{"action":"created","issue":{"url":"https://api.github.com/repos/PX4/Firmware/issues/2473","repository_url":"https://api.github.com/repos/PX4/Firmware","labels_url":"https://api.github.com/repos/PX4/Firmware/issues/2473/labels{/name}","comments_url":"https://api.github.com/repos/PX4/Firmware/issues/2473/comments","events_url":"https://api.github.com/repos/PX4/Firmware/issues/2473/events","html_url":"https://github.com/PX4/Firmware/issues/2473","id":91192919,"number":2473,"title":"Provide separate controls system state","user":{"login":"LorenzMeier","id":1208119,"avatar_url":"https://avatars.githubusercontent.com/u/1208119?v=3","gravatar_id":"","url":"https://api.github.com/users/LorenzMeier","html_url":"https://github.com/LorenzMeier","followers_url":"https://api.github.com/users/LorenzMeier/followers","following_url":"https://api.github.com/users/LorenzMeier/following{/other_user}","gists_url":"https://api.github.com/users/LorenzMeier/gists{/gist_id}","starred_url":"https://api.github.com/users/LorenzMeier/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/LorenzMeier/subscriptions","organizations_url":"https://api.github.com/users/LorenzMeier/orgs","repos_url":"https://api.github.com/users/LorenzMeier/repos","events_url":"https://api.github.com/users/LorenzMeier/events{/privacy}","received_events_url":"https://api.github.com/users/LorenzMeier/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/PX4/Firmware/labels/enhancement","name":"enhancement","color":"84b6eb"}],"state":"closed","locked":false,"assignee":{"login":"LorenzMeier","id":1208119,"avatar_url":"https://avatars.githubusercontent.com/u/1208119?v=3","gravatar_id":"","url":"https://api.github.com/users/LorenzMeier","html_url":"https://github.com/LorenzMeier","followers_url":"https://api.github.com/users/LorenzMeier/followers","following_url":"https://api.github.com/users/LorenzMeier/following{/other_user}","gists_url":"https://api.github.com/users/LorenzMeier/gists{/gist_id}","starred_url":"https://api.github.com/users/LorenzMeier/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/LorenzMeier/subscriptions","organizations_url":"https://api.github.com/users/LorenzMeier/orgs","repos_url":"https://api.github.com/users/LorenzMeier/repos","events_url":"https://api.github.com/users/LorenzMeier/events{/privacy}","received_events_url":"https://api.github.com/users/LorenzMeier/received_events","type":"User","site_admin":false},"milestone":{"url":"https://api.github.com/repos/PX4/Firmware/milestones/4","html_url":"https://github.com/PX4/Firmware/milestones/Release%20v1.2.0","labels_url":"https://api.github.com/repos/PX4/Firmware/milestones/4/labels","id":658889,"number":4,"title":"Release v1.2.0","description":"","creator":{"login":"LorenzMeier","id":1208119,"avatar_url":"https://avatars.githubusercontent.com/u/1208119?v=3","gravatar_id":"","url":"https://api.github.com/users/LorenzMeier","html_url":"https://github.com/LorenzMeier","followers_url":"https://api.github.com/users/LorenzMeier/followers","following_url":"https://api.github.com/users/LorenzMeier/following{/other_user}","gists_url":"https://api.github.com/users/LorenzMeier/gists{/gist_id}","starred_url":"https://api.github.com/users/LorenzMeier/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/LorenzMeier/subscriptions","organizations_url":"https://api.github.com/users/LorenzMeier/orgs","repos_url":"https://api.github.com/users/LorenzMeier/repos","events_url":"https://api.github.com/users/LorenzMeier/events{/privacy}","received_events_url":"https://api.github.com/users/LorenzMeier/received_events","type":"User","site_admin":false},"open_issues":5,"closed_issues":172,"state":"open","created_at":"2014-05-14T15:25:00Z","updated_at":"2016-02-21T00:44:03Z","due_on":"2016-02-09T23:00:00Z","closed_at":null},"comments":1,"created_at":"2015-06-26T08:48:35Z","updated_at":"2016-02-21T00:44:03Z","closed_at":"2016-02-21T00:44:03Z","body":"For control feedback the signal continuity is important, which is defined by the airframe dynamics and not by the actual measurements. Example: If we have high vibrations, we want to filter out all high frequency parts for the controller since the airframe dynamics doesn't allow to (or would be inefficient) to counter all of them.\r\n\r\nHowever, for cascaded estimators (e.g. using vision in the loop) it would be quite bad to filter out true vibration, because if present the camera will have shifted as well.\r\n\r\nWe therefore need to differentiate between state estimates for the control path and state estimates representing the true vehicle state, and most likely we need independent uORB and MAVLink paths for them."},"comment":{"url":"https://api.github.com/repos/PX4/Firmware/issues/comments/186710013","html_url":"https://github.com/PX4/Firmware/issues/2473#issuecomment-186710013","issue_url":"https://api.github.com/repos/PX4/Firmware/issues/2473","id":186710013,"user":{"login":"LorenzMeier","id":1208119,"avatar_url":"https://avatars.githubusercontent.com/u/1208119?v=3","gravatar_id":"","url":"https://api.github.com/users/LorenzMeier","html_url":"https://github.com/LorenzMeier","followers_url":"https://api.github.com/users/LorenzMeier/followers","following_url":"https://api.github.com/users/LorenzMeier/following{/other_user}","gists_url":"https://api.github.com/users/LorenzMeier/gists{/gist_id}","starred_url":"https://api.github.com/users/LorenzMeier/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/LorenzMeier/subscriptions","organizations_url":"https://api.github.com/users/LorenzMeier/orgs","repos_url":"https://api.github.com/users/LorenzMeier/repos","events_url":"https://api.github.com/users/LorenzMeier/events{/privacy}","received_events_url":"https://api.github.com/users/LorenzMeier/received_events","type":"User","site_admin":false},"created_at":"2016-02-21T00:44:03Z","updated_at":"2016-02-21T00:44:03Z","body":"Done, and a long time ago."}}