{"action":"created","issue":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/8155","repository_url":"https://api.github.com/repos/ArduPilot/ardupilot","labels_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/8155/labels{/name}","comments_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/8155/comments","events_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/8155/events","html_url":"https://github.com/ArduPilot/ardupilot/pull/8155","id":313974934,"number":8155,"title":"EKF changes to enable rover operation without a magnetometer","user":{"login":"priseborough","id":3596952,"avatar_url":"https://avatars2.githubusercontent.com/u/3596952?v=4","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":[{"id":164739778,"url":"https://api.github.com/repos/ArduPilot/ardupilot/labels/EKF","name":"EKF","color":"e34520","default":false},{"id":24259150,"url":"https://api.github.com/repos/ArduPilot/ardupilot/labels/Enhancement","name":"Enhancement","color":"84b6eb","default":false},{"id":219703373,"url":"https://api.github.com/repos/ArduPilot/ardupilot/labels/WIP","name":"WIP","color":"fef2c0","default":false}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":11,"created_at":"2018-04-13T05:36:28Z","updated_at":"2018-05-07T01:59:40Z","closed_at":null,"author_association":"CONTRIBUTOR","pull_request":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/pulls/8155","html_url":"https://github.com/ArduPilot/ardupilot/pull/8155","diff_url":"https://github.com/ArduPilot/ardupilot/pull/8155.diff","patch_url":"https://github.com/ArduPilot/ardupilot/pull/8155.patch"},"body":"This is work in progress to address the issuer raised here: https://discuss.ardupilot.org/t/rover-without-magnetic-compass. I am still working through the Rover code to understand how the ahrs fly forward attribute can be better set.\r\n\r\nThee changes should be acgive when _ahrs->get_vehicle_class() == AHRS_VEHICLE_GROUND and _ahrs->get_compass()->use_for_yaw for the selected sensorinstance  returns false."},"comment":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/comments/386936995","html_url":"https://github.com/ArduPilot/ardupilot/pull/8155#issuecomment-386936995","issue_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/8155","id":386936995,"user":{"login":"rmackay9","id":1498098,"avatar_url":"https://avatars2.githubusercontent.com/u/1498098?v=4","gravatar_id":"","url":"https://api.github.com/users/rmackay9","html_url":"https://github.com/rmackay9","followers_url":"https://api.github.com/users/rmackay9/followers","following_url":"https://api.github.com/users/rmackay9/following{/other_user}","gists_url":"https://api.github.com/users/rmackay9/gists{/gist_id}","starred_url":"https://api.github.com/users/rmackay9/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rmackay9/subscriptions","organizations_url":"https://api.github.com/users/rmackay9/orgs","repos_url":"https://api.github.com/users/rmackay9/repos","events_url":"https://api.github.com/users/rmackay9/events{/privacy}","received_events_url":"https://api.github.com/users/rmackay9/received_events","type":"User","site_admin":false},"created_at":"2018-05-07T01:59:40Z","updated_at":"2018-05-07T01:59:40Z","author_association":"CONTRIBUTOR","body":"I think [this PR from me to improve Rover's reversing behaviour](https://github.com/ArduPilot/ardupilot/pull/8312) will make things better in terms of correctly telling the AHRS when the vehicle is moving forwards.  It's not perfect, but the amount of time the vehicle code incorrectly tells the EKF it's moving forward when it's actually reversing is much less I think."}}
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