{"action":"created","issue":{"url":"https://api.github.com/repos/AdaCore/Certyflie/issues/3","repository_url":"https://api.github.com/repos/AdaCore/Certyflie","labels_url":"https://api.github.com/repos/AdaCore/Certyflie/issues/3/labels{/name}","comments_url":"https://api.github.com/repos/AdaCore/Certyflie/issues/3/comments","events_url":"https://api.github.com/repos/AdaCore/Certyflie/issues/3/events","html_url":"https://github.com/AdaCore/Certyflie/issues/3","id":191544537,"number":3,"title":"Mistranslation in Madgwick algorithm","user":{"login":"simonjwright","id":1824512,"avatar_url":"https://avatars.githubusercontent.com/u/1824512?v=3","gravatar_id":"","url":"https://api.github.com/users/simonjwright","html_url":"https://github.com/simonjwright","followers_url":"https://api.github.com/users/simonjwright/followers","following_url":"https://api.github.com/users/simonjwright/following{/other_user}","gists_url":"https://api.github.com/users/simonjwright/gists{/gist_id}","starred_url":"https://api.github.com/users/simonjwright/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/simonjwright/subscriptions","organizations_url":"https://api.github.com/users/simonjwright/orgs","repos_url":"https://api.github.com/users/simonjwright/repos","events_url":"https://api.github.com/users/simonjwright/events{/privacy}","received_events_url":"https://api.github.com/users/simonjwright/received_events","type":"User","site_admin":false},"labels":[{"id":293444233,"url":"https://api.github.com/repos/AdaCore/Certyflie/labels/bug","name":"bug","color":"fc2929","default":true}],"state":"closed","locked":false,"assignee":{"login":"AnthonyLeonardoGracio","id":5286422,"avatar_url":"https://avatars.githubusercontent.com/u/5286422?v=3","gravatar_id":"","url":"https://api.github.com/users/AnthonyLeonardoGracio","html_url":"https://github.com/AnthonyLeonardoGracio","followers_url":"https://api.github.com/users/AnthonyLeonardoGracio/followers","following_url":"https://api.github.com/users/AnthonyLeonardoGracio/following{/other_user}","gists_url":"https://api.github.com/users/AnthonyLeonardoGracio/gists{/gist_id}","starred_url":"https://api.github.com/users/AnthonyLeonardoGracio/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/AnthonyLeonardoGracio/subscriptions","organizations_url":"https://api.github.com/users/AnthonyLeonardoGracio/orgs","repos_url":"https://api.github.com/users/AnthonyLeonardoGracio/repos","events_url":"https://api.github.com/users/AnthonyLeonardoGracio/events{/privacy}","received_events_url":"https://api.github.com/users/AnthonyLeonardoGracio/received_events","type":"User","site_admin":false},"assignees":[{"login":"AnthonyLeonardoGracio","id":5286422,"avatar_url":"https://avatars.githubusercontent.com/u/5286422?v=3","gravatar_id":"","url":"https://api.github.com/users/AnthonyLeonardoGracio","html_url":"https://github.com/AnthonyLeonardoGracio","followers_url":"https://api.github.com/users/AnthonyLeonardoGracio/followers","following_url":"https://api.github.com/users/AnthonyLeonardoGracio/following{/other_user}","gists_url":"https://api.github.com/users/AnthonyLeonardoGracio/gists{/gist_id}","starred_url":"https://api.github.com/users/AnthonyLeonardoGracio/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/AnthonyLeonardoGracio/subscriptions","organizations_url":"https://api.github.com/users/AnthonyLeonardoGracio/orgs","repos_url":"https://api.github.com/users/AnthonyLeonardoGracio/repos","events_url":"https://api.github.com/users/AnthonyLeonardoGracio/events{/privacy}","received_events_url":"https://api.github.com/users/AnthonyLeonardoGracio/received_events","type":"User","site_admin":false}],"milestone":null,"comments":1,"created_at":"2016-11-24T15:18:56Z","updated_at":"2016-11-24T15:40:38Z","closed_at":"2016-11-24T15:40:38Z","body":"In `modules/madgwick/sensfusion6.adb:367`,\r\n\r\n    S1 := Q1_X4 * Q2_Q2 - Q3_X2 * Norm_Ax + 4.0 * Q0_Q0 * Q1 -\r\n      Q0_X2 * Norm_Ay - Q1_X4 + Q1_X8 * Q1_Q1 +\r\n        Q1_X8 * Q2_Q2 + Q1_X4 * Norm_Az;\r\n\r\nappears to be a mistranslation of the C code from http://x-io.co.uk/open-source-imu-and-ahrs-algorithms/, at MadgwickAHRS.c:\r\n\r\n    s1 = _4q1 * q3q3 - _2q3 * ax + 4.0f * q0q0 * q1 - _2q0 * ay - _4q1 + _8q1 * q1q1 + _8q1 * q2q2 + _4q1 * az;\r\n\r\n(the second term should be `Q3_Q3`, not `Q2_Q2`).\r\n\r\n(The Ada is clearly a translation of the referenced C code, since - aside from using the identical algorithms - the spelling errors in the original C appear in the Ada, e.g. \"decent\" for \"descent\")."},"comment":{"url":"https://api.github.com/repos/AdaCore/Certyflie/issues/comments/262803242","html_url":"https://github.com/AdaCore/Certyflie/issues/3#issuecomment-262803242","issue_url":"https://api.github.com/repos/AdaCore/Certyflie/issues/3","id":262803242,"user":{"login":"Fabien-Chouteau","id":12136138,"avatar_url":"https://avatars.githubusercontent.com/u/12136138?v=3","gravatar_id":"","url":"https://api.github.com/users/Fabien-Chouteau","html_url":"https://github.com/Fabien-Chouteau","followers_url":"https://api.github.com/users/Fabien-Chouteau/followers","following_url":"https://api.github.com/users/Fabien-Chouteau/following{/other_user}","gists_url":"https://api.github.com/users/Fabien-Chouteau/gists{/gist_id}","starred_url":"https://api.github.com/users/Fabien-Chouteau/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Fabien-Chouteau/subscriptions","organizations_url":"https://api.github.com/users/Fabien-Chouteau/orgs","repos_url":"https://api.github.com/users/Fabien-Chouteau/repos","events_url":"https://api.github.com/users/Fabien-Chouteau/events{/privacy}","received_events_url":"https://api.github.com/users/Fabien-Chouteau/received_events","type":"User","site_admin":false},"created_at":"2016-11-24T15:40:38Z","updated_at":"2016-11-24T15:40:38Z","body":"Thanks for reporting this issue, let's discuss in the pull request (#4). "}}
{"actor":{"display_login":"Fabien-Chouteau"}}