{"action":"created","issue":{"url":"https://api.github.com/repos/PX4/Firmware/issues/5931","repository_url":"https://api.github.com/repos/PX4/Firmware","labels_url":"https://api.github.com/repos/PX4/Firmware/issues/5931/labels{/name}","comments_url":"https://api.github.com/repos/PX4/Firmware/issues/5931/comments","events_url":"https://api.github.com/repos/PX4/Firmware/issues/5931/events","html_url":"https://github.com/PX4/Firmware/issues/5931","id":192922881,"number":5931,"title":"Ground Truth based Estimator 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v1.6.0","description":"The main novelty of this release is a massive NuttX update adding support for STM32F7 and fault logging.","creator":{"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},"open_issues":54,"closed_issues":3,"state":"open","created_at":"2016-06-07T06:51:16Z","updated_at":"2016-12-01T18:17:49Z","due_on":"2017-02-15T00:00:00Z","closed_at":null},"comments":4,"created_at":"2016-12-01T18:17:49Z","updated_at":"2016-12-02T08:16:20Z","closed_at":null,"body":"Now that we have ground truth working in SITL I think it will be good to run each estimator through a mission and compute the errors for all of the states using GPS /vision/ and flow measurements. This has two benefits:\r\n\r\n1. Unit testing to make sure performance isn't negatively impacted by a change\r\n2. Unbiased comparison between estimators. This will be useful for consideration of switching the default multirotor estimator to EKF2 for v2.0. \r\n\r\n@LorenzMeier @bkueng "},"comment":{"url":"https://api.github.com/repos/PX4/Firmware/issues/comments/264398151","html_url":"https://github.com/PX4/Firmware/issues/5931#issuecomment-264398151","issue_url":"https://api.github.com/repos/PX4/Firmware/issues/5931","id":264398151,"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},"created_at":"2016-12-02T08:16:20Z","updated_at":"2016-12-02T08:16:20Z","body":"@ecmnet The source of the ground truth is the gazebo simulator. To reproduce this:\r\n\r\nNeed to have gazebo installed.\r\n\r\n```bash\r\nmake posix_sitl_default gazebo\r\n```\r\n\r\nThen start qgroundcontrol and start a mission. The log will be in:\r\n\r\n```bash\r\nbuild_posix_sitl_default/tmp/rootfs/fs/microsd/log/2016-12-02/08_11_30.ulg  08_12_15.ulg\r\n```\r\n\r\nInstal px4tools\r\n\r\n```bash\r\ngit clone git@github.com:dronecrew/px4tools.git\r\ncd px4tools\r\npython setup.py install\r\n```\r\n\r\nNow using python:\r\n\r\n```python\r\nimport px4tools\r\ndata= px4tools.read_ulog('./your_path_to.ulg').resample('1L').concat()\r\ndata.estimator_analysis()\r\n```\r\n\r\n\r\n\r\n\r\n"}}
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