{"action":"created","issue":{"url":"https://api.github.com/repos/PX4/Firmware/issues/3010","labels_url":"https://api.github.com/repos/PX4/Firmware/issues/3010/labels{/name}","comments_url":"https://api.github.com/repos/PX4/Firmware/issues/3010/comments","events_url":"https://api.github.com/repos/PX4/Firmware/issues/3010/events","html_url":"https://github.com/PX4/Firmware/pull/3010","id":111974206,"number":3010,"title":"Local Position Estimator","user":{"login":"jgoppert","id":473772,"avatar_url":"https://avatars.githubusercontent.com/u/473772?v=3","gravatar_id":"","url":"https://api.github.com/users/jgoppert","html_url":"https://github.com/jgoppert","followers_url":"https://api.github.com/users/jgoppert/followers","following_url":"https://api.github.com/users/jgoppert/following{/other_user}","gists_url":"https://api.github.com/users/jgoppert/gists{/gist_id}","starred_url":"https://api.github.com/users/jgoppert/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jgoppert/subscriptions","organizations_url":"https://api.github.com/users/jgoppert/orgs","repos_url":"https://api.github.com/users/jgoppert/repos","events_url":"https://api.github.com/users/jgoppert/events{/privacy}","received_events_url":"https://api.github.com/users/jgoppert/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":24,"created_at":"2015-10-17T17:15:43Z","updated_at":"2015-10-18T22:30:17Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/PX4/Firmware/pulls/3010","html_url":"https://github.com/PX4/Firmware/pull/3010","diff_url":"https://github.com/PX4/Firmware/pull/3010.diff","patch_url":"https://github.com/PX4/Firmware/pull/3010.patch"},"body":"This is a repost of https://github.com/PX4/Firmware/pull/2096 since we moved the repo to dronecrew. This has been recently flight tested. I'm just about to fly it again on an Iris after pulling from master. @TSC21, @BMP-TECH, @LorenzMeier, @mhkabir, @tumbili \r\n\r\nIt adds a replacement for position_estimator_inav, local_position_estimator, with a standard kalman filter implementation and fault detection. The kalman filter gains have been automatically tuned using real log data. There are at least several hundred hours of flight testing behind this estimator. Primarily with GPS + lidar or GPS + baro configurations. PX4Flow indoors was also tested. It also support motion capture and vision based position data, but this hasn't been heavily tested.\r\n\r\nThis has been rebased on the latest cmake changes and the lpe firmware can be built using:\r\n\r\n```bash\r\nmake px4fmu-v2_lpe\r\nmake px4fmu-v2_lpe upload\r\netc...\r\n```"},"comment":{"url":"https://api.github.com/repos/PX4/Firmware/issues/comments/149056601","html_url":"https://github.com/PX4/Firmware/pull/3010#issuecomment-149056601","issue_url":"https://api.github.com/repos/PX4/Firmware/issues/3010","id":149056601,"user":{"login":"LorenzMeier","id":1208119,"avatar_url":"https://avatars.githubusercontent.com/u/1208119?v=3","gravatar_id":"","url":"https://api.github.com/users/LorenzMeier","html_url":"https://github.com/LorenzMeier","followers_url":"https://api.github.com/users/LorenzMeier/followers","following_url":"https://api.github.com/users/LorenzMeier/following{/other_user}","gists_url":"https://api.github.com/users/LorenzMeier/gists{/gist_id}","starred_url":"https://api.github.com/users/LorenzMeier/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/LorenzMeier/subscriptions","organizations_url":"https://api.github.com/users/LorenzMeier/orgs","repos_url":"https://api.github.com/users/LorenzMeier/repos","events_url":"https://api.github.com/users/LorenzMeier/events{/privacy}","received_events_url":"https://api.github.com/users/LorenzMeier/received_events","type":"User","site_admin":false},"created_at":"2015-10-18T22:30:17Z","updated_at":"2015-10-18T22:30:17Z","body":"Plots looking much better. We'll just need to test-fly this on our end. Really cool, much appreciated contribution!"}}