{"action":"created","issue":{"url":"https://api.github.com/repos/diydrones/ardupilot/issues/3308","labels_url":"https://api.github.com/repos/diydrones/ardupilot/issues/3308/labels{/name}","comments_url":"https://api.github.com/repos/diydrones/ardupilot/issues/3308/comments","events_url":"https://api.github.com/repos/diydrones/ardupilot/issues/3308/events","html_url":"https://github.com/diydrones/ardupilot/issues/3308","id":121076326,"number":3308,"title":"Copter should not use GPS for LAND ","user":{"login":"imrj","id":12223772,"avatar_url":"https://avatars.githubusercontent.com/u/12223772?v=3","gravatar_id":"","url":"https://api.github.com/users/imrj","html_url":"https://github.com/imrj","followers_url":"https://api.github.com/users/imrj/followers","following_url":"https://api.github.com/users/imrj/following{/other_user}","gists_url":"https://api.github.com/users/imrj/gists{/gist_id}","starred_url":"https://api.github.com/users/imrj/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/imrj/subscriptions","organizations_url":"https://api.github.com/users/imrj/orgs","repos_url":"https://api.github.com/users/imrj/repos","events_url":"https://api.github.com/users/imrj/events{/privacy}","received_events_url":"https://api.github.com/users/imrj/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/diydrones/ardupilot/labels/Copter","name":"Copter","color":"02e10c"}],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":17,"created_at":"2015-12-08T19:04:44Z","updated_at":"2015-12-09T21:30:09Z","closed_at":"2015-12-09T02:18:09Z","body":"based on this thread and its associated incident (https://github.com/diydrones/ardupilot/issues/3286#issuecomment-162381578)\r\n\r\nmaybe as a configurable parameter or a fixed setting, copter should not rely on GPS for auto LAND procedure, as nearby objects and/or building obstructions could affect GPS signal and cause unexpected changes in position during a land operation.  People and/or property are relatively closer to the copter when its landing and more exposed, which could result on injury or damage if a sudden and unexpected position change occurs due to relying on poor GPS signal at very low altitudes.\r\nThe copter should explicitly rely on other methods, such as EKF or INS? to maintain its position during a landing, rather than a fluctuating or poor GPS signal.\r\nor maybe also this setting can be triggered when the copter enters the final landing hover (which is 10m or so I believe) so stop relying on GPS then? just suggesting enhancements based on limited knowledge to avoid potentially dangerous situation when copter is very close to people"},"comment":{"url":"https://api.github.com/repos/diydrones/ardupilot/issues/comments/163397369","html_url":"https://github.com/diydrones/ardupilot/issues/3308#issuecomment-163397369","issue_url":"https://api.github.com/repos/diydrones/ardupilot/issues/3308","id":163397369,"user":{"login":"R-Lefebvre","id":3228111,"avatar_url":"https://avatars.githubusercontent.com/u/3228111?v=3","gravatar_id":"","url":"https://api.github.com/users/R-Lefebvre","html_url":"https://github.com/R-Lefebvre","followers_url":"https://api.github.com/users/R-Lefebvre/followers","following_url":"https://api.github.com/users/R-Lefebvre/following{/other_user}","gists_url":"https://api.github.com/users/R-Lefebvre/gists{/gist_id}","starred_url":"https://api.github.com/users/R-Lefebvre/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/R-Lefebvre/subscriptions","organizations_url":"https://api.github.com/users/R-Lefebvre/orgs","repos_url":"https://api.github.com/users/R-Lefebvre/repos","events_url":"https://api.github.com/users/R-Lefebvre/events{/privacy}","received_events_url":"https://api.github.com/users/R-Lefebvre/received_events","type":"User","site_admin":false},"created_at":"2015-12-09T21:30:09Z","updated_at":"2015-12-09T21:30:09Z","body":"That is correct.  For manual landings, the pilots eyes are the external sensors.  But without something, using just the accelerometers, the copter will drift off quite quickly. "}}