{"action":"closed","number":3138,"pull_request":{"url":"https://api.github.com/repos/PX4/Firmware/pulls/3138","id":49932593,"html_url":"https://github.com/PX4/Firmware/pull/3138","diff_url":"https://github.com/PX4/Firmware/pull/3138.diff","patch_url":"https://github.com/PX4/Firmware/pull/3138.patch","issue_url":"https://api.github.com/repos/PX4/Firmware/issues/3138","number":3138,"state":"closed","locked":false,"title":"Handle EKF - GPS corner case","user":{"login":"mswingtra","id":13371589,"avatar_url":"https://avatars.githubusercontent.com/u/13371589?v=3","gravatar_id":"","url":"https://api.github.com/users/mswingtra","html_url":"https://github.com/mswingtra","followers_url":"https://api.github.com/users/mswingtra/followers","following_url":"https://api.github.com/users/mswingtra/following{/other_user}","gists_url":"https://api.github.com/users/mswingtra/gists{/gist_id}","starred_url":"https://api.github.com/users/mswingtra/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mswingtra/subscriptions","organizations_url":"https://api.github.com/users/mswingtra/orgs","repos_url":"https://api.github.com/users/mswingtra/repos","events_url":"https://api.github.com/users/mswingtra/events{/privacy}","received_events_url":"https://api.github.com/users/mswingtra/received_events","type":"User","site_admin":false},"body":"As discussed, this is temporal solution to  #3087. The ALTCTL will be rejected if there is no good local position estimate, which is equivalent to good gps. \r\n\r\nAdditionally, I have changed fallback conditions if auto, position or altitude modes are rejected. Earlier it was going back straight to manual which is not optimal and could cause potentially dangerous situation. Now, it should fallback to the previous low-level mode. ","created_at":"2015-11-06T09:35:51Z","updated_at":"2015-12-19T09:54:10Z","closed_at":"2015-12-19T09:54:10Z","merged_at":null,"merge_commit_sha":"c59bb962fe93fbd09319a73c51666d5ea9f33b9d","assignee":null,"milestone":null,"commits_url":"https://api.github.com/repos/PX4/Firmware/pulls/3138/commits","review_comments_url":"https://api.github.com/repos/PX4/Firmware/pulls/3138/comments","review_comment_url":"https://api.github.com/repos/PX4/Firmware/pulls/comments{/number}","comments_url":"https://api.github.com/repos/PX4/Firmware/issues/3138/comments","statuses_url":"https://api.github.com/repos/PX4/Firmware/statuses/24f53887873b29f4c581f948fa68766624766ab8","head":{"label":"wingtra:gps_failure","ref":"gps_failure","sha":"24f53887873b29f4c581f948fa68766624766ab8","user":{"login":"wingtra","id":11488909,"avatar_url":"https://avatars.githubusercontent.com/u/11488909?v=3","gravatar_id":"","url":"https://api.github.com/users/wingtra","html_url":"https://github.com/wingtra","followers_url":"https://api.github.com/users/wingtra/followers","following_url":"https://api.github.com/users/wingtra/following{/other_user}","gists_url":"https://api.github.com/users/wingtra/gists{/gist_id}","starred_url":"https://api.github.com/users/wingtra/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/wingtra/subscriptions","organizations_url":"https://api.github.com/users/wingtra/orgs","repos_url":"https://api.github.com/users/wingtra/repos","events_url":"https://api.github.com/users/wingtra/events{/privacy}","received_events_url":"https://api.github.com/users/wingtra/received_events","type":"Organization","site_admin":false},"repo":{"id":34317988,"name":"Firmware","full_name":"wingtra/Firmware","owner":{"login":"wingtra","id":11488909,"avatar_url":"https://avatars.githubusercontent.com/u/11488909?v=3","gravatar_id":"","url":"https://api.github.com/users/wingtra","html_url":"https://github.com/wingtra","followers_url":"https://api.github.com/users/wingtra/followers","following_url":"https://api.github.com/users/wingtra/following{/other_user}","gists_url":"https://api.github.com/users/wingtra/gists{/gist_id}","starred_url":"https://api.github.com/users/wingtra/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/wingtra/subscriptions","organizations_url":"https://api.github.com/users/wingtra/orgs","repos_url":"https://api.github.com/users/wingtra/repos","events_url":"https://api.github.com/users/wingtra/events{/privacy}","received_events_url":"https://api.github.com/users/wingtra/received_events","type":"Organization","site_admin":false},"private":false,"html_url":"https://github.com/wingtra/Firmware","description":"PX4 Firmware for PX4FMU autopilot and PX4IO servo / failsafe board","fork":true,"url":"https://api.github.com/repos/wingtra/Firmware","forks_url":"https://api.github.com/repos/wingtra/Firmware/forks","keys_url":"https://api.github.com/repos/wingtra/Firmware/keys{/key_id}","collaborators_url":"https://api.github.com/repos/wingtra/Firmware/collaborators{/collaborator}","teams_url":"https://api.github.com/repos/wingtra/Firmware/teams","hooks_url":"https://api.github.com/repos/wingtra/Firmware/hooks","issue_events_url":"https://api.github.com/repos/wingtra/Firmware/issues/events{/number}","events_url":"https://api.github.com/repos/wingtra/Firmware/events","assignees_url":"https://api.github.com/repos/wingtra/Firmware/assignees{/user}","branches_url":"https://api.github.com/repos/wingtra/Firmware/branches{/branch}","tags_url":"https://api.github.com/repos/wingtra/Firmware/tags","blobs_url":"https://api.github.com/repos/wingtra/Firmware/git/blobs{/sha}","git_tags_url":"https://api.github.com/repos/wingtra/Firmware/git/tags{/sha}","git_refs_url":"https://api.github.com/repos/wingtra/Firmware/git/refs{/sha}","trees_url":"https://api.github.com/repos/wingtra/Firmware/git/trees{/sha}","statuses_url":"https://api.github.com/repos/wingtra/Firmware/statuses/{sha}","languages_url":"https://api.github.com/repos/wingtra/Firmware/languages","stargazers_url":"https://api.github.com/repos/wingtra/Firmware/stargazers","contributors_url":"https://api.github.com/repos/wingtra/Firmware/contributors","subscribers_url":"https://api.github.com/repos/wingtra/Firmware/subscribers","subscription_url":"https://api.github.com/repos/wingtra/Firmware/subscription","commits_url":"https://api.github.com/repos/wingtra/Firmware/commits{/sha}","git_commits_url":"https://api.github.com/repos/wingtra/Firmware/git/commits{/sha}","comments_url":"https://api.github.com/repos/wingtra/Firmware/comments{/number}","issue_comment_url":"https://api.github.com/repos/wingtra/Firmware/issues/comments{/number}","contents_url":"https://api.github.com/repos/wingtra/Firmware/contents/{+path}","compare_url":"https://api.github.com/repos/wingtra/Firmware/compare/{base}...{head}","merges_url":"https://api.github.com/repos/wingtra/Firmware/merges","archive_url":"https://api.github.com/repos/wingtra/Firmware/{archive_format}{/ref}","downloads_url":"https://api.github.com/repos/wingtra/Firmware/downloads","issues_url":"https://api.github.com/repos/wingtra/Firmware/issues{/number}","pulls_url":"https://api.github.com/repos/wingtra/Firmware/pulls{/number}","milestones_url":"https://api.github.com/repos/wingtra/Firmware/milestones{/number}","notifications_url":"https://api.github.com/repos/wingtra/Firmware/notifications{?since,all,participating}","labels_url":"https://api.github.com/repos/wingtra/Firmware/labels{/name}","releases_url":"https://api.github.com/repos/wingtra/Firmware/releases{/id}","created_at":"2015-04-21T09:39:07Z","updated_at":"2015-11-25T20:23:24Z","pushed_at":"2015-11-25T14:25:53Z","git_url":"git://github.com/wingtra/Firmware.git","ssh_url":"git@github.com:wingtra/Firmware.git","clone_url":"https://github.com/wingtra/Firmware.git","svn_url":"https://github.com/wingtra/Firmware","homepage":"https://pixhawk.ethz.ch/px4/","size":79315,"stargazers_count":1,"watchers_count":1,"language":"C++","has_issues":false,"has_downloads":true,"has_wiki":false,"has_pages":false,"forks_count":0,"mirror_url":null,"open_issues_count":0,"forks":0,"open_issues":0,"watchers":1,"default_branch":"master"}},"base":{"label":"PX4:master","ref":"master","sha":"66e9abc7741c567766a3ffd3719f3709fd699b20","user":{"login":"PX4","id":2096014,"avatar_url":"https://avatars.githubusercontent.com/u/2096014?v=3","gravatar_id":"","url":"https://api.github.com/users/PX4","html_url":"https://github.com/PX4","followers_url":"https://api.github.com/users/PX4/followers","following_url":"https://api.github.com/users/PX4/following{/other_user}","gists_url":"https://api.github.com/users/PX4/gists{/gist_id}","starred_url":"https://api.github.com/users/PX4/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/PX4/subscriptions","organizations_url":"https://api.github.com/users/PX4/orgs","repos_url":"https://api.github.com/users/PX4/repos","events_url":"https://api.github.com/users/PX4/events{/privacy}","received_events_url":"https://api.github.com/users/PX4/received_events","type":"Organization","site_admin":false},"repo":{"id":5298790,"name":"Firmware","full_name":"PX4/Firmware","owner":{"login":"PX4","id":2096014,"avatar_url":"https://avatars.githubusercontent.com/u/2096014?v=3","gravatar_id":"","url":"https://api.github.com/users/PX4","html_url":"https://github.com/PX4","followers_url":"https://api.github.com/users/PX4/followers","following_url":"https://api.github.com/users/PX4/following{/other_user}","gists_url":"https://api.github.com/users/PX4/gists{/gist_id}","starred_url":"https://api.github.com/users/PX4/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/PX4/subscriptions","organizations_url":"https://api.github.com/users/PX4/orgs","repos_url":"https://api.github.com/users/PX4/repos","events_url":"https://api.github.com/users/PX4/events{/privacy}","received_events_url":"https://api.github.com/users/PX4/received_events","type":"Organization","site_admin":false},"private":false,"html_url":"https://github.com/PX4/Firmware","description":"PX4 Firmware for Pixhawk Hardware","fork":false,"url":"https://api.github.com/repos/PX4/Firmware","forks_url":"https://api.github.com/repos/PX4/Firmware/forks","keys_url":"https://api.github.com/repos/PX4/Firmware/keys{/key_id}","collaborators_url":"https://api.github.com/repos/PX4/Firmware/collaborators{/collaborator}","teams_url":"https://api.github.com/repos/PX4/Firmware/teams","hooks_url":"https://api.github.com/repos/PX4/Firmware/hooks","issue_events_url":"https://api.github.com/repos/PX4/Firmware/issues/events{/number}","events_url":"https://api.github.com/repos/PX4/Firmware/events","assignees_url":"https://api.github.com/repos/PX4/Firmware/assignees{/user}","branches_url":"https://api.github.com/repos/PX4/Firmware/branches{/branch}","tags_url":"https://api.github.com/repos/PX4/Firmware/tags","blobs_url":"https://api.github.com/repos/PX4/Firmware/git/blobs{/sha}","git_tags_url":"https://api.github.com/repos/PX4/Firmware/git/tags{/sha}","git_refs_url":"https://api.github.com/repos/PX4/Firmware/git/refs{/sha}","trees_url":"https://api.github.com/repos/PX4/Firmware/git/trees{/sha}","statuses_url":"https://api.github.com/repos/PX4/Firmware/statuses/{sha}","languages_url":"https://api.github.com/repos/PX4/Firmware/languages","stargazers_url":"https://api.github.com/repos/PX4/Firmware/stargazers","contributors_url":"https://api.github.com/repos/PX4/Firmware/contributors","subscribers_url":"https://api.github.com/repos/PX4/Firmware/subscribers","subscription_url":"https://api.github.com/repos/PX4/Firmware/subscription","commits_url":"https://api.github.com/repos/PX4/Firmware/commits{/sha}","git_commits_url":"https://api.github.com/repos/PX4/Firmware/git/commits{/sha}","comments_url":"https://api.github.com/repos/PX4/Firmware/comments{/number}","issue_comment_url":"https://api.github.com/repos/PX4/Firmware/issues/comments{/number}","contents_url":"https://api.github.com/repos/PX4/Firmware/contents/{+path}","compare_url":"https://api.github.com/repos/PX4/Firmware/compare/{base}...{head}","merges_url":"https://api.github.com/repos/PX4/Firmware/merges","archive_url":"https://api.github.com/repos/PX4/Firmware/{archive_format}{/ref}","downloads_url":"https://api.github.com/repos/PX4/Firmware/downloads","issues_url":"https://api.github.com/repos/PX4/Firmware/issues{/number}","pulls_url":"https://api.github.com/repos/PX4/Firmware/pulls{/number}","milestones_url":"https://api.github.com/repos/PX4/Firmware/milestones{/number}","notifications_url":"https://api.github.com/repos/PX4/Firmware/notifications{?since,all,participating}","labels_url":"https://api.github.com/repos/PX4/Firmware/labels{/name}","releases_url":"https://api.github.com/repos/PX4/Firmware/releases{/id}","created_at":"2012-08-04T21:19:36Z","updated_at":"2015-12-18T13:52:37Z","pushed_at":"2015-12-19T09:48:52Z","git_url":"git://github.com/PX4/Firmware.git","ssh_url":"git@github.com:PX4/Firmware.git","clone_url":"https://github.com/PX4/Firmware.git","svn_url":"https://github.com/PX4/Firmware","homepage":"http://px4.io","size":102276,"stargazers_count":458,"watchers_count":458,"language":"C++","has_issues":true,"has_downloads":true,"has_wiki":true,"has_pages":false,"forks_count":1701,"mirror_url":null,"open_issues_count":274,"forks":1701,"open_issues":274,"watchers":458,"default_branch":"master"}},"_links":{"self":{"href":"https://api.github.com/repos/PX4/Firmware/pulls/3138"},"html":{"href":"https://github.com/PX4/Firmware/pull/3138"},"issue":{"href":"https://api.github.com/repos/PX4/Firmware/issues/3138"},"comments":{"href":"https://api.github.com/repos/PX4/Firmware/issues/3138/comments"},"review_comments":{"href":"https://api.github.com/repos/PX4/Firmware/pulls/3138/comments"},"review_comment":{"href":"https://api.github.com/repos/PX4/Firmware/pulls/comments{/number}"},"commits":{"href":"https://api.github.com/repos/PX4/Firmware/pulls/3138/commits"},"statuses":{"href":"https://api.github.com/repos/PX4/Firmware/statuses/24f53887873b29f4c581f948fa68766624766ab8"}},"merged":false,"mergeable":true,"mergeable_state":"clean","merged_by":null,"comments":4,"review_comments":2,"commits":3,"additions":36,"deletions":9,"changed_files":2}}