{"action":"created","issue":{"url":"https://api.github.com/repos/PX4/Firmware/issues/2096","labels_url":"https://api.github.com/repos/PX4/Firmware/issues/2096/labels{/name}","comments_url":"https://api.github.com/repos/PX4/Firmware/issues/2096/comments","events_url":"https://api.github.com/repos/PX4/Firmware/issues/2096/events","html_url":"https://github.com/PX4/Firmware/pull/2096","id":71143314,"number":2096,"title":"Kalman filter based position estimator with  fault detection and lidar/baro/flow/gps/accel/vision/vicon fusion.","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":112,"created_at":"2015-04-27T00:54:10Z","updated_at":"2015-09-23T20:57:01Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/PX4/Firmware/pulls/2096","html_url":"https://github.com/PX4/Firmware/pull/2096","diff_url":"https://github.com/PX4/Firmware/pull/2096.diff","patch_url":"https://github.com/PX4/Firmware/pull/2096.patch"},"body":"This is a new estimator, very similar to position_estimator_inav, but it uses kalman filtering and has fault detection. \r\n\r\nFeatures\r\n* assumes simple linear dynamics in local cartesian NED frame, like position_estimator_inav\r\n* fault detection\r\n* inertial navigation\r\n* lidar data fusion (fault detection help throw out bad values)\r\n* works well for indoor navigation with flow\r\n\r\nI flew it today after adding accel/gps/lidar and the position hold and altitude hold works great. Something is screwy in auto mode, and it heads northwest continually, still tracking it down."},"comment":{"url":"https://api.github.com/repos/PX4/Firmware/issues/comments/142725892","html_url":"https://github.com/PX4/Firmware/pull/2096#issuecomment-142725892","issue_url":"https://api.github.com/repos/PX4/Firmware/issues/2096","id":142725892,"user":{"login":"tumbili","id":7610489,"avatar_url":"https://avatars.githubusercontent.com/u/7610489?v=3","gravatar_id":"","url":"https://api.github.com/users/tumbili","html_url":"https://github.com/tumbili","followers_url":"https://api.github.com/users/tumbili/followers","following_url":"https://api.github.com/users/tumbili/following{/other_user}","gists_url":"https://api.github.com/users/tumbili/gists{/gist_id}","starred_url":"https://api.github.com/users/tumbili/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/tumbili/subscriptions","organizations_url":"https://api.github.com/users/tumbili/orgs","repos_url":"https://api.github.com/users/tumbili/repos","events_url":"https://api.github.com/users/tumbili/events{/privacy}","received_events_url":"https://api.github.com/users/tumbili/received_events","type":"User","site_admin":false},"created_at":"2015-09-23T20:57:01Z","updated_at":"2015-09-23T20:57:01Z","body":"@jgoppert I bench tested the accel bias estimation branch and played with the noise powers.\r\nLooks like the accel noise variance must be smaller in order to get a relatively smooth estimate.\r\nFurthermore, I increased the variance of the baro. I did an indoor test with very bad GPS reception and got this, which does not look bad:\r\nhttp://logs.uaventure.com/view/o64NGwZB4UtTsZFKCs6AdE"}}