{"action":"created","issue":{"url":"https://api.github.com/repos/PX4/ecl/issues/185","repository_url":"https://api.github.com/repos/PX4/ecl","labels_url":"https://api.github.com/repos/PX4/ecl/issues/185/labels{/name}","comments_url":"https://api.github.com/repos/PX4/ecl/issues/185/comments","events_url":"https://api.github.com/repos/PX4/ecl/issues/185/events","html_url":"https://github.com/PX4/ecl/issues/185","id":170947415,"number":185,"title":"ECL_L1_Pos_Controller::navigate_loiter fly to center","user":{"login":"dagar","id":84712,"avatar_url":"https://avatars.githubusercontent.com/u/84712?v=3","gravatar_id":"","url":"https://api.github.com/users/dagar","html_url":"https://github.com/dagar","followers_url":"https://api.github.com/users/dagar/followers","following_url":"https://api.github.com/users/dagar/following{/other_user}","gists_url":"https://api.github.com/users/dagar/gists{/gist_id}","starred_url":"https://api.github.com/users/dagar/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/dagar/subscriptions","organizations_url":"https://api.github.com/users/dagar/orgs","repos_url":"https://api.github.com/users/dagar/repos","events_url":"https://api.github.com/users/dagar/events{/privacy}","received_events_url":"https://api.github.com/users/dagar/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/PX4/ecl/labels/question","name":"question","color":"cc317c"}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":2,"created_at":"2016-08-12T19:56:12Z","updated_at":"2016-08-22T05:09:23Z","closed_at":null,"body":"Is there a reason l1 navigate_loiter always (usually?) navigates to the center first before joining the loiter? It seems like it would be much cleaner to directly enter the loiter and avoid the huge awkward turn.\r\nJust checking before I start changing something I don't yet fully understand."},"comment":{"url":"https://api.github.com/repos/PX4/ecl/issues/comments/241316253","html_url":"https://github.com/PX4/ecl/issues/185#issuecomment-241316253","issue_url":"https://api.github.com/repos/PX4/ecl/issues/185","id":241316253,"user":{"login":"dagar","id":84712,"avatar_url":"https://avatars.githubusercontent.com/u/84712?v=3","gravatar_id":"","url":"https://api.github.com/users/dagar","html_url":"https://github.com/dagar","followers_url":"https://api.github.com/users/dagar/followers","following_url":"https://api.github.com/users/dagar/following{/other_user}","gists_url":"https://api.github.com/users/dagar/gists{/gist_id}","starred_url":"https://api.github.com/users/dagar/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/dagar/subscriptions","organizations_url":"https://api.github.com/users/dagar/orgs","repos_url":"https://api.github.com/users/dagar/repos","events_url":"https://api.github.com/users/dagar/events{/privacy}","received_events_url":"https://api.github.com/users/dagar/received_events","type":"User","site_admin":false},"created_at":"2016-08-22T05:09:23Z","updated_at":"2016-08-22T05:09:23Z","body":"I gave that a quick try adding distance to the waypoint (center) as another condition for the crossover.\r\nhttps://github.com/PX4/ecl/blob/master/l1/ecl_l1_pos_controller.cpp#L292\r\nMost of the time it works as intended (an improvement), but occasionally I saw some weird behavior turning the wrong way I'm not comfortable with. "}}
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