{"action":"created","issue":{"url":"https://api.github.com/repos/byu-magicc/ros_copter/issues/12","repository_url":"https://api.github.com/repos/byu-magicc/ros_copter","labels_url":"https://api.github.com/repos/byu-magicc/ros_copter/issues/12/labels{/name}","comments_url":"https://api.github.com/repos/byu-magicc/ros_copter/issues/12/comments","events_url":"https://api.github.com/repos/byu-magicc/ros_copter/issues/12/events","html_url":"https://github.com/byu-magicc/ros_copter/issues/12","id":179107484,"number":12,"title":"EKF - Mag 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need to support the magnetometer before we can get good position and velocity estimates.\r\n\r\n@nonrevlb and @dpkoch, what would be left to do before we could use the magnetometer to resolve our heading? I can make sure that the latest ROSflight supports mag early this week.  I have delayed getting the mag going because I wanted to merge it in at the same time I merged in the asynchronous stuff.  However,  I have been running into some weird issues getting multiple sensors reading asynchronously on ROSflight which has caused some delays.  What if we just do asynchronous IMU, while blocking other sensors for now, until I can resolve those issues? \r\n\r\nI remember that @dpkoch was working on getting mag calibrated and streaming from byu-magicc/fcu_io before I left, but I don't know what the state of that is currently.  @nonrevlb, do you think that you could get it into the ekf?  Unfortunately, I'm a little hazy on the measurement model.  I'm pretty sure that it is in the UAV book, and if it's not, it is definitely somewhere online.  We might need to do a little reading before we fully understand the measurement models, but once we have them, it should be easy to simulate and add to the EKF.  What do you think?\r\n\r\nI think this is the final step for the LANL project, I guess this and #10."},"comment":{"url":"https://api.github.com/repos/byu-magicc/ros_copter/issues/comments/251559092","html_url":"https://github.com/byu-magicc/ros_copter/issues/12#issuecomment-251559092","issue_url":"https://api.github.com/repos/byu-magicc/ros_copter/issues/12","id":251559092,"user":{"login":"superjax","id":7344014,"avatar_url":"https://avatars.githubusercontent.com/u/7344014?v=3","gravatar_id":"","url":"https://api.github.com/users/superjax","html_url":"https://github.com/superjax","followers_url":"https://api.github.com/users/superjax/followers","following_url":"https://api.github.com/users/superjax/following{/other_user}","gists_url":"https://api.github.com/users/superjax/gists{/gist_id}","starred_url":"https://api.github.com/users/superjax/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/superjax/subscriptions","organizations_url":"https://api.github.com/users/superjax/orgs","repos_url":"https://api.github.com/users/superjax/repos","events_url":"https://api.github.com/users/superjax/events{/privacy}","received_events_url":"https://api.github.com/users/superjax/received_events","type":"User","site_admin":false},"created_at":"2016-10-05T01:23:48Z","updated_at":"2016-10-05T01:23:48Z","body":"Oh, yeah. You're right.  I think it will be independent of the bias terms then."}}
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