{"action":"created","issue":{"url":"https://api.github.com/repos/paparazzi/paparazzi/issues/1909","repository_url":"https://api.github.com/repos/paparazzi/paparazzi","labels_url":"https://api.github.com/repos/paparazzi/paparazzi/issues/1909/labels{/name}","comments_url":"https://api.github.com/repos/paparazzi/paparazzi/issues/1909/comments","events_url":"https://api.github.com/repos/paparazzi/paparazzi/issues/1909/events","html_url":"https://github.com/paparazzi/paparazzi/pull/1909","id":185874490,"number":1909,"title":"added outlier detector to bebop sonar","user":{"login":"kirkscheper","id":2835523,"avatar_url":"https://avatars.githubusercontent.com/u/2835523?v=3","gravatar_id":"","url":"https://api.github.com/users/kirkscheper","html_url":"https://github.com/kirkscheper","followers_url":"https://api.github.com/users/kirkscheper/followers","following_url":"https://api.github.com/users/kirkscheper/following{/other_user}","gists_url":"https://api.github.com/users/kirkscheper/gists{/gist_id}","starred_url":"https://api.github.com/users/kirkscheper/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/kirkscheper/subscriptions","organizations_url":"https://api.github.com/users/kirkscheper/orgs","repos_url":"https://api.github.com/users/kirkscheper/repos","events_url":"https://api.github.com/users/kirkscheper/events{/privacy}","received_events_url":"https://api.github.com/users/kirkscheper/received_events","type":"User","site_admin":false},"labels":[{"id":154825598,"url":"https://api.github.com/repos/paparazzi/paparazzi/labels/Parrot%20Drones","name":"Parrot Drones","color":"fef2c0","default":false},{"id":467178062,"url":"https://api.github.com/repos/paparazzi/paparazzi/labels/PleaseReviewAndClosePullRequest","name":"PleaseReviewAndClosePullRequest","color":"0e8a16","default":false}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":6,"created_at":"2016-10-28T09:10:08Z","updated_at":"2016-11-18T18:43:32Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/paparazzi/paparazzi/pulls/1909","html_url":"https://github.com/paparazzi/paparazzi/pull/1909","diff_url":"https://github.com/paparazzi/paparazzi/pull/1909.diff","patch_url":"https://github.com/paparazzi/paparazzi/pull/1909.patch"},"body":"This looks for large changes in sonar readings and delays sending the new measurements till the rate of change of the new measurement compared to the last sent measurement drops below a certain fixed threshold. This was found to be necessary to prevent large outliers from being propagated through the ins (the sonar is typically trusted quite heavily).\n\nThis outlier detector will also delay the propagation of true vertical height transitions for eg when flying over a table, the gradient threshold has been chosen to remove temporary outliers and not delay true transitions for very long.\n"},"comment":{"url":"https://api.github.com/repos/paparazzi/paparazzi/issues/comments/261608674","html_url":"https://github.com/paparazzi/paparazzi/pull/1909#issuecomment-261608674","issue_url":"https://api.github.com/repos/paparazzi/paparazzi/issues/1909","id":261608674,"user":{"login":"podhrmic","id":2790461,"avatar_url":"https://avatars.githubusercontent.com/u/2790461?v=3","gravatar_id":"","url":"https://api.github.com/users/podhrmic","html_url":"https://github.com/podhrmic","followers_url":"https://api.github.com/users/podhrmic/followers","following_url":"https://api.github.com/users/podhrmic/following{/other_user}","gists_url":"https://api.github.com/users/podhrmic/gists{/gist_id}","starred_url":"https://api.github.com/users/podhrmic/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/podhrmic/subscriptions","organizations_url":"https://api.github.com/users/podhrmic/orgs","repos_url":"https://api.github.com/users/podhrmic/repos","events_url":"https://api.github.com/users/podhrmic/events{/privacy}","received_events_url":"https://api.github.com/users/podhrmic/received_events","type":"User","site_admin":false},"created_at":"2016-11-18T18:43:32Z","updated_at":"2016-11-18T18:43:32Z","body":"@kirkscheper Could you fix the doxygen comments as @flixr mentioned and also the user-adjustable filter size (see my comment)? Otherwise it looks good to me."}}
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