{"action":"closed","issue":{"url":"https://api.github.com/repos/diydrones/ardupilot/issues/1840","labels_url":"https://api.github.com/repos/diydrones/ardupilot/issues/1840/labels{/name}","comments_url":"https://api.github.com/repos/diydrones/ardupilot/issues/1840/comments","events_url":"https://api.github.com/repos/diydrones/ardupilot/issues/1840/events","html_url":"https://github.com/diydrones/ardupilot/issues/1840","id":56296907,"number":1840,"title":"EKF little glitches after TakeOff","user":{"login":"andrea25","id":10176752,"avatar_url":"https://avatars.githubusercontent.com/u/10176752?v=3","gravatar_id":"","url":"https://api.github.com/users/andrea25","html_url":"https://github.com/andrea25","followers_url":"https://api.github.com/users/andrea25/followers","following_url":"https://api.github.com/users/andrea25/following{/other_user}","gists_url":"https://api.github.com/users/andrea25/gists{/gist_id}","starred_url":"https://api.github.com/users/andrea25/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/andrea25/subscriptions","organizations_url":"https://api.github.com/users/andrea25/orgs","repos_url":"https://api.github.com/users/andrea25/repos","events_url":"https://api.github.com/users/andrea25/events{/privacy}","received_events_url":"https://api.github.com/users/andrea25/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2015-02-02T21:37:41Z","updated_at":"2015-02-03T01:07:44Z","closed_at":"2015-02-03T01:07:44Z","body":"This afternoon I and my collegues was flying our copter.\r\nThe pilot was my collegue Noemi. \r\nEKF enabled.\r\nShe do the TakeOff in Loiter.\r\nThen, 5-20 second after TakeOff we see a little \"glitch\", the copter suddently move fast on the right.\r\n\r\nAfter this everything was normal, everything was right. \r\nNothing change. \r\nAll was stable and the we can complete a mission in auto mode.\r\n\r\n-----------------\r\n\r\nAnother time:\r\nEKF enabled.\r\nI do the TakeOff in AltHold.\r\nThen, 5-20 second after TakeOff we see a little \"glitch\", the copter suddently move fast and go up.\r\n\r\nAfter this everything was normal, everything was right. \r\nNothing change. \r\n\r\n------------\r\n\r\nTakeoff apart, during the loiter mode the copter was very stable.\r\nAnd the auto mode is very clean, very good.\r\nI do not have any problem with EKF after tuning.\r\n\r\n---------\r\n\r\nWe can repeat the same \"glitch\" every 10-15 TakeOff, and only after TakeOff.\r\nActually we do not have any flashlog that we can share in public. But we can take anyscreenshot if you need.\r\n\r\n-------\r\nNoemi's LOG Sample\r\n\r\nRED and GREEN --> ATT DesRoll and Roll\r\nBLUE --> EKF1 ROLL\r\n\r\n![rollekferror](https://cloud.githubusercontent.com/assets/10176752/6009620/a28b043e-ab2b-11e4-9a0a-2f23976b45ad.jpg)\r\n\r\nDoes anyone have our same problem?\r\nDoes anyone can look further about this?"}}