{"action":"created","comment":{"url":"https://api.github.com/repos/lis-epfl/MAVRIC_Library/pulls/comments/72024066","id":72024066,"diff_hunk":"@@ -356,41 +336,47 @@ Position_estimation::Position_estimation(State& state, Barometer& barometer, con\n         sonar(sonar)\n {\n     // default GPS home position\n-    local_position.origin.longitude =  config.origin.longitude;\n-    local_position.origin.latitude =   config.origin.latitude;\n-    local_position.origin.altitude =   config.origin.altitude;\n+    origin_.longitude =  config.origin.longitude;\n+    origin_.latitude =   config.origin.latitude;\n+    origin_.altitude =   config.origin.altitude;\n \n     for(uint8_t i = 0; i < 3; i++)\n     {\n-        local_position.pos[i] = 0.0f;\n+        local_position[i] = 0.0f;\n         kp_pos_gps[i] = config.kp_pos_gps[i];\n         kp_vel_gps[i] = config.kp_vel_gps[i];\n     }\n-\n-    if (fence_set)\n-    {\n-        set_new_fence_origin();","path":"sensing/position_estimation.cpp","position":225,"original_position":215,"commit_id":"c066af618b9497a510709e337770ec69cd835fb5","original_commit_id":"e69a8efd341b2f4d141c92ac525a284073b770cb","user":{"login":"jlecoeur","id":1379463,"avatar_url":"https://avatars.githubusercontent.com/u/1379463?v=3","gravatar_id":"","url":"https://api.github.com/users/jlecoeur","html_url":"https://github.com/jlecoeur","followers_url":"https://api.github.com/users/jlecoeur/followers","following_url":"https://api.github.com/users/jlecoeur/following{/other_user}","gists_url":"https://api.github.com/users/jlecoeur/gists{/gist_id}","starred_url":"https://api.github.com/users/jlecoeur/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jlecoeur/subscriptions","organizations_url":"https://api.github.com/users/jlecoeur/orgs","repos_url":"https://api.github.com/users/jlecoeur/repos","events_url":"https://api.github.com/users/jlecoeur/events{/privacy}","received_events_url":"https://api.github.com/users/jlecoeur/received_events","type":"User","site_admin":false},"body":"While we are cleaning, what about moving fence outside \nposition_estimation & waypoint_handler & state ? :-)\n\n\nOn 25/07/16 10:01, GregoireH wrote:\n>\n> In sensing/position_estimation.cpp \n> <https://github.com/lis-epfl/MAVRIC_Library/pull/278#discussion_r72022649>:\n>\n> >          kp_pos_gps[i] = config.kp_pos_gps[i];\n> >          kp_vel_gps[i] = config.kp_vel_gps[i];\n> >      }\n> > -\n> > -    if (fence_set)\n> > -    {\n> > -        set_new_fence_origin();\n>\n> TODO,\n>\n> —\n> You are receiving this because you authored the thread.\n> Reply to this email directly, view it on GitHub \n> <https://github.com/lis-epfl/MAVRIC_Library/pull/278/files/e69a8efd341b2f4d141c92ac525a284073b770cb#r72022649>, \n> or mute the thread \n> <https://github.com/notifications/unsubscribe-auth/ABUMh-p1q5r2Jq0qybJjdMHt0POnXgQAks5qZG1sgaJpZM4JOlA9>.\n>\n\n","created_at":"2016-07-25T08:14:48Z","updated_at":"2016-07-25T08:14:48Z","html_url":"https://github.com/lis-epfl/MAVRIC_Library/pull/278#discussion_r72024066","pull_request_url":"https://api.github.com/repos/lis-epfl/MAVRIC_Library/pulls/278","_links":{"self":{"href":"https://api.github.com/repos/lis-epfl/MAVRIC_Library/pulls/comments/72024066"},"html":{"href":"https://github.com/lis-epfl/MAVRIC_Library/pull/278#discussion_r72024066"},"pull_request":{"href":"https://api.github.com/repos/lis-epfl/MAVRIC_Library/pulls/278"}}},"pull_request":{"url":"https://api.github.com/repos/lis-epfl/MAVRIC_Library/pulls/278","id":77785844,"html_url":"https://github.com/lis-epfl/MAVRIC_Library/pull/278","diff_url":"https://github.com/lis-epfl/MAVRIC_Library/pull/278.diff","patch_url":"https://github.com/lis-epfl/MAVRIC_Library/pull/278.patch","issue_url":"https://api.github.com/repos/lis-epfl/MAVRIC_Library/issues/278","number":278,"state":"open","locked":false,"title":"Interface for Inertial Navigation System (INS)","user":{"login":"jlecoeur","id":1379463,"avatar_url":"https://avatars.githubusercontent.com/u/1379463?v=3","gravatar_id":"","url":"https://api.github.com/users/jlecoeur","html_url":"https://github.com/jlecoeur","followers_url":"https://api.github.com/users/jlecoeur/followers","following_url":"https://api.github.com/users/jlecoeur/following{/other_user}","gists_url":"https://api.github.com/users/jlecoeur/gists{/gist_id}","starred_url":"https://api.github.com/users/jlecoeur/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jlecoeur/subscriptions","organizations_url":"https://api.github.com/users/jlecoeur/orgs","repos_url":"https://api.github.com/users/jlecoeur/repos","events_url":"https://api.github.com/users/jlecoeur/events{/privacy}","received_events_url":"https://api.github.com/users/jlecoeur/received_events","type":"User","site_admin":false},"body":"This PR adds an interface for position/velocity estimation (similar to ahrs for attitude estimation)\r\n- add interface\r\n- convert position_estimation to follow this interface\r\n- adapt all code to use ins instead of position_estimation\r\n- add linear kalman 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