{"action":"created","issue":{"url":"https://api.github.com/repos/PX4/Firmware/issues/10195","repository_url":"https://api.github.com/repos/PX4/Firmware","labels_url":"https://api.github.com/repos/PX4/Firmware/issues/10195/labels{/name}","comments_url":"https://api.github.com/repos/PX4/Firmware/issues/10195/comments","events_url":"https://api.github.com/repos/PX4/Firmware/issues/10195/events","html_url":"https://github.com/PX4/Firmware/issues/10195","id":348792714,"node_id":"MDU6SXNzdWUzNDg3OTI3MTQ=","number":10195,"title":"Is altimeter (LidarLite) compensating the roll/pitch?","user":{"login":"tuloski","id":6544139,"node_id":"MDQ6VXNlcjY1NDQxMzk=","avatar_url":"https://avatars1.githubusercontent.com/u/6544139?v=4","gravatar_id":"","url":"https://api.github.com/users/tuloski","html_url":"https://github.com/tuloski","followers_url":"https://api.github.com/users/tuloski/followers","following_url":"https://api.github.com/users/tuloski/following{/other_user}","gists_url":"https://api.github.com/users/tuloski/gists{/gist_id}","starred_url":"https://api.github.com/users/tuloski/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/tuloski/subscriptions","organizations_url":"https://api.github.com/users/tuloski/orgs","repos_url":"https://api.github.com/users/tuloski/repos","events_url":"https://api.github.com/users/tuloski/events{/privacy}","received_events_url":"https://api.github.com/users/tuloski/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-08-08T16:06:54Z","updated_at":"2018-08-09T07:12:22Z","closed_at":null,"author_association":"NONE","body":"Is the estimation of the terrain altitude considering the attitude of the UAV?\r\nAny pointer to the code?\r\nWhat happen if I put the altimeter on a stabilized gimbal such that it always point downward?"},"comment":{"url":"https://api.github.com/repos/PX4/Firmware/issues/comments/411660284","html_url":"https://github.com/PX4/Firmware/issues/10195#issuecomment-411660284","issue_url":"https://api.github.com/repos/PX4/Firmware/issues/10195","id":411660284,"node_id":"MDEyOklzc3VlQ29tbWVudDQxMTY2MDI4NA==","user":{"login":"CarlOlsson","id":7795133,"node_id":"MDQ6VXNlcjc3OTUxMzM=","avatar_url":"https://avatars0.githubusercontent.com/u/7795133?v=4","gravatar_id":"","url":"https://api.github.com/users/CarlOlsson","html_url":"https://github.com/CarlOlsson","followers_url":"https://api.github.com/users/CarlOlsson/followers","following_url":"https://api.github.com/users/CarlOlsson/following{/other_user}","gists_url":"https://api.github.com/users/CarlOlsson/gists{/gist_id}","starred_url":"https://api.github.com/users/CarlOlsson/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/CarlOlsson/subscriptions","organizations_url":"https://api.github.com/users/CarlOlsson/orgs","repos_url":"https://api.github.com/users/CarlOlsson/repos","events_url":"https://api.github.com/users/CarlOlsson/events{/privacy}","received_events_url":"https://api.github.com/users/CarlOlsson/received_events","type":"User","site_admin":false},"created_at":"2018-08-09T07:12:22Z","updated_at":"2018-08-09T07:12:22Z","author_association":"CONTRIBUTOR","body":"> Is the estimation of the terrain altitude considering the attitude of the UAV?\r\n\r\nYes, it is [here](https://github.com/PX4/ecl/blob/master/EKF/terrain_estimator.cpp#L122)\r\n\r\n> What happen if I put the altimeter on a stabilized gimbal such that it always point downward?\r\n\r\nYou will need to change the code to not account for the tilt angle"}}
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