{"action":"created","issue":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/8450","repository_url":"https://api.github.com/repos/ArduPilot/ardupilot","labels_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/8450/labels{/name}","comments_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/8450/comments","events_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/8450/events","html_url":"https://github.com/ArduPilot/ardupilot/pull/8450","id":324977358,"number":8450,"title":"AP_Avoidance: track src with correct label - use MAVLink label","user":{"login":"magicrub","id":4782875,"avatar_url":"https://avatars2.githubusercontent.com/u/4782875?v=4","gravatar_id":"","url":"https://api.github.com/users/magicrub","html_url":"https://github.com/magicrub","followers_url":"https://api.github.com/users/magicrub/followers","following_url":"https://api.github.com/users/magicrub/following{/other_user}","gists_url":"https://api.github.com/users/magicrub/gists{/gist_id}","starred_url":"https://api.github.com/users/magicrub/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/magicrub/subscriptions","organizations_url":"https://api.github.com/users/magicrub/orgs","repos_url":"https://api.github.com/users/magicrub/repos","events_url":"https://api.github.com/users/magicrub/events{/privacy}","received_events_url":"https://api.github.com/users/magicrub/received_events","type":"User","site_admin":false},"labels":[{"id":208947406,"url":"https://api.github.com/repos/ArduPilot/ardupilot/labels/AllVehicles","name":"AllVehicles","color":"bfd4f2","default":false},{"id":24259148,"url":"https://api.github.com/repos/ArduPilot/ardupilot/labels/BUG","name":"BUG","color":"fc2929","default":false},{"id":136051782,"url":"https://api.github.com/repos/ArduPilot/ardupilot/labels/Library","name":"Library","color":"f7c6c7","default":false}],"state":"closed","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-05-21T16:23:52Z","updated_at":"2018-05-25T03:45:27Z","closed_at":"2018-05-25T03:45:00Z","author_association":"CONTRIBUTOR","pull_request":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/pulls/8450","html_url":"https://github.com/ArduPilot/ardupilot/pull/8450","diff_url":"https://github.com/ArduPilot/ardupilot/pull/8450.diff","patch_url":"https://github.com/ArduPilot/ardupilot/pull/8450.patch"},"body":"AP_Avoidance takes data from two mavlink sources: GLOBAL_POSITION_INT and ADSB_VEHICLE. However, in the avoidance library both will being labeled as coming from ADSB. \r\n\r\nThis should pretty much have no effect but should be implemented correctly just in case. Since [the only place that checks it](https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_Avoidance/AP_Avoidance.cpp#L205) also checks the src ID which is an apples vs oranges check (mavlink sys ID vs 24bit ICAO) those will never match unless you're intentionally broadcasting/using an invalid ICAO.\r\n\r\nHowever, this may effect users who are using the ADSB_VEHICLE packet for avoidance without using ADSB hardware, just using it as a packet to utilize the avoidance library and may indeed be using illegal ICAO numbers because they didn't know it auto-magically works with GLOBAL_POSITION_INT."},"comment":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/comments/391932778","html_url":"https://github.com/ArduPilot/ardupilot/pull/8450#issuecomment-391932778","issue_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/8450","id":391932778,"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":"2018-05-25T03:45:27Z","updated_at":"2018-05-25T03:45:27Z","author_association":"CONTRIBUTOR","body":"Merged, thanks!"}}
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