{"action":"created","issue":{"url":"https://api.github.com/repos/TauLabs/TauLabs/issues/1506","labels_url":"https://api.github.com/repos/TauLabs/TauLabs/issues/1506/labels{/name}","comments_url":"https://api.github.com/repos/TauLabs/TauLabs/issues/1506/comments","events_url":"https://api.github.com/repos/TauLabs/TauLabs/issues/1506/events","html_url":"https://github.com/TauLabs/TauLabs/pull/1506","id":60273020,"number":1506,"title":"EKF: 14 state INS with z-axis bias and mag heading mode","user":{"login":"peabody124","id":618346,"avatar_url":"https://avatars.githubusercontent.com/u/618346?v=3","gravatar_id":"","url":"https://api.github.com/users/peabody124","html_url":"https://github.com/peabody124","followers_url":"https://api.github.com/users/peabody124/followers","following_url":"https://api.github.com/users/peabody124/following{/other_user}","gists_url":"https://api.github.com/users/peabody124/gists{/gist_id}","starred_url":"https://api.github.com/users/peabody124/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/peabody124/subscriptions","organizations_url":"https://api.github.com/users/peabody124/orgs","repos_url":"https://api.github.com/users/peabody124/repos","events_url":"https://api.github.com/users/peabody124/events{/privacy}","received_events_url":"https://api.github.com/users/peabody124/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/TauLabs/TauLabs/labels/firmware","name":"firmware","color":"02e10c"}],"state":"open","locked":false,"assignee":null,"milestone":{"url":"https://api.github.com/repos/TauLabs/TauLabs/milestones/8","html_url":"https://github.com/TauLabs/TauLabs/milestones/March%20Release","labels_url":"https://api.github.com/repos/TauLabs/TauLabs/milestones/8/labels","id":959562,"number":8,"title":"March Release","description":"","creator":{"login":"peabody124","id":618346,"avatar_url":"https://avatars.githubusercontent.com/u/618346?v=3","gravatar_id":"","url":"https://api.github.com/users/peabody124","html_url":"https://github.com/peabody124","followers_url":"https://api.github.com/users/peabody124/followers","following_url":"https://api.github.com/users/peabody124/following{/other_user}","gists_url":"https://api.github.com/users/peabody124/gists{/gist_id}","starred_url":"https://api.github.com/users/peabody124/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/peabody124/subscriptions","organizations_url":"https://api.github.com/users/peabody124/orgs","repos_url":"https://api.github.com/users/peabody124/repos","events_url":"https://api.github.com/users/peabody124/events{/privacy}","received_events_url":"https://api.github.com/users/peabody124/received_events","type":"User","site_admin":false},"open_issues":6,"closed_issues":1,"state":"open","created_at":"2015-01-31T17:08:34Z","updated_at":"2015-05-12T21:53:25Z","due_on":null,"closed_at":null},"comments":6,"created_at":"2015-03-08T19:54:55Z","updated_at":"2015-05-12T23:28:55Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/TauLabs/TauLabs/pulls/1506","html_url":"https://github.com/TauLabs/TauLabs/pull/1506","diff_url":"https://github.com/TauLabs/TauLabs/pull/1506.diff","patch_url":"https://github.com/TauLabs/TauLabs/pull/1506.patch"},"body":"When engaging altitude hold using the INS it is common to see a\r\nsmall glitch in the altitude. This arises because of untracked bias\r\nin the accelerometer. This new INS fixes this issue by tracking\r\nthe accelerometer bias.\r\n\r\nIn addition it changes how the mag is dealt with so it only influences\r\nyaw and cannot affect roll and pitch. This creates a better attitude\r\nestimate in practice.\r\n\r\nFinally it adds unit tests for the INS with regards to stability and\r\nconvergence rates.\r\n\r\nMuch of this work is written up here: http://buildandcrash.blogspot.com/2015/01/ekf-enhancements-and-unit-tests.html"},"comment":{"url":"https://api.github.com/repos/TauLabs/TauLabs/issues/comments/101459436","html_url":"https://github.com/TauLabs/TauLabs/pull/1506#issuecomment-101459436","issue_url":"https://api.github.com/repos/TauLabs/TauLabs/issues/1506","id":101459436,"user":{"login":"mlyle","id":90903,"avatar_url":"https://avatars.githubusercontent.com/u/90903?v=3","gravatar_id":"","url":"https://api.github.com/users/mlyle","html_url":"https://github.com/mlyle","followers_url":"https://api.github.com/users/mlyle/followers","following_url":"https://api.github.com/users/mlyle/following{/other_user}","gists_url":"https://api.github.com/users/mlyle/gists{/gist_id}","starred_url":"https://api.github.com/users/mlyle/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mlyle/subscriptions","organizations_url":"https://api.github.com/users/mlyle/orgs","repos_url":"https://api.github.com/users/mlyle/repos","events_url":"https://api.github.com/users/mlyle/events{/privacy}","received_events_url":"https://api.github.com/users/mlyle/received_events","type":"User","site_admin":false},"created_at":"2015-05-12T23:28:55Z","updated_at":"2015-05-12T23:28:55Z","body":"While I hope for more work in this area.. INS14 is clearly better, the patch reads sane, and we have good flight test on it."}}