{"action":"created","issue":{"url":"https://api.github.com/repos/paparazzi/paparazzi/issues/1266","labels_url":"https://api.github.com/repos/paparazzi/paparazzi/issues/1266/labels{/name}","comments_url":"https://api.github.com/repos/paparazzi/paparazzi/issues/1266/comments","events_url":"https://api.github.com/repos/paparazzi/paparazzi/issues/1266/events","html_url":"https://github.com/paparazzi/paparazzi/issues/1266","id":97455135,"number":1266,"title":"[INS] USE_INS_NAV_INIT causes bad initialization of INS","user":{"login":"EwoudSmeur","id":2464596,"avatar_url":"https://avatars.githubusercontent.com/u/2464596?v=3","gravatar_id":"","url":"https://api.github.com/users/EwoudSmeur","html_url":"https://github.com/EwoudSmeur","followers_url":"https://api.github.com/users/EwoudSmeur/followers","following_url":"https://api.github.com/users/EwoudSmeur/following{/other_user}","gists_url":"https://api.github.com/users/EwoudSmeur/gists{/gist_id}","starred_url":"https://api.github.com/users/EwoudSmeur/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/EwoudSmeur/subscriptions","organizations_url":"https://api.github.com/users/EwoudSmeur/orgs","repos_url":"https://api.github.com/users/EwoudSmeur/repos","events_url":"https://api.github.com/users/EwoudSmeur/events{/privacy}","received_events_url":"https://api.github.com/users/EwoudSmeur/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":2,"created_at":"2015-07-27T12:46:59Z","updated_at":"2015-07-27T14:32:53Z","closed_at":null,"body":"USE_INS_NAV_INIT is default true, but gives problems when the flight plan lat0/lon0 are not close to the drone startup location.\r\n\r\nI took a standard flight plan, which had it's origin at ENAC. I didn't take the effort to change the origin because with all relative waypoints they will move to my drone's position when I have a GPS fix anyway. However, the drone initially estimates an altitude of ~8000m, and only after the geo-init block comes back to zero. At this point, the vf_extended_float can have an accelero bias of up to 2m/s^2, which takes a very long time to go down and has it's effect on the estimated vertical speed.\r\n\r\nIf I set USE_INS_NAV_INIT to false I don't have problems, even though the lat0/lon0 in the flight plan are still wrong. The accelero bias is close to zero.\r\n\r\nUntil someone fixes this, we might consider putting USE_INS_NAV_INIT to false for default.\r\n\r\n<bountysource-plugin>\r\n---\r\nWant to back this issue? **[Post a bounty on it!](https://www.bountysource.com/issues/25019386-ins-use_ins_nav_init-causes-bad-initialization-of-ins?utm_campaign=plugin&utm_content=tracker%2F10895&utm_medium=issues&utm_source=github)** We accept bounties via [Bountysource](https://www.bountysource.com/?utm_campaign=plugin&utm_content=tracker%2F10895&utm_medium=issues&utm_source=github).\r\n</bountysource-plugin>"},"comment":{"url":"https://api.github.com/repos/paparazzi/paparazzi/issues/comments/125226427","html_url":"https://github.com/paparazzi/paparazzi/issues/1266#issuecomment-125226427","issue_url":"https://api.github.com/repos/paparazzi/paparazzi/issues/1266","id":125226427,"user":{"login":"EwoudSmeur","id":2464596,"avatar_url":"https://avatars.githubusercontent.com/u/2464596?v=3","gravatar_id":"","url":"https://api.github.com/users/EwoudSmeur","html_url":"https://github.com/EwoudSmeur","followers_url":"https://api.github.com/users/EwoudSmeur/followers","following_url":"https://api.github.com/users/EwoudSmeur/following{/other_user}","gists_url":"https://api.github.com/users/EwoudSmeur/gists{/gist_id}","starred_url":"https://api.github.com/users/EwoudSmeur/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/EwoudSmeur/subscriptions","organizations_url":"https://api.github.com/users/EwoudSmeur/orgs","repos_url":"https://api.github.com/users/EwoudSmeur/repos","events_url":"https://api.github.com/users/EwoudSmeur/events{/privacy}","received_events_url":"https://api.github.com/users/EwoudSmeur/received_events","type":"User","site_admin":false},"created_at":"2015-07-27T14:32:53Z","updated_at":"2015-07-27T14:32:53Z","body":"I merged with master on 18th of june, so I should have this commit. I forgot to check if this problem still exists in newest master, but I can do this later today. "}}