{"action":"created","issue":{"url":"https://api.github.com/repos/mitdrc/pronto/issues/7","labels_url":"https://api.github.com/repos/mitdrc/pronto/issues/7/labels{/name}","comments_url":"https://api.github.com/repos/mitdrc/pronto/issues/7/comments","events_url":"https://api.github.com/repos/mitdrc/pronto/issues/7/events","html_url":"https://github.com/mitdrc/pronto/pull/7","id":56903380,"number":7,"title":"Add support for fixedwing sensors and on-the-fly reinit","user":{"login":"andybarry","id":1299882,"avatar_url":"https://avatars.githubusercontent.com/u/1299882?v=3","gravatar_id":"","url":"https://api.github.com/users/andybarry","html_url":"https://github.com/andybarry","followers_url":"https://api.github.com/users/andybarry/followers","following_url":"https://api.github.com/users/andybarry/following{/other_user}","gists_url":"https://api.github.com/users/andybarry/gists{/gist_id}","starred_url":"https://api.github.com/users/andybarry/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/andybarry/subscriptions","organizations_url":"https://api.github.com/users/andybarry/orgs","repos_url":"https://api.github.com/users/andybarry/repos","events_url":"https://api.github.com/users/andybarry/events{/privacy}","received_events_url":"https://api.github.com/users/andybarry/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":2,"created_at":"2015-02-07T08:41:23Z","updated_at":"2015-02-18T16:14:14Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/mitdrc/pronto/pulls/7","html_url":"https://github.com/mitdrc/pronto/pull/7","diff_url":"https://github.com/mitdrc/pronto/pull/7.diff","patch_url":"https://github.com/mitdrc/pronto/pull/7.patch"},"body":"This adds support for:\r\n- pitot tube (airspeed sensor)\r\n- altimeter\r\n- sideslip sensor (mostly used to constrain the estimator to have little to no sideslip on an aircraft that has vertical stabilizers but no way to sense sideslip.)\r\n- reinit message\r\n  - If you include ````init_message```` in the list of sensors, the filter will listen on your init message channel and reinit with the state given in the message on the fly.\r\n  - Will optionally send an LCM message on completion of reset.\r\n- Removes  ````-m64```` option, which made everything fail to compile on ARM (@mauricefallon, do you need that?)\r\n- Adds an option to use a parameter server instead of a local file for ````pronto-viewer````.\r\n\r\nHere's an example of a configuration file that implements these things:\r\n````\r\nstate_estimator {\r\n    init_sensors = [\"ins\"];\r\n    active_sensors = [\"ins\", \"altimeter\", \"airspeed\", \"sideslip\", \"init_message\"];\r\n\r\n[...]\r\n\r\n    init_message {\r\n        channel = \"MAV_STATE_EST_INITIALIZER\";\r\n        downsample_factor = 1; # this should always be 1\r\n\r\n        # if you give a value here, the state estimator will send a\r\n        # timestamp over LCM when it completes its reset\r\n        init_complete_channel = \"MAV_STATE_EST_INIT_COMPLETE\";\r\n\r\n        roll_forward_on_receive = true;\r\n        publish_head_on_message = true;\r\n\r\n        utime_offset = 0;\r\n\r\n    }\r\n\r\n    airspeed{\r\n        r = 15; #m/s (?)\r\n\r\n        channel = \"airspeed\";\r\n\r\n        utime_offset = 0;\r\n        downsample_factor = 1; # process 1 out of every this many\r\n\r\n        roll_forward_on_receive = false;\r\n        publish_head_on_message = false;\r\n    }\r\n\r\n    altimeter{\r\n        r = 5; #m -- altitude\r\n\r\n        channel = \"altimeter\";\r\n\r\n        utime_offset = 0;\r\n        downsample_factor = 1; # process 1 out of every this many\r\n\r\n        roll_forward_on_receive = false;\r\n        publish_head_on_message = false;\r\n    }\r\n\r\n    sideslip{\r\n        r = 5; #m/s\r\n\r\n        channel = \"sideslip\";\r\n\r\n        utime_offset = 0;\r\n        downsample_factor = 1; # process 1 out of every this many\r\n\r\n        roll_forward_on_receive = false;\r\n        publish_head_on_message = false;\r\n    }\r\n\r\n[...]\r\n}\r\n````"},"comment":{"url":"https://api.github.com/repos/mitdrc/pronto/issues/comments/74892270","html_url":"https://github.com/mitdrc/pronto/pull/7#issuecomment-74892270","issue_url":"https://api.github.com/repos/mitdrc/pronto/issues/7","id":74892270,"user":{"login":"mauricefallon","id":6404227,"avatar_url":"https://avatars.githubusercontent.com/u/6404227?v=3","gravatar_id":"","url":"https://api.github.com/users/mauricefallon","html_url":"https://github.com/mauricefallon","followers_url":"https://api.github.com/users/mauricefallon/followers","following_url":"https://api.github.com/users/mauricefallon/following{/other_user}","gists_url":"https://api.github.com/users/mauricefallon/gists{/gist_id}","starred_url":"https://api.github.com/users/mauricefallon/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mauricefallon/subscriptions","organizations_url":"https://api.github.com/users/mauricefallon/orgs","repos_url":"https://api.github.com/users/mauricefallon/repos","events_url":"https://api.github.com/users/mauricefallon/events{/privacy}","received_events_url":"https://api.github.com/users/mauricefallon/received_events","type":"User","site_admin":false},"created_at":"2015-02-18T16:14:14Z","updated_at":"2015-02-18T16:14:14Z","body":"Andy, can you make these small changes and I'll accept the pull request?\r\nI'm in MIT this week and actively working on Pronto, so I don't want to make any conflicts."}}