{"action":"closed","number":7087,"pull_request":{"url":"https://api.github.com/repos/PX4/Firmware/pulls/7087","id":116677825,"html_url":"https://github.com/PX4/Firmware/pull/7087","diff_url":"https://github.com/PX4/Firmware/pull/7087.diff","patch_url":"https://github.com/PX4/Firmware/pull/7087.patch","issue_url":"https://api.github.com/repos/PX4/Firmware/issues/7087","number":7087,"state":"closed","locked":false,"title":"EKF2 Updates","user":{"login":"priseborough","id":3596952,"avatar_url":"https://avatars1.githubusercontent.com/u/3596952?v=3","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},"body":"This updates the ecl to  latest master and updates the python scripts for ecl EKF log analysis.\r\n\r\nThis ecl version includes  the following bug fixes and improvements:\r\n\r\n- More conservative reporting of velocity and position accuracy when aiding is lost\r\n- Separate reporting of accuracy for local and global position\r\n- Detection and recovery from badly conditioned accel bias states and covariance values\r\n- Logic to prevent high manoeuvre levels causing bad acceleration bias learning\r\n- Reduce sensitivity of covariance prediction to timing jitter\r\n- Continue reporting of GPS quality until the later of airborne or checks pass enabling the use of test output for pre-arm checking\r\n- Faster recovery from height estimation divergence caused by accelerometer clipping.\r\n- Add ability to perform wind estimation for multi-rotors using a specific force drag model.\r\n\r\nA minimum code change for interface compatibility has been made in the ekf2 module.\r\n\r\nThe python automated EKF log analysis has been updated. Here are the PDF plots generated from a test flight performed using this PR:\r\n\r\n[22_55_30.ulg.pdf](https://github.com/PX4/Firmware/files/939429/22_55_30.ulg.pdf)\r\n\r\nHere is the output diagnostic summary:\r\n[22_55_30.ulg.mdat.csv.zip](https://github.com/PX4/Firmware/files/939433/22_55_30.ulg.mdat.csv.zip)\r\n\r\nThe python tool was then run on a directory containing logs from several days of flying with the population summary plots produced\r\n\r\n[population_data.pdf](https://github.com/PX4/Firmware/files/939438/population_data.pdf)\r\n","created_at":"2017-04-20T02:15:12Z","updated_at":"2017-04-21T06:34:21Z","closed_at":"2017-04-21T06:34:21Z","merged_at":"2017-04-21T06:34:20Z","merge_commit_sha":"1843061376cd8389126e0b78917cb4424ecae525","assignee":{"login":"PX4TestFlights","id":24407792,"avatar_url":"https://avatars3.githubusercontent.com/u/24407792?v=3","gravatar_id":"","url":"https://api.github.com/users/PX4TestFlights","html_url":"https://github.com/PX4TestFlights","followers_url":"https://api.github.com/users/PX4TestFlights/followers","following_url":"https://api.github.com/users/PX4TestFlights/following{/other_user}","gists_url":"https://api.github.com/users/PX4TestFlights/gists{/gist_id}","starred_url":"https://api.github.com/users/PX4TestFlights/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/PX4TestFlights/subscriptions","organizations_url":"https://api.github.com/users/PX4TestFlights/orgs","repos_url":"https://api.github.com/users/PX4TestFlights/repos","events_url":"https://api.github.com/users/PX4TestFlights/events{/privacy}","received_events_url":"https://api.github.com/users/PX4TestFlights/received_events","type":"User","site_admin":false},"assignees":[{"login":"PX4TestFlights","id":24407792,"avatar_url":"https://avatars3.githubusercontent.com/u/24407792?v=3","gravatar_id":"","url":"https://api.github.com/users/PX4TestFlights","html_url":"https://github.com/PX4TestFlights","followers_url":"https://api.github.com/users/PX4TestFlights/followers","following_url":"https://api.github.com/users/PX4TestFlights/following{/other_user}","gists_url":"https://api.github.com/users/PX4TestFlights/gists{/gist_id}","starred_url":"https://api.github.com/users/PX4TestFlights/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/PX4TestFlights/subscriptions","organizations_url":"https://api.github.com/users/PX4TestFlights/orgs","repos_url":"https://api.github.com/users/PX4TestFlights/repos","events_url":"https://api.github.com/users/PX4TestFlights/events{/privacy}","received_events_url":"https://api.github.com/users/PX4TestFlights/received_events","type":"User","site_admin":false}],"milestone":null,"commits_url":"https://api.github.com/repos/PX4/Firmware/pulls/7087/commits","review_comments_url":"https://api.github.com/repos/PX4/Firmware/pulls/7087/comments","review_comment_url":"https://api.github.com/repos/PX4/Firmware/pulls/comments{/number}","comments_url":"https://api.github.com/repos/PX4/Firmware/issues/7087/comments","statuses_url":"https://api.github.com/repos/PX4/Firmware/statuses/d5d8cfac56b820c0024e58096cc42aa3990089c7","head":{"label":"priseborough:pr-ekf2Updates","ref":"pr-ekf2Updates","sha":"d5d8cfac56b820c0024e58096cc42aa3990089c7","user":{"login":"priseborough","id":3596952,"avatar_url":"https://avatars1.githubusercontent.com/u/3596952?v=3","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},"repo":{"id":21996422,"name":"Firmware","full_name":"priseborough/Firmware","owner":{"login":"priseborough","id":3596952,"avatar_url":"https://avatars1.githubusercontent.com/u/3596952?v=3","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},"private":false,"html_url":"https://github.com/priseborough/Firmware","description":"PX4 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