{"action":"closed","number":8191,"pull_request":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/pulls/8191","id":182656682,"html_url":"https://github.com/ArduPilot/ardupilot/pull/8191","diff_url":"https://github.com/ArduPilot/ardupilot/pull/8191.diff","patch_url":"https://github.com/ArduPilot/ardupilot/pull/8191.patch","issue_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/8191","number":8191,"state":"closed","locked":false,"title":"Copter: ekf failsafe disabled for acro and stabilize","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},"body":"This PR:\r\n\r\n- disables the EKF failsafe while in manual modes (Stabilize and Acro)\r\n- restructures the ekf failsafe check to combine the ekf_over_threshold and ekf_check_position_problem methods\r\n\r\nI've tested this in SITL by doing the following:\r\n\r\n- set SIM_COMPASS_OFS_X, Y to 300 so the compass gives a very incorrect heading\r\n- disabled backup compasses to stop the EKF from switching to them (i.e. COMPASS_USE2=0, COMPASS_USE3=0)\r\n- took off in Loiter, EKF failsafe triggered a LAND within 30seconds\r\n- took off in Stabilize to about 30m, pitch forward.  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