{"action":"created","issue":{"url":"https://api.github.com/repos/diydrones/ardupilot/issues/3000","labels_url":"https://api.github.com/repos/diydrones/ardupilot/issues/3000/labels{/name}","comments_url":"https://api.github.com/repos/diydrones/ardupilot/issues/3000/comments","events_url":"https://api.github.com/repos/diydrones/ardupilot/issues/3000/events","html_url":"https://github.com/diydrones/ardupilot/issues/3000","id":111361723,"number":3000,"title":"FS EKF and  EKF GATE issue","user":{"login":"roque-canales","id":8442576,"avatar_url":"https://avatars.githubusercontent.com/u/8442576?v=3","gravatar_id":"","url":"https://api.github.com/users/roque-canales","html_url":"https://github.com/roque-canales","followers_url":"https://api.github.com/users/roque-canales/followers","following_url":"https://api.github.com/users/roque-canales/following{/other_user}","gists_url":"https://api.github.com/users/roque-canales/gists{/gist_id}","starred_url":"https://api.github.com/users/roque-canales/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/roque-canales/subscriptions","organizations_url":"https://api.github.com/users/roque-canales/orgs","repos_url":"https://api.github.com/users/roque-canales/repos","events_url":"https://api.github.com/users/roque-canales/events{/privacy}","received_events_url":"https://api.github.com/users/roque-canales/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":9,"created_at":"2015-10-14T09:49:16Z","updated_at":"2015-11-09T10:59:10Z","closed_at":null,"body":"I set up a platform to test the EKF filter in the GPS management when it does not produce viable positions.\r\n\r\nFirst test:\r\nTest reactions in flight of drone LOITE mode when the bias of VEL and POS or exceeds 1. To do this I disabled FS EKF by setting it to 1 then I set VEL_GATE and POS_GATE reduced values (respectively 5 and 10, then 3 and 5, and 1 and 1).\r\n\r\nAccording to the EKF manual in \"copter.ardupilot.com\", when bias values exceed 1, the EKF filter no longer takes into account theses values ....\r\n\r\nIn reality, nothing happens, it is clear EKF STATUS is in the red (so EKF detect issue), but the drone  goes left and then right louder until ANGLE MAX blocked in one direction.\r\n\r\nIn this case, the only way to recover the drone is Stabilize MODE ......\r\n\r\nSecond test:\r\nTest FS_EKF toggle when the drone flight in LOITER mode, to do that I set FS_EKF_TRESH to 0.8 and then 0.6, Also I set FS_EKF_ACTION to 2 to switch to ALTHOLD mode in case of threshold.\r\n\r\nLogically soon as one of the 5 BIAS EKF STATUS measures (VEL, HPOS, VPOS, COMPASS, GROUND) exceeds the value of FS EKF, FS EKF should switches into preset mode (in my case ALTHOLD ) to prevent:\r\nThe drone MAX ANGLE in one direction\r\nWarn the pilot about the problem\r\ngive the hand to the pilot in a mode not using the GPS before it's too late (max angle in one direction)\r\n\r\nEventually, to avoid accidental triggering, FS EKF TRESH could be:\r\nA Bias value to not exceeded (as is supposed to be)\r\nExceeding authorization period in milliseconds before toggle FS action.\r\n\r\nWe need to prevent that in the event of driver sends the drone in an area where the GPS is subject to reverberation (usually if it flies down the trees, or too ready of a building), avoid at all costs that the drone take max angle, because the pilot not have time to react, due to the fact that drone take big speed too quickly.....and crahk one the wall.\r\n"},"comment":{"url":"https://api.github.com/repos/diydrones/ardupilot/issues/comments/155028535","html_url":"https://github.com/diydrones/ardupilot/issues/3000#issuecomment-155028535","issue_url":"https://api.github.com/repos/diydrones/ardupilot/issues/3000","id":155028535,"user":{"login":"roque-canales","id":8442576,"avatar_url":"https://avatars.githubusercontent.com/u/8442576?v=3","gravatar_id":"","url":"https://api.github.com/users/roque-canales","html_url":"https://github.com/roque-canales","followers_url":"https://api.github.com/users/roque-canales/followers","following_url":"https://api.github.com/users/roque-canales/following{/other_user}","gists_url":"https://api.github.com/users/roque-canales/gists{/gist_id}","starred_url":"https://api.github.com/users/roque-canales/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/roque-canales/subscriptions","organizations_url":"https://api.github.com/users/roque-canales/orgs","repos_url":"https://api.github.com/users/roque-canales/repos","events_url":"https://api.github.com/users/roque-canales/events{/privacy}","received_events_url":"https://api.github.com/users/roque-canales/received_events","type":"User","site_admin":false},"created_at":"2015-11-09T10:59:10Z","updated_at":"2015-11-09T10:59:10Z","body":"for test it I need compiled beta version, so are you meaning that it's already available on released ac 3.3.1?\r\nif it's not the case could you share it as new beta version through mission planner?\r\n"}}