{"action":"created","issue":{"url":"https://api.github.com/repos/PX4/ecl/issues/43","repository_url":"https://api.github.com/repos/PX4/ecl","labels_url":"https://api.github.com/repos/PX4/ecl/issues/43/labels{/name}","comments_url":"https://api.github.com/repos/PX4/ecl/issues/43/comments","events_url":"https://api.github.com/repos/PX4/ecl/issues/43/events","html_url":"https://github.com/PX4/ecl/pull/43","id":132576773,"number":43,"title":"Correct for sensor noise and baro offset during alignment","user":{"login":"priseborough","id":3596952,"avatar_url":"https://avatars.githubusercontent.com/u/3596952?v=3","gravatar_id":"","url":"https://api.github.com/users/priseborough","html_url":"https://github.com/priseborough","followers_url":"https://api.github.com/users/priseborough/followers","following_url":"https://api.github.com/users/priseborough/following{/other_user}","gists_url":"https://api.github.com/users/priseborough/gists{/gist_id}","starred_url":"https://api.github.com/users/priseborough/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/priseborough/subscriptions","organizations_url":"https://api.github.com/users/priseborough/orgs","repos_url":"https://api.github.com/users/priseborough/repos","events_url":"https://api.github.com/users/priseborough/events{/privacy}","received_events_url":"https://api.github.com/users/priseborough/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":2,"created_at":"2016-02-10T00:29:05Z","updated_at":"2016-02-10T06:56:55Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/PX4/ecl/pulls/43","html_url":"https://github.com/PX4/ecl/pull/43","diff_url":"https://github.com/PX4/ecl/pull/43.diff","patch_url":"https://github.com/PX4/ecl/pull/43.patch"},"body":"The baro is averaged during alignment and an offset calculated that is used subsequently to ensure that the reported height of the EKF origin is correct, even for in-air GPs gain and that the filter correctly reports both absolute and relative height.\r\n\r\nSome additional averaging is used during initialisation of the states to improve accuracy."},"comment":{"url":"https://api.github.com/repos/PX4/ecl/issues/comments/182230823","html_url":"https://github.com/PX4/ecl/pull/43#issuecomment-182230823","issue_url":"https://api.github.com/repos/PX4/ecl/issues/43","id":182230823,"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":"2016-02-10T06:56:55Z","updated_at":"2016-02-10T06:56:55Z","body":"Thanks!"}}