{"action":"created","issue":{"url":"https://api.github.com/repos/TauLabs/TauLabs/issues/1933","labels_url":"https://api.github.com/repos/TauLabs/TauLabs/issues/1933/labels{/name}","comments_url":"https://api.github.com/repos/TauLabs/TauLabs/issues/1933/comments","events_url":"https://api.github.com/repos/TauLabs/TauLabs/issues/1933/events","html_url":"https://github.com/TauLabs/TauLabs/pull/1933","id":106045910,"number":1933,"title":"State estimation: Fix complementary filter heading initialization","user":{"login":"kubark42","id":1118185,"avatar_url":"https://avatars.githubusercontent.com/u/1118185?v=3","gravatar_id":"","url":"https://api.github.com/users/kubark42","html_url":"https://github.com/kubark42","followers_url":"https://api.github.com/users/kubark42/followers","following_url":"https://api.github.com/users/kubark42/following{/other_user}","gists_url":"https://api.github.com/users/kubark42/gists{/gist_id}","starred_url":"https://api.github.com/users/kubark42/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/kubark42/subscriptions","organizations_url":"https://api.github.com/users/kubark42/orgs","repos_url":"https://api.github.com/users/kubark42/repos","events_url":"https://api.github.com/users/kubark42/events{/privacy}","received_events_url":"https://api.github.com/users/kubark42/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/TauLabs/TauLabs/labels/bug","name":"bug","color":"fc2929"},{"url":"https://api.github.com/repos/TauLabs/TauLabs/labels/firmware","name":"firmware","color":"02e10c"}],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":2,"created_at":"2015-09-11T16:26:58Z","updated_at":"2015-09-11T17:00:21Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/TauLabs/TauLabs/pulls/1933","html_url":"https://github.com/TauLabs/TauLabs/pull/1933","diff_url":"https://github.com/TauLabs/TauLabs/pull/1933.diff","patch_url":"https://github.com/TauLabs/TauLabs/pull/1933.patch"},"body":"The initialization math required that the vehicle be level. This limitation was non-obvious, and probably why the error was made."},"comment":{"url":"https://api.github.com/repos/TauLabs/TauLabs/issues/comments/139600572","html_url":"https://github.com/TauLabs/TauLabs/pull/1933#issuecomment-139600572","issue_url":"https://api.github.com/repos/TauLabs/TauLabs/issues/1933","id":139600572,"user":{"login":"kubark42","id":1118185,"avatar_url":"https://avatars.githubusercontent.com/u/1118185?v=3","gravatar_id":"","url":"https://api.github.com/users/kubark42","html_url":"https://github.com/kubark42","followers_url":"https://api.github.com/users/kubark42/followers","following_url":"https://api.github.com/users/kubark42/following{/other_user}","gists_url":"https://api.github.com/users/kubark42/gists{/gist_id}","starred_url":"https://api.github.com/users/kubark42/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/kubark42/subscriptions","organizations_url":"https://api.github.com/users/kubark42/orgs","repos_url":"https://api.github.com/users/kubark42/repos","events_url":"https://api.github.com/users/kubark42/events{/privacy}","received_events_url":"https://api.github.com/users/kubark42/received_events","type":"User","site_admin":false},"created_at":"2015-09-11T17:00:21Z","updated_at":"2015-09-11T17:00:21Z","body":"I doubt it's the root cause, but it might have been the initial clang that got the system ringing. The issue in #917 was that the convergence routine can drive the system unstable, even though the system is demonstrated to mathematically converge under (almost) all conditions. That indicates that a more adaptive/less aggressive convergence scheme would converge foar a wider range of bad initial values.\r\n\r\nP.S. I discovered this thanks to the visualization in #1906."}}