{"action":"created","issue":{"url":"https://api.github.com/repos/timvandermeij/mobile-radio-tomography/issues/45","repository_url":"https://api.github.com/repos/timvandermeij/mobile-radio-tomography","labels_url":"https://api.github.com/repos/timvandermeij/mobile-radio-tomography/issues/45/labels{/name}","comments_url":"https://api.github.com/repos/timvandermeij/mobile-radio-tomography/issues/45/comments","events_url":"https://api.github.com/repos/timvandermeij/mobile-radio-tomography/issues/45/events","html_url":"https://github.com/timvandermeij/mobile-radio-tomography/pull/45","id":135083775,"number":45,"title":"Rover and Dronekit 2 local position compatibility","user":{"login":"lhelwerd","id":2487291,"avatar_url":"https://avatars.githubusercontent.com/u/2487291?v=3","gravatar_id":"","url":"https://api.github.com/users/lhelwerd","html_url":"https://github.com/lhelwerd","followers_url":"https://api.github.com/users/lhelwerd/followers","following_url":"https://api.github.com/users/lhelwerd/following{/other_user}","gists_url":"https://api.github.com/users/lhelwerd/gists{/gist_id}","starred_url":"https://api.github.com/users/lhelwerd/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/lhelwerd/subscriptions","organizations_url":"https://api.github.com/users/lhelwerd/orgs","repos_url":"https://api.github.com/users/lhelwerd/repos","events_url":"https://api.github.com/users/lhelwerd/events{/privacy}","received_events_url":"https://api.github.com/users/lhelwerd/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2016-02-20T14:56:49Z","updated_at":"2016-02-20T15:57:33Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/timvandermeij/mobile-radio-tomography/pulls/45","html_url":"https://github.com/timvandermeij/mobile-radio-tomography/pull/45","diff_url":"https://github.com/timvandermeij/mobile-radio-tomography/pull/45.diff","patch_url":"https://github.com/timvandermeij/mobile-radio-tomography/pull/45.patch"},"body":"This pull request essentially consists of multiple parts, which should be merged in one go since they are quite intertwined.\r\n\r\n* Rover: Tweaks to make code work with both ArduCopter and APMrover2 \r\n  binaries of ArduPilot. This includes arming setup and certain MAVLink \r\n  commands in the Mission classes.\r\n* Servo: Allowing servo control and tracking values in the Servo class \r\n  and via Mission methods. The distance sensors can be coupled with \r\n  servos so that they can be rotated within certain ranges instead of \r\n  the entire vehicle, which is unwanted when using a rover.\r\n* Dronekit 2: Converting all related code to use the Dronekit 2 API.\r\n  This includes the Setup mechanism which no longer uses mavproxy and \r\n  mission.scr files, Mission arming/takeoff commands and most \r\n  importantly local positions. Geometry now accepts LocationLocal \r\n  objects while Geometry_Spherical accepts all Location types and can \r\n  convert between them. MockVehicle's location tracking was rewritten to \r\n  work with listeners and convert these objects. We make better use of \r\n  the home location.\r\n* Intersection algorithms: Moving/refactoring a bunch of distance sensor \r\n  methods into Geometry where they fit better and are reusable in other \r\n  scopes.\r\n* Tests: updates for the parts of this pull request.\r\n\r\nThere are some remaining issues with these changes:\r\n\r\n* Changing the yaw on the rover while not also moving to another \r\n  waypoint does not work correctly; there is a `STEERING` mode but no \r\n  way to control the yaw directly. It does work in the mock vehicle and \r\n  the uses are avoided when servos are used in combination with distance \r\n  sensors. Potentially we can directly control one of the motors to make \r\n  the rover turn, but it will not stay in one place.\r\n* Local positioning code has been tested, but in practice the locations \r\n  are not good enough to use yet due to accelerometer and EKF accuracy. \r\n  The waypoints in missions are currently still lat/lon/alt only.\r\n\r\nOnce this is merged, the `rover` branch can also be removed, since this branch contains all changes that `rover` has.\r\n"},"comment":{"url":"https://api.github.com/repos/timvandermeij/mobile-radio-tomography/issues/comments/186635231","html_url":"https://github.com/timvandermeij/mobile-radio-tomography/pull/45#issuecomment-186635231","issue_url":"https://api.github.com/repos/timvandermeij/mobile-radio-tomography/issues/45","id":186635231,"user":{"login":"timvandermeij","id":1993262,"avatar_url":"https://avatars.githubusercontent.com/u/1993262?v=3","gravatar_id":"","url":"https://api.github.com/users/timvandermeij","html_url":"https://github.com/timvandermeij","followers_url":"https://api.github.com/users/timvandermeij/followers","following_url":"https://api.github.com/users/timvandermeij/following{/other_user}","gists_url":"https://api.github.com/users/timvandermeij/gists{/gist_id}","starred_url":"https://api.github.com/users/timvandermeij/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/timvandermeij/subscriptions","organizations_url":"https://api.github.com/users/timvandermeij/orgs","repos_url":"https://api.github.com/users/timvandermeij/repos","events_url":"https://api.github.com/users/timvandermeij/events{/privacy}","received_events_url":"https://api.github.com/users/timvandermeij/received_events","type":"User","site_admin":false},"created_at":"2016-02-20T15:57:33Z","updated_at":"2016-02-20T15:57:33Z","body":"I'll review this today and merge if everything looks good."}}