{"action":"created","issue":{"url":"https://api.github.com/repos/betaflight/betaflight/issues/5753","repository_url":"https://api.github.com/repos/betaflight/betaflight","labels_url":"https://api.github.com/repos/betaflight/betaflight/issues/5753/labels{/name}","comments_url":"https://api.github.com/repos/betaflight/betaflight/issues/5753/comments","events_url":"https://api.github.com/repos/betaflight/betaflight/issues/5753/events","html_url":"https://github.com/betaflight/betaflight/pull/5753","id":316906993,"number":5753,"title":"[GPS RESCUE] - Use GPS when present for correcting attitude.values.yaw","user":{"login":"s0up","id":863391,"avatar_url":"https://avatars3.githubusercontent.com/u/863391?v=4","gravatar_id":"","url":"https://api.github.com/users/s0up","html_url":"https://github.com/s0up","followers_url":"https://api.github.com/users/s0up/followers","following_url":"https://api.github.com/users/s0up/following{/other_user}","gists_url":"https://api.github.com/users/s0up/gists{/gist_id}","starred_url":"https://api.github.com/users/s0up/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/s0up/subscriptions","organizations_url":"https://api.github.com/users/s0up/orgs","repos_url":"https://api.github.com/users/s0up/repos","events_url":"https://api.github.com/users/s0up/events{/privacy}","received_events_url":"https://api.github.com/users/s0up/received_events","type":"User","site_admin":false},"labels":[{"id":664778578,"url":"https://api.github.com/repos/betaflight/betaflight/labels/RN:%20MAJOR%20FEATURE","name":"RN: MAJOR FEATURE","color":"0e8a16","default":false}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":{"url":"https://api.github.com/repos/betaflight/betaflight/milestones/7","html_url":"https://github.com/betaflight/betaflight/milestone/7","labels_url":"https://api.github.com/repos/betaflight/betaflight/milestones/7/labels","id":2278188,"number":7,"title":"Betaflight v3.4","description":"","creator":{"login":"blckmn","id":6168871,"avatar_url":"https://avatars2.githubusercontent.com/u/6168871?v=4","gravatar_id":"","url":"https://api.github.com/users/blckmn","html_url":"https://github.com/blckmn","followers_url":"https://api.github.com/users/blckmn/followers","following_url":"https://api.github.com/users/blckmn/following{/other_user}","gists_url":"https://api.github.com/users/blckmn/gists{/gist_id}","starred_url":"https://api.github.com/users/blckmn/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/blckmn/subscriptions","organizations_url":"https://api.github.com/users/blckmn/orgs","repos_url":"https://api.github.com/users/blckmn/repos","events_url":"https://api.github.com/users/blckmn/events{/privacy}","received_events_url":"https://api.github.com/users/blckmn/received_events","type":"User","site_admin":false},"open_issues":34,"closed_issues":154,"state":"open","created_at":"2017-01-25T19:22:55Z","updated_at":"2018-04-24T02:34:00Z","due_on":"2018-07-01T07:00:00Z","closed_at":null},"comments":2,"created_at":"2018-04-23T17:24:54Z","updated_at":"2018-04-24T06:17:13Z","closed_at":null,"author_association":"NONE","pull_request":{"url":"https://api.github.com/repos/betaflight/betaflight/pulls/5753","html_url":"https://github.com/betaflight/betaflight/pull/5753","diff_url":"https://github.com/betaflight/betaflight/pull/5753.diff","patch_url":"https://github.com/betaflight/betaflight/pull/5753.patch"},"body":"This PR feeds yaw correction data into the mahony ahrs filter. This should remove the requirement for the quad to be plugged in pointing north to get a proper home arrow.\r\n\r\nThis PR is a small part of GPS rescue mode, which is a return to home failsafe method for betaflight.\r\n\r\nIn regards to the addition of shouldInitializeGPSHeading() only returning true once - this works fine generally, but the method was added because we will likely find ways to pick good times to reinitialize during rescue mode so this method gives us a place to put that future logic.\r\n\r\nThe getQuaternion() method will be used for a subsequent PR in altitude.c for rotating acceleration vector body to earth.\r\n\r\n👍 "},"comment":{"url":"https://api.github.com/repos/betaflight/betaflight/issues/comments/383816135","html_url":"https://github.com/betaflight/betaflight/pull/5753#issuecomment-383816135","issue_url":"https://api.github.com/repos/betaflight/betaflight/issues/5753","id":383816135,"user":{"login":"mikeller","id":4742747,"avatar_url":"https://avatars1.githubusercontent.com/u/4742747?v=4","gravatar_id":"","url":"https://api.github.com/users/mikeller","html_url":"https://github.com/mikeller","followers_url":"https://api.github.com/users/mikeller/followers","following_url":"https://api.github.com/users/mikeller/following{/other_user}","gists_url":"https://api.github.com/users/mikeller/gists{/gist_id}","starred_url":"https://api.github.com/users/mikeller/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mikeller/subscriptions","organizations_url":"https://api.github.com/users/mikeller/orgs","repos_url":"https://api.github.com/users/mikeller/repos","events_url":"https://api.github.com/users/mikeller/events{/privacy}","received_events_url":"https://api.github.com/users/mikeller/received_events","type":"User","site_admin":false},"created_at":"2018-04-24T06:17:13Z","updated_at":"2018-04-24T06:17:13Z","author_association":"OWNER","body":"Looks good to me, @digitalentity. I think having a no frills 'return to home' (or however you want to call it) function will be a welcome addition for those who want to us their craft for racing / acrobatics *and* long distance."}}
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