{"action":"opened","issue":{"url":"https://api.github.com/repos/oliverlee/phobos/issues/83","repository_url":"https://api.github.com/repos/oliverlee/phobos","labels_url":"https://api.github.com/repos/oliverlee/phobos/issues/83/labels{/name}","comments_url":"https://api.github.com/repos/oliverlee/phobos/issues/83/comments","events_url":"https://api.github.com/repos/oliverlee/phobos/issues/83/events","html_url":"https://github.com/oliverlee/phobos/issues/83","id":209474483,"number":83,"title":"Differences between estimated steer rate and numerical derivative","user":{"login":"oliverlee","id":2965031,"avatar_url":"https://avatars.githubusercontent.com/u/2965031?v=3","gravatar_id":"","url":"https://api.github.com/users/oliverlee","html_url":"https://github.com/oliverlee","followers_url":"https://api.github.com/users/oliverlee/followers","following_url":"https://api.github.com/users/oliverlee/following{/other_user}","gists_url":"https://api.github.com/users/oliverlee/gists{/gist_id}","starred_url":"https://api.github.com/users/oliverlee/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/oliverlee/subscriptions","organizations_url":"https://api.github.com/users/oliverlee/orgs","repos_url":"https://api.github.com/users/oliverlee/repos","events_url":"https://api.github.com/users/oliverlee/events{/privacy}","received_events_url":"https://api.github.com/users/oliverlee/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2017-02-22T14:45:20Z","updated_at":"2017-02-22T14:45:20Z","closed_at":null,"body":"Collected data from commit https://github.com/oliverlee/phobos/pull/81/commits/fd88ec8083938f5f8dabc7b9842d4a4597bf4a32 shows large differences between Kalman filter estimated steer rate and a simple numerical derivative of steer rate obtained from encoder counts.\r\n\r\n![screen shot 2017-02-22 at 15 44 59](https://cloud.githubusercontent.com/assets/2965031/23216342/e5b6038c-f915-11e6-8e54-ee0ccffc5724.png)\r\n\r\nCertainly we would expect the estimated steer rate to approach zero at time increases."}}
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