{"action":"created","issue":{"url":"https://api.github.com/repos/PX4/Firmware/issues/2361","labels_url":"https://api.github.com/repos/PX4/Firmware/issues/2361/labels{/name}","comments_url":"https://api.github.com/repos/PX4/Firmware/issues/2361/comments","events_url":"https://api.github.com/repos/PX4/Firmware/issues/2361/events","html_url":"https://github.com/PX4/Firmware/pull/2361","id":88026060,"number":2361,"title":"MOCAP support on firmware [new PR]","user":{"login":"TSC21","id":5048656,"avatar_url":"https://avatars.githubusercontent.com/u/5048656?v=3","gravatar_id":"","url":"https://api.github.com/users/TSC21","html_url":"https://github.com/TSC21","followers_url":"https://api.github.com/users/TSC21/followers","following_url":"https://api.github.com/users/TSC21/following{/other_user}","gists_url":"https://api.github.com/users/TSC21/gists{/gist_id}","starred_url":"https://api.github.com/users/TSC21/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/TSC21/subscriptions","organizations_url":"https://api.github.com/users/TSC21/orgs","repos_url":"https://api.github.com/users/TSC21/repos","events_url":"https://api.github.com/users/TSC21/events{/privacy}","received_events_url":"https://api.github.com/users/TSC21/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":44,"created_at":"2015-06-13T16:06:54Z","updated_at":"2015-06-25T23:00:10Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/PX4/Firmware/pulls/2361","html_url":"https://github.com/PX4/Firmware/pull/2361","diff_url":"https://github.com/PX4/Firmware/pull/2361.diff","patch_url":"https://github.com/PX4/Firmware/pull/2361.patch"},"body":"This is a new PR, given I screwed https://github.com/PX4/Firmware/pull/2317. Please, test this one now, as it also doesn't have the problem regarding the `uavcan` submodule version. (sorry for the previous messy stuff)"},"comment":{"url":"https://api.github.com/repos/PX4/Firmware/issues/comments/115424215","html_url":"https://github.com/PX4/Firmware/pull/2361#issuecomment-115424215","issue_url":"https://api.github.com/repos/PX4/Firmware/issues/2361","id":115424215,"user":{"login":"TSC21","id":5048656,"avatar_url":"https://avatars.githubusercontent.com/u/5048656?v=3","gravatar_id":"","url":"https://api.github.com/users/TSC21","html_url":"https://github.com/TSC21","followers_url":"https://api.github.com/users/TSC21/followers","following_url":"https://api.github.com/users/TSC21/following{/other_user}","gists_url":"https://api.github.com/users/TSC21/gists{/gist_id}","starred_url":"https://api.github.com/users/TSC21/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/TSC21/subscriptions","organizations_url":"https://api.github.com/users/TSC21/orgs","repos_url":"https://api.github.com/users/TSC21/repos","events_url":"https://api.github.com/users/TSC21/events{/privacy}","received_events_url":"https://api.github.com/users/TSC21/received_events","type":"User","site_admin":false},"created_at":"2015-06-25T23:00:10Z","updated_at":"2015-06-25T23:00:10Z","body":"@blackcoder thanks once again for your feedback ;) I'll be adding the correction to the conversions in all mavros plugins now that we confirmed that this works.\r\n\r\n@moskytoo `position_estimator_inav` doesn't have fault detection and doesn't filter the data values it receives, it just tries to correct them, and that's why you see those overshoots. You can always try to add the fault detection on firmware code, which would be a good addiction to all. Or, you can always filter your data before sending it to mavros plugin (not just \"not sending it\", but apply a LP filter for example, which is somehow what inav does, but then you would have double filtering, which would be much more accurate but you will have a reduction on performance).\r\n\r\n@moskytoo if you could please add some more test results (like doing some flightests) and add some plots as @blackcoder did, I think we then can consider this mergeble, considering you get acceptable results as Tarek did.\r\n\r\n@congleetea confirming this also works with Optitrack would be a good confirmation of code functionality.\r\n\r\nOnce again, thank to you all ;)"}}