{"action":"created","issue":{"url":"https://api.github.com/repos/diydrones/ardupilot/issues/1361","labels_url":"https://api.github.com/repos/diydrones/ardupilot/issues/1361/labels{/name}","comments_url":"https://api.github.com/repos/diydrones/ardupilot/issues/1361/comments","events_url":"https://api.github.com/repos/diydrones/ardupilot/issues/1361/events","html_url":"https://github.com/diydrones/ardupilot/issues/1361","id":41818791,"number":1361,"title":"Copter: handle boat take-off and landings","user":{"login":"rmackay9","id":1498098,"avatar_url":"https://avatars.githubusercontent.com/u/1498098?v=3","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},"labels":[{"url":"https://api.github.com/repos/diydrones/ardupilot/labels/Copter","name":"Copter","color":"02e10c"}],"state":"closed","locked":false,"assignee":null,"milestone":{"url":"https://api.github.com/repos/diydrones/ardupilot/milestones/10","html_url":"https://github.com/diydrones/ardupilot/milestones/AC%203.4.0","labels_url":"https://api.github.com/repos/diydrones/ardupilot/milestones/10/labels","id":1003972,"number":10,"title":"AC 3.4.0","description":"","creator":{"login":"rmackay9","id":1498098,"avatar_url":"https://avatars.githubusercontent.com/u/1498098?v=3","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},"open_issues":49,"closed_issues":13,"state":"open","created_at":"2015-03-03T13:06:59Z","updated_at":"2015-11-12T11:19:26Z","due_on":"2015-12-30T15:00:00Z","closed_at":null},"comments":82,"created_at":"2014-09-03T13:55:01Z","updated_at":"2015-12-04T00:10:24Z","closed_at":"2015-10-03T04:02:41Z","body":"This was requested as part of AC3.2 testing.\r\nhttp://diydrones.com/forum/topics/arducopter-3-2-beta-testing?xg_source=msg_com_forum&id=705844%3ATopic%3A1656303&page=112#comments\r\n\r\nThere are two risks for arming and taking off on boats.  The first one is that the gyro calibration will likely fail.  It'll go with it's best guess which is likely ok most of the time but at least one case has been reported where the vehicle got a case of \"the leans\".  I.e. the pilot had to keep pulling further and further back on the pitch stick to keep it level... eventually there wasn't enough stick left and it flipped over.  This is because the gyro calibration didn't work very well.  Plane has a parameter that allows skipping the gyro cal, we don't have it in copter although it's easy to add.\r\n\r\nThe 2nd less risky issue is the pre-arm checks will fail if it thinks the vehicle is moving over 50m/s (i.e. 1.5feet / second).  This can be disabled by setting the ARMING_CHECK to Skip INS.\r\n\r\nFor Landing there may be an issue with the landing check's 30deg/sec rotation rate not being passed meaning the vehicle cannot be disarmed in AltHold or Loiter."},"comment":{"url":"https://api.github.com/repos/diydrones/ardupilot/issues/comments/161830276","html_url":"https://github.com/diydrones/ardupilot/issues/1361#issuecomment-161830276","issue_url":"https://api.github.com/repos/diydrones/ardupilot/issues/1361","id":161830276,"user":{"login":"rmackay9","id":1498098,"avatar_url":"https://avatars.githubusercontent.com/u/1498098?v=3","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},"created_at":"2015-12-04T00:10:24Z","updated_at":"2015-12-04T00:10:24Z","body":"@TerryPts, yes, very likely before spring.  We're working with the Solo guys to merge their fork with master and the most efficient thing to do would be to start testing Copter-3.4 in early Jan.  That will mean Copter-3.4 will be a little lighter on features than originally planned but this one would be included for sure because it's already done."}}