{"action":"created","issue":{"url":"https://api.github.com/repos/PX4/Firmware/issues/5377","repository_url":"https://api.github.com/repos/PX4/Firmware","labels_url":"https://api.github.com/repos/PX4/Firmware/issues/5377/labels{/name}","comments_url":"https://api.github.com/repos/PX4/Firmware/issues/5377/comments","events_url":"https://api.github.com/repos/PX4/Firmware/issues/5377/events","html_url":"https://github.com/PX4/Firmware/pull/5377","id":173022015,"number":5377,"title":"Condition LPE covariance to avoid blowing up in edge cases.","user":{"login":"jgoppert","id":473772,"avatar_url":"https://avatars.githubusercontent.com/u/473772?v=3","gravatar_id":"","url":"https://api.github.com/users/jgoppert","html_url":"https://github.com/jgoppert","followers_url":"https://api.github.com/users/jgoppert/followers","following_url":"https://api.github.com/users/jgoppert/following{/other_user}","gists_url":"https://api.github.com/users/jgoppert/gists{/gist_id}","starred_url":"https://api.github.com/users/jgoppert/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jgoppert/subscriptions","organizations_url":"https://api.github.com/users/jgoppert/orgs","repos_url":"https://api.github.com/users/jgoppert/repos","events_url":"https://api.github.com/users/jgoppert/events{/privacy}","received_events_url":"https://api.github.com/users/jgoppert/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":1,"created_at":"2016-08-24T18:16:17Z","updated_at":"2016-08-25T07:37:11Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/PX4/Firmware/pulls/5377","html_url":"https://github.com/PX4/Firmware/pull/5377","diff_url":"https://github.com/PX4/Firmware/pull/5377.diff","patch_url":"https://github.com/PX4/Firmware/pull/5377.patch"},"body":""},"comment":{"url":"https://api.github.com/repos/PX4/Firmware/issues/comments/242304932","html_url":"https://github.com/PX4/Firmware/pull/5377#issuecomment-242304932","issue_url":"https://api.github.com/repos/PX4/Firmware/issues/5377","id":242304932,"user":{"login":"ndepal","id":8755300,"avatar_url":"https://avatars.githubusercontent.com/u/8755300?v=3","gravatar_id":"","url":"https://api.github.com/users/ndepal","html_url":"https://github.com/ndepal","followers_url":"https://api.github.com/users/ndepal/followers","following_url":"https://api.github.com/users/ndepal/following{/other_user}","gists_url":"https://api.github.com/users/ndepal/gists{/gist_id}","starred_url":"https://api.github.com/users/ndepal/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ndepal/subscriptions","organizations_url":"https://api.github.com/users/ndepal/orgs","repos_url":"https://api.github.com/users/ndepal/repos","events_url":"https://api.github.com/users/ndepal/events{/privacy}","received_events_url":"https://api.github.com/users/ndepal/received_events","type":"User","site_admin":false},"created_at":"2016-08-25T07:37:11Z","updated_at":"2016-08-25T07:37:11Z","body":"In my experience when manually changing individual parts of a covariance matrix, especially diagonal elements, it's very important to make sure cross-covariances are treated appropriately. I.e. when changing `P(i,i)`, the column `P(i,:)` and row `P(:,i)` should also be changed accordingly. In the case of edge-case detection, it would probably be advisable to set `P(i,:) = 0`, `P(:,i) = 0`, whenever `P(i,i)` is reset."}}
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