053\u308c\u304b\u3089\u304c\u672c\u756a\u3067\u3059\u3002\u6700\u521d\u306b\u6280\u8853\u7684\u306a\u80cc\u666f\u3092\u7c21\u5358\u306b\u7d39\u4ecb\u3057\u307e\u3059\u3002\u30d7\u30ed\u30dd\u306e\u30b9\u30c6\u30a3\u30c3\u30af\u3092\u64cd\u4f5c\u3059\u308b\u3068\u3001\u305d\u308c\u304cFC\u3067\u89e3\u91c8\u3055\u308c\u3066Yaw\/Pitch\/Roll\u306e\u30bb\u30c3\u30c8\u30dd\u30a4\u30f3\u30c8\u3068\u3044\u3046\u5024\u304c\u4f5c\u308a\u51fa\u3055\u305b\u308c\u307e\u3059\u3002\u3053\u308c\u306f\u305d\u306e\u64cd\u4f5c\u3092\u884c\u3063\u305f\u6642\u306b\u30b8\u30e3\u30a4\u30ed\u304c\u4f5c\u308a\u51fa\u3059\u5024\u306e\u76ee\u6a19\u3068\u306a\u308b\u5024\u3067\u3059\u3002FC\u306f\u5404\u30e2\u30fc\u30bf\u30fc\u3092\u52d5\u304b\u3057\u30b8\u30e3\u30a4\u30ed\u306e\u51fa\u529b\u304c\u30bb\u30c3\u30c8\u30dd\u30a4\u30f3\u30c8\u3092\u8ffd\u5f93\u3059\u308b\u69d8\u306b\u5236\u5fa1\u3057\u307e\u3059\u3002\u305d\u306e\u8ffd\u5f93\u306e\u5177\u5408\u3092\u8abf\u6574\u3059\u308b\u3053\u3068\u304cPID\u30c1\u30e5\u30fc\u30cb\u30f3\u30b0\u3067\u3059\u3002<\/p>\n<p><a href=\"http:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PID1.png\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PID1-300x257.png\" alt=\"\" width=\"300\" height=\"257\" class=\"alignnone size-medium wp-image-8225\" srcset=\"https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PID1-300x257.png 300w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PID1-1024x878.png 1024w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PID1-768x659.png 768w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PID1.png 1242w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/a><br \/>\n\u300c\u52d5\u7684\u30c0\u30f3\u30d4\u30f3\u30b0 D Max\u300d, \u300c\u30b9\u30c6\u30a3\u30c3\u30af\u30ec\u30b9\u30dd\u30f3\u30b9 FF\u300d, \u300c\u30c9\u30ea\u30d5\u30c8-\u3075\u3089\u3064\u304d I\u300d\u3092\u5168\u30660\u306b\u3057\u307e\u3059\u3002<br \/>\n\u300c\u30c8\u30e9\u30c3\u30ad\u30f3\u30b0 P&#038;I\u5f37\u5ea6\u300d\u30920.5\u304b\u30890.05\u305a\u3064\u4e0a\u3052\u306a\u304c\u308920\u79d2\u307b\u3069\u98db\u884c\u3057\u30ed\u30b0\u3092\u53d6\u308a\u307e\u3059\u3002PIDtoolbox\u3067Step Resp Tool\u3067\u6ce2\u5f62\u3092\u898b\u307e\u3059\u3002\u30aa\u30fc\u30d0\u30fc\u30b7\u30e5\u30fc\u30c8\u3057\u306a\u3044\u7a0b\u5ea6\u3067\u7d20\u65e9\u304f\u7acb\u3061\u4e0a\u304c\u308bP\u306e\u5024\u3092Roll\u3068Pitch\u3067\u305d\u308c\u305e\u308c\u8a18\u9332\u3057\u307e\u3059\u3002<br \/>\n<a href=\"http:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PI130StepResp.png\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PI130StepResp-300x203.png\" alt=\"\" width=\"300\" height=\"203\" class=\"alignnone size-medium wp-image-8222\" srcset=\"https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PI130StepResp-300x203.png 300w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PI130StepResp-1024x694.png 1024w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PI130StepResp-768x520.png 768w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PI130StepResp.png 1435w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/a><br \/>\n\u3053\u308c\u306fP&#038;I=1.35\u306b\u3057\u305f\u6642\u306e\u72b6\u614b\u3067\u3059\u3002Roll\u306f\u826f\u3044\u5024\u304c\u51fa\u305f\u3068\u3053\u308d\u3067\u3059\u3002Pitch\u306f\u3084\u3084\u30aa\u30fc\u30d0\u30fc\u30b7\u30e5\u30fc\u30c8\u3057\u3066\u3044\u307e\u3059\u306e\u3067\u3001\u3082\u3046\u5c11\u3057\u5c0f\u3055\u306a\u5024\u304c\u826f\u3055\u305d\u3046\u3067\u3059\u3002<br \/>\n\u79c1\u306f\u3001Roll\u306fP&#038;I=1.35, P=75\u3001Pitch\u306fP&#038;I=1.20, P=70\u3092\u63a1\u7528\u3057\u307e\u3057\u305f\u3002<br \/>\n\u3082\u3057\u3001\u3053\u306e\u8abf\u6574\u3067\u30b9\u30e9\u30a4\u30c0\u30fc\u304c\u53f3\u7aef\u307e\u3067\u884c\u3063\u3066\u3057\u307e\u3063\u305f\u5834\u5408\u306f\u6700\u521d\u306e\u300c\u57fa\u6e96\u5024 \u500d\u7387\u8a2d\u5b9a\u300d\u306e\u6570\u5024\u304c\u8db3\u308a\u3066\u3044\u306a\u3044\u306e\u3060\u3068\u601d\u308f\u308c\u307e\u3059\u3002<br \/>\n<a href=\"http:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PID2.png\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PID2-300x256.png\" alt=\"\" width=\"300\" height=\"256\" class=\"alignnone size-medium wp-image-8227\" srcset=\"https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PID2-300x256.png 300w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PID2-1024x873.png 1024w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PID2-768x655.png 768w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PID2.png 1198w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/a><br \/>\n\u300c\u30c8\u30e9\u30c3\u30ad\u30f3\u30b0 P&#038;I\u5f37\u5ea6\u300d\u30b9\u30e9\u30a4\u30c0\u30fc\u3067Roll\u306eP\u5024\u309275\u306b\u3057\u307e\u3059\u3002\u3053\u308c\u306f\u8abf\u3079\u305f\u6642\u306e\u5024\u3067\u3059\u306e\u3067P&#038;I=1.35\u306b\u306a\u308a\u307e\u3059\u3002<br \/>\n\u300c\u30d4\u30c3\u30c1\u30c8\u30e9\u30c3\u30ad\u30f3\u30b0\u300d\u30b9\u30e9\u30a4\u30c0\u30fc\u3092\u8abf\u6574\u3057\u3066Pitch\u306eP\u5024\u309270\u306b\u3057\u307e\u3059\u3002\u5b9f\u969b\u306b\u306f\u30b9\u30e9\u30a4\u30c0\u30fc0.9\u3067P=71\u3068\u3057\u307e\u3057\u305f\u3002<br \/>\n\u3053\u308c\u3067PD\u30d0\u30e9\u30f3\u30b9\u306e\u8abf\u6574\u306f\u5b8c\u4e86\u3067\u3059\u3002<\/p>\n<p><strong>[ \u30c9\u30ea\u30d5\u30c8\u3001\u3075\u3089\u3064\u304d I \u5f37\u5ea6 ]<\/strong><br \/>\nI\u5024\u306f\u5171\u7528\u7bc4\u56f2\u304c\u5e83\u3044\u306e\u3067Betaflight\u306e\u898f\u5b9a\u5024\u3067\u3082\u5927\u4e08\u592b\u304b\u3082\u77e5\u308c\u307e\u305b\u3093\u3002\u5927\u304d\u3044\u65b9\u304c\u30ec\u30b9\u30dd\u30f3\u30b9\u304c\u826f\u304f\u306a\u308a\u307e\u3059\u304c\u5927\u304d\u3059\u304e\u308b\u3068\u632f\u52d5\u3084\u30d0\u30a6\u30f3\u30b9\u30d0\u30c3\u30af\u304c\u51fa\u307e\u3059\u3002\u79c1\u306f\u4eca\u306e\u3068\u3053\u308d\u3001\u306a\u3093\u3068\u306a\u304f\u30b9\u30e9\u30a4\u30c0\u30fc\u30921.0\u306b\u3057\u3066\u3044\u307e\u3059\u3002\u521d\u671f\u5024\u306f80\/84\/80\u3067\u73fe\u5728\u5024\u306f135\/127\/135\u3068\u3060\u3044\u3076\u5927\u304d\u304f\u306a\u3063\u3066\u3044\u307e\u3059\u3002\u3082\u3063\u3068\u5c0f\u3055\u304f\u3059\u3079\u304d\u304b\u3082\u77e5\u308c\u307e\u305b\u3093\u304c\u3001\u3053\u308c\u3067\u3057\u3070\u3089\u304f\u30c6\u30b9\u30c8\u3057\u3066\u307f\u307e\u3059\u3002<\/p>\n<p><strong>[ Feed forward ]<\/strong><br \/>\n\u30b9\u30e9\u30a4\u30c0\u30fc\u3067\u306f\u306a\u304f\u53f3\u306e\u65b9\u306b\u3042\u308b\u5404\u5024\u306f\u30d7\u30ea\u30bb\u30c3\u30c8\/RC_LINK\u3067\u9069\u5207\u306a\u5024\u3092\u9078\u629e\u3059\u308b\u3053\u3068\u3067\u8a2d\u5b9a\u3055\u308c\u307e\u3059\u3002<br \/>\n<a href=\"http:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PresetRCLink.png\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PresetRCLink-300x257.png\" alt=\"\" width=\"300\" height=\"257\" class=\"alignnone size-medium wp-image-8230\" srcset=\"https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PresetRCLink-300x257.png 300w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PresetRCLink-1024x878.png 1024w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PresetRCLink-768x659.png 768w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PresetRCLink-1536x1317.png 1536w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PresetRCLink-2048x1756.png 2048w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/a><br \/>\n\u79c1\u306e\u5834\u5408\u306fELRS 500Hz, Race, Serial RX, Single cell value\u3067\u8a2d\u5b9a\u3057\u3066\u3044\u307e\u3059\u3002<br \/>\nFF\u306e\u30b9\u30e9\u30a4\u30c0\u30fc\u306f\u3068\u308a\u3042\u3048\u305a1.0\u306b\u3057\u3066\u304a\u304d\u307e\u3057\u305f\u3002<\/p>\n<p><strong>[ \u52d5\u7684\u30c0\u30f3\u30d4\u30f3\u30b0 ]<\/strong><br \/>\n\u5f37\u5ea6=37\uff0c\u8a73\u7d30=0\u306b\u8a2d\u5b9a\u3057\u307e\u3059\u3002<\/p>\n<p><strong>[ \u52d5\u7684\u30c0\u30f3\u30d4\u30f3\u30b0 D Max ]<\/strong><br \/>\n\u52d5\u7684\u30c0\u30f3\u30d4\u30f3\u30b0(D Max)\u304c0\u306e\u6642\u306f\u4e0a\u306e\u6570\u5024\u6b04\u306b\u3042\u308bD Max\u3068Derivative\u306b\u540c\u3058\u6570\u5024\u304c\u51fa\u3066\u3044\u308b\u306f\u305a\u3067\u3059\u3002\u3053\u308c\u3092\u8a18\u9332\u3057\u307e\u3059\u3002\u300c\u30c0\u30f3\u30d4\u30f3\u30b0 D\u5f37\u5ea6\u300d\u306e\u30b9\u30e9\u30a4\u30c0\u30fc\u3092\u4e0b\u3052\u300c\u52d5\u7684\u30c0\u30f3\u30d4\u30f3\u30b0 D Max\u300d\u306e\u30b9\u30e9\u30a4\u30c0\u30fc\u3092\u4e0a\u3052\u3066D Max\u3092\u8a18\u9332\u3057\u305f\u5024\u3001Derivative\u3092\u305d\u308c\u3088\u308a\u5c11\u3057\u5c0f\u3055\u3044\u5024\u306b\u3057\u307e\u3059\u3002\u79c1\u306e\u5834\u5408\u306f\u300c\u30c0\u30f3\u30d4\u30f3\u30b0 D\u5f37\u5ea6\u300d\u30920.75, \u300c\u52d5\u7684\u30c0\u30f3\u30d4\u30f3\u30b0 D Max\u300d\u30921.0\u306b\u3057\u307e\u3057\u305f\u3002\u307e\u3063\u305f\u308a\u98db\u884c\u306e\u5834\u5408\u306f\u3001\u3082\u3063\u3068\u5dee\u3092\u5c0f\u3055\u304f\u3057\u305f\u65b9\u304c\u826f\u3044\u304b\u3082\u77e5\u308c\u307e\u305b\u3093\u3002<\/p>\n<p><a href=\"http:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PIDFinal.png\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PIDFinal-300x257.png\" alt=\"\" width=\"300\" height=\"257\" class=\"alignnone size-medium wp-image-8233\" srcset=\"https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PIDFinal-300x257.png 300w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PIDFinal-1024x878.png 1024w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PIDFinal-768x659.png 768w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PIDFinal-1536x1317.png 1536w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/PIDFinal-2048x1756.png 2048w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/a><br \/>\n\u6700\u7d42\u7684\u306aPID\u753b\u9762\u306f\u3053\u3093\u306a\u611f\u3058\u306b\u306a\u308a\u307e\u3057\u305f\u3002\u3053\u308c\u3067\u3057\u3070\u3089\u304f\u98db\u3070\u3057\u3066\u307f\u3088\u3046\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u524d\u56de\u3001\u30d5\u30a3\u30eb\u30bf\u30fc\u306e\u8a2d\u5b9a\u304c\u51fa\u6765\u307e\u3057\u305f\u3002\u3044\u3088\u3044\u3088PID\u3092\u8a2d\u5b9a\u3057\u3066\u3044\u304d\u307e\u3059\u3002 \u307e\u305a\u6700\u521d\u306bBetaflight Configurator\u3092Expert\u30e2\u30fc\u30c9\u306b\u3057\u3066\u304a\u304d\u307e\u3059\u3002(\u4e0a\u306e\u65b9\u306b\u5c0f\u3055\u304f\u66f8\u304b\u308c\u3066\u3044\u308b\u3084\u3064\u3067\u3059) [ \u57fa\u6e96\u5024 \u500d\u7387 [&hellip;]<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"om_disable_all_campaigns":false,"_uf_show_specific_survey":0,"_uf_disable_surveys":false,"footnotes":""},"categories":[38],"tags":[],"class_list":["post-8219","post","type-post","status-publish","format-standard","hentry","category-quadcopter"],"aioseo_notices":[],"_links":{"self":[{"href":"https:\/\/www.nkozawa.com\/blog\/wp-json\/wp\/v2\/posts\/8219","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.nkozawa.com\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.nkozawa.com\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.nkozawa.com\/blog\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/www.nkozawa.com\/blog\/wp-json\/wp\/v2\/comments?post=8219"}],"version-history":[{"count":18,"href":"https:\/\/www.nkozawa.com\/blog\/wp-json\/wp\/v2\/posts\/8219\/revisions"}],"predecessor-version":[{"id":8244,"href":"https:\/\/www.nkozawa.com\/blog\/wp-json\/wp\/v2\/posts\/8219\/revisions\/8244"}],"wp:attachment":[{"href":"https:\/\/www.nkozawa.com\/blog\/wp-json\/wp\/v2\/media?parent=8219"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.nkozawa.com\/blog\/wp-json\/wp\/v2\/categories?post=8219"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.nkozawa.com\/blog\/wp-json\/wp\/v2\/tags?post=8219"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}