{"action":"created","issue":{"url":"https://api.github.com/repos/PX4/Firmware/issues/3393","labels_url":"https://api.github.com/repos/PX4/Firmware/issues/3393/labels{/name}","comments_url":"https://api.github.com/repos/PX4/Firmware/issues/3393/comments","events_url":"https://api.github.com/repos/PX4/Firmware/issues/3393/events","html_url":"https://github.com/PX4/Firmware/pull/3393","id":124048919,"number":3393,"title":"Improve landing for special yawmode settings","user":{"login":"thomasgubler","id":1419479,"avatar_url":"https://avatars.githubusercontent.com/u/1419479?v=3","gravatar_id":"","url":"https://api.github.com/users/thomasgubler","html_url":"https://github.com/thomasgubler","followers_url":"https://api.github.com/users/thomasgubler/followers","following_url":"https://api.github.com/users/thomasgubler/following{/other_user}","gists_url":"https://api.github.com/users/thomasgubler/gists{/gist_id}","starred_url":"https://api.github.com/users/thomasgubler/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/thomasgubler/subscriptions","organizations_url":"https://api.github.com/users/thomasgubler/orgs","repos_url":"https://api.github.com/users/thomasgubler/repos","events_url":"https://api.github.com/users/thomasgubler/events{/privacy}","received_events_url":"https://api.github.com/users/thomasgubler/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":3,"created_at":"2015-12-28T10:27:08Z","updated_at":"2015-12-28T10:31:20Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/PX4/Firmware/pulls/3393","html_url":"https://github.com/PX4/Firmware/pull/3393","diff_url":"https://github.com/PX4/Firmware/pull/3393.diff","patch_url":"https://github.com/PX4/Firmware/pull/3393.patch"},"body":"Currently  when landing with `MIS_YAWMODE` > 0 the yaw setpoint of the waypoint (param4) is used. This leads to unexpected yawing shortly before landing which can confuse the user.\r\n\r\nWith this PR the yaw setpoint is calculated according to the `MIS_YAWMODE` setting during landing as well. However, in contrast to normal waypoints the yaw setpoint is calculated using the last waypoint instead of the current vehicle position to avoid yawing near the ground."},"comment":{"url":"https://api.github.com/repos/PX4/Firmware/issues/comments/167539705","html_url":"https://github.com/PX4/Firmware/pull/3393#issuecomment-167539705","issue_url":"https://api.github.com/repos/PX4/Firmware/issues/3393","id":167539705,"user":{"login":"thomasgubler","id":1419479,"avatar_url":"https://avatars.githubusercontent.com/u/1419479?v=3","gravatar_id":"","url":"https://api.github.com/users/thomasgubler","html_url":"https://github.com/thomasgubler","followers_url":"https://api.github.com/users/thomasgubler/followers","following_url":"https://api.github.com/users/thomasgubler/following{/other_user}","gists_url":"https://api.github.com/users/thomasgubler/gists{/gist_id}","starred_url":"https://api.github.com/users/thomasgubler/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/thomasgubler/subscriptions","organizations_url":"https://api.github.com/users/thomasgubler/orgs","repos_url":"https://api.github.com/users/thomasgubler/repos","events_url":"https://api.github.com/users/thomasgubler/events{/privacy}","received_events_url":"https://api.github.com/users/thomasgubler/received_events","type":"User","site_admin":false},"created_at":"2015-12-28T10:31:20Z","updated_at":"2015-12-28T10:31:20Z","body":"> Nice! What is the testing level of this?\r\n\r\n@LorenzMeier tested in SITL only"}}