{"action":"closed","issue":{"url":"https://api.github.com/repos/afconsult-south/dragonfly-fcb/issues/132","labels_url":"https://api.github.com/repos/afconsult-south/dragonfly-fcb/issues/132/labels{/name}","comments_url":"https://api.github.com/repos/afconsult-south/dragonfly-fcb/issues/132/comments","events_url":"https://api.github.com/repos/afconsult-south/dragonfly-fcb/issues/132/events","html_url":"https://github.com/afconsult-south/dragonfly-fcb/issues/132","id":110274799,"number":132,"title":"Kalman filter division by zero possible","user":{"login":"DanielStenis","id":10434691,"avatar_url":"https://avatars.githubusercontent.com/u/10434691?v=3","gravatar_id":"","url":"https://api.github.com/users/DanielStenis","html_url":"https://github.com/DanielStenis","followers_url":"https://api.github.com/users/DanielStenis/followers","following_url":"https://api.github.com/users/DanielStenis/following{/other_user}","gists_url":"https://api.github.com/users/DanielStenis/gists{/gist_id}","starred_url":"https://api.github.com/users/DanielStenis/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/DanielStenis/subscriptions","organizations_url":"https://api.github.com/users/DanielStenis/orgs","repos_url":"https://api.github.com/users/DanielStenis/repos","events_url":"https://api.github.com/users/DanielStenis/events{/privacy}","received_events_url":"https://api.github.com/users/DanielStenis/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/afconsult-south/dragonfly-fcb/labels/bug","name":"bug","color":"fc2929"},{"url":"https://api.github.com/repos/afconsult-south/dragonfly-fcb/labels/estimation","name":"estimation","color":"eb6420"},{"url":"https://api.github.com/repos/afconsult-south/dragonfly-fcb/labels/flight%20control","name":"flight control","color":"d4c5f9"}],"state":"closed","locked":false,"assignee":null,"milestone":{"url":"https://api.github.com/repos/afconsult-south/dragonfly-fcb/milestones/1","html_url":"https://github.com/afconsult-south/dragonfly-fcb/milestones/Flight%20control%20system","labels_url":"https://api.github.com/repos/afconsult-south/dragonfly-fcb/milestones/1/labels","id":1075940,"number":1,"title":"Flight control system","description":"Implement flight control to:\r\n- Read gyroscope\r\n- Read magnetometer\r\n- Read accelerometer\r\n- Read RC receiver input (PWM)\r\n- Output motor control (PWM)\r\n- Use sensor input to estimate states: Roll, pitch angle, yaw rate, climb speed/acceleration\r\n- Control algorithm to control: Roll angle, pitch angle, yaw rate, climb speed/acceleration","creator":{"login":"DanielStenis","id":10434691,"avatar_url":"https://avatars.githubusercontent.com/u/10434691?v=3","gravatar_id":"","url":"https://api.github.com/users/DanielStenis","html_url":"https://github.com/DanielStenis","followers_url":"https://api.github.com/users/DanielStenis/followers","following_url":"https://api.github.com/users/DanielStenis/following{/other_user}","gists_url":"https://api.github.com/users/DanielStenis/gists{/gist_id}","starred_url":"https://api.github.com/users/DanielStenis/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/DanielStenis/subscriptions","organizations_url":"https://api.github.com/users/DanielStenis/orgs","repos_url":"https://api.github.com/users/DanielStenis/repos","events_url":"https://api.github.com/users/DanielStenis/events{/privacy}","received_events_url":"https://api.github.com/users/DanielStenis/received_events","type":"User","site_admin":false},"open_issues":10,"closed_issues":8,"state":"open","created_at":"2015-04-20T19:44:42Z","updated_at":"2015-10-30T12:24:31Z","due_on":null,"closed_at":null},"comments":9,"created_at":"2015-10-07T17:19:03Z","updated_at":"2015-10-30T12:24:31Z","closed_at":"2015-10-30T12:24:31Z","body":"In the correction step, there is a possibility that a division by zero occurs - ruining the Kalman filter output for the length of the program operation.\r\n\r\nAt this point in time, it occurs often after a couple of minutes of operation.\r\n\r\nWe need to protect us from this somehow and figure out a way to minimize the chance we get close to this.\r\n\r\n@khayyami has some thoughts and information on this."}}