{"action":"created","issue":{"url":"https://api.github.com/repos/PX4/Firmware/issues/4068","repository_url":"https://api.github.com/repos/PX4/Firmware","labels_url":"https://api.github.com/repos/PX4/Firmware/issues/4068/labels{/name}","comments_url":"https://api.github.com/repos/PX4/Firmware/issues/4068/comments","events_url":"https://api.github.com/repos/PX4/Firmware/issues/4068/events","html_url":"https://github.com/PX4/Firmware/pull/4068","id":143089407,"number":4068,"title":"added descend into navigator","user":{"login":"pickledgator","id":966598,"avatar_url":"https://avatars.githubusercontent.com/u/966598?v=3","gravatar_id":"","url":"https://api.github.com/users/pickledgator","html_url":"https://github.com/pickledgator","followers_url":"https://api.github.com/users/pickledgator/followers","following_url":"https://api.github.com/users/pickledgator/following{/other_user}","gists_url":"https://api.github.com/users/pickledgator/gists{/gist_id}","starred_url":"https://api.github.com/users/pickledgator/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/pickledgator/subscriptions","organizations_url":"https://api.github.com/users/pickledgator/orgs","repos_url":"https://api.github.com/users/pickledgator/repos","events_url":"https://api.github.com/users/pickledgator/events{/privacy}","received_events_url":"https://api.github.com/users/pickledgator/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":{"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},"milestone":{"url":"https://api.github.com/repos/PX4/Firmware/milestones/9","html_url":"https://github.com/PX4/Firmware/milestones/Release%20v1.3.0","labels_url":"https://api.github.com/repos/PX4/Firmware/milestones/9/labels","id":1257918,"number":9,"title":"Release v1.3.0","description":"This release will include full support for Pixhawk, Pixhawk 2, Eagle and NAVIO+.","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":76,"closed_issues":48,"state":"open","created_at":"2015-08-17T09:41:33Z","updated_at":"2016-03-24T15:31:50Z","due_on":"2016-03-29T22:00:00Z","closed_at":null},"comments":2,"created_at":"2016-03-23T21:53:09Z","updated_at":"2016-03-24T22:41:56Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/PX4/Firmware/pulls/4068","html_url":"https://github.com/PX4/Firmware/pull/4068","diff_url":"https://github.com/PX4/Firmware/pull/4068.diff","patch_url":"https://github.com/PX4/Firmware/pull/4068.patch"},"body":"Descend was unimplemented in navigator, and thus had no effect when the navigation state was changed. Utilized same land helper. Downstream logic in pos_control and commander successfully ignore position data that is applied in the setpoint message. Tested in gazebo for multi-rotors."},"comment":{"url":"https://api.github.com/repos/PX4/Firmware/issues/comments/201059624","html_url":"https://github.com/PX4/Firmware/pull/4068#issuecomment-201059624","issue_url":"https://api.github.com/repos/PX4/Firmware/issues/4068","id":201059624,"user":{"login":"pickledgator","id":966598,"avatar_url":"https://avatars.githubusercontent.com/u/966598?v=3","gravatar_id":"","url":"https://api.github.com/users/pickledgator","html_url":"https://github.com/pickledgator","followers_url":"https://api.github.com/users/pickledgator/followers","following_url":"https://api.github.com/users/pickledgator/following{/other_user}","gists_url":"https://api.github.com/users/pickledgator/gists{/gist_id}","starred_url":"https://api.github.com/users/pickledgator/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/pickledgator/subscriptions","organizations_url":"https://api.github.com/users/pickledgator/orgs","repos_url":"https://api.github.com/users/pickledgator/repos","events_url":"https://api.github.com/users/pickledgator/events{/privacy}","received_events_url":"https://api.github.com/users/pickledgator/received_events","type":"User","site_admin":false},"created_at":"2016-03-24T22:41:56Z","updated_at":"2016-03-24T22:41:56Z","body":"To support development, I needed a way to trigger a failsafe landing without xy position control, even when position data is available in the filter (eg., bad VO). Descend nav state provides the control mechanism that I desired, and I piped an RC channel to a new failsafe main state to trigger the Descend."}}