{"action":"created","issue":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/4237","repository_url":"https://api.github.com/repos/ArduPilot/ardupilot","labels_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/4237/labels{/name}","comments_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/4237/comments","events_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/4237/events","html_url":"https://github.com/ArduPilot/ardupilot/pull/4237","id":157784152,"number":4237,"title":"AP_NavEKF2: improve inertial prediction","user":{"login":"jschall","id":1015761,"avatar_url":"https://avatars.githubusercontent.com/u/1015761?v=3","gravatar_id":"","url":"https://api.github.com/users/jschall","html_url":"https://github.com/jschall","followers_url":"https://api.github.com/users/jschall/followers","following_url":"https://api.github.com/users/jschall/following{/other_user}","gists_url":"https://api.github.com/users/jschall/gists{/gist_id}","starred_url":"https://api.github.com/users/jschall/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jschall/subscriptions","organizations_url":"https://api.github.com/users/jschall/orgs","repos_url":"https://api.github.com/users/jschall/repos","events_url":"https://api.github.com/users/jschall/events{/privacy}","received_events_url":"https://api.github.com/users/jschall/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/ArduPilot/ardupilot/labels/EKF","name":"EKF","color":"e34520"},{"url":"https://api.github.com/repos/ArduPilot/ardupilot/labels/Enhancement","name":"Enhancement","color":"84b6eb"}],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":3,"created_at":"2016-05-31T22:22:46Z","updated_at":"2016-06-09T04:34:39Z","closed_at":"2016-06-09T04:34:39Z","pull_request":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/pulls/4237","html_url":"https://github.com/ArduPilot/ardupilot/pull/4237","diff_url":"https://github.com/ArduPilot/ardupilot/pull/4237.diff","patch_url":"https://github.com/ArduPilot/ardupilot/pull/4237.patch"},"body":"No testing yet apart from short SITL flight. I'll try to get replay running on the logs.\r\n\r\nThis patch:\r\n- Applies inertial sensor corrections at the correct time horizon. This improves the stability margins of the bias estimation.\r\n- Corrects the initial frame for the rotation of delta velocity to NED.\r\n- Eliminates some unnecessary and unused variables from the NavEKF2_core class."},"comment":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/comments/224797868","html_url":"https://github.com/ArduPilot/ardupilot/pull/4237#issuecomment-224797868","issue_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/4237","id":224797868,"user":{"login":"priseborough","id":3596952,"avatar_url":"https://avatars.githubusercontent.com/u/3596952?v=3","gravatar_id":"","url":"https://api.github.com/users/priseborough","html_url":"https://github.com/priseborough","followers_url":"https://api.github.com/users/priseborough/followers","following_url":"https://api.github.com/users/priseborough/following{/other_user}","gists_url":"https://api.github.com/users/priseborough/gists{/gist_id}","starred_url":"https://api.github.com/users/priseborough/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/priseborough/subscriptions","organizations_url":"https://api.github.com/users/priseborough/orgs","repos_url":"https://api.github.com/users/priseborough/repos","events_url":"https://api.github.com/users/priseborough/events{/privacy}","received_events_url":"https://api.github.com/users/priseborough/received_events","type":"User","site_admin":false},"created_at":"2016-06-09T04:34:39Z","updated_at":"2016-06-09T04:34:39Z","body":"These patches are included as part of a larger PR I am putting together to submit next week\r\n\r\nhttps://github.com/priseborough/ardupilot/tree/pr-ekf2SoloUpdates"}}
{"actor":{"display_login":"priseborough"}}