{"action":"created","issue":{"url":"https://api.github.com/repos/PX4/Firmware/issues/8223","repository_url":"https://api.github.com/repos/PX4/Firmware","labels_url":"https://api.github.com/repos/PX4/Firmware/issues/8223/labels{/name}","comments_url":"https://api.github.com/repos/PX4/Firmware/issues/8223/comments","events_url":"https://api.github.com/repos/PX4/Firmware/issues/8223/events","html_url":"https://github.com/PX4/Firmware/pull/8223","id":270189908,"number":8223,"title":"Assist pilot to respect max speed and min height when relying on optical flow","user":{"login":"priseborough","id":3596952,"avatar_url":"https://avatars2.githubusercontent.com/u/3596952?v=4","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},"labels":[{"id":10884840,"url":"https://api.github.com/repos/PX4/Firmware/labels/enhancement","name":"enhancement","color":"84b6eb","default":true}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":{"url":"https://api.github.com/repos/PX4/Firmware/milestones/24","html_url":"https://github.com/PX4/Firmware/milestone/24","labels_url":"https://api.github.com/repos/PX4/Firmware/milestones/24/labels","id":2491594,"number":24,"title":"Release v1.8.0","description":"Maintenance release","creator":{"login":"LorenzMeier","id":1208119,"avatar_url":"https://avatars3.githubusercontent.com/u/1208119?v=4","gravatar_id":"","url":"https://api.github.com/users/LorenzMeier","html_url":"https://github.com/LorenzMeier","followers_url":"https://api.github.com/users/LorenzMeier/followers","following_url":"https://api.github.com/users/LorenzMeier/following{/other_user}","gists_url":"https://api.github.com/users/LorenzMeier/gists{/gist_id}","starred_url":"https://api.github.com/users/LorenzMeier/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/LorenzMeier/subscriptions","organizations_url":"https://api.github.com/users/LorenzMeier/orgs","repos_url":"https://api.github.com/users/LorenzMeier/repos","events_url":"https://api.github.com/users/LorenzMeier/events{/privacy}","received_events_url":"https://api.github.com/users/LorenzMeier/received_events","type":"User","site_admin":false},"open_issues":111,"closed_issues":15,"state":"open","created_at":"2017-05-01T13:29:33Z","updated_at":"2017-12-13T19:38:00Z","due_on":"2018-03-14T07:00:00Z","closed_at":null},"comments":6,"created_at":"2017-11-01T04:23:39Z","updated_at":"2017-12-14T10:44:59Z","closed_at":null,"author_association":"CONTRIBUTOR","pull_request":{"url":"https://api.github.com/repos/PX4/Firmware/pulls/8223","html_url":"https://github.com/PX4/Firmware/pull/8223","diff_url":"https://github.com/PX4/Firmware/pull/8223.diff","patch_url":"https://github.com/PX4/Firmware/pull/8223.patch"},"body":"This PR limits the max ground speed and minimum height above to respect limits published by the estimator during optical flow operation. The methods making these limits available were added to the ecl/EKF here: https://github.com/PX4/ecl/pull/339\r\n\r\nThese limits are only applied during manual controlled flight using the position controller.\r\n\r\nThe height control biases the vertical velocity demand to push the vehicle back up if below the minimum height. This bias is limited to be no more than the landing sink rate and can be easily over-powered by the pilot if required. It is intended to discourage sustained operation below a height where the flow sensor is in focus.\r\n\r\nThe position control limits the max speed to the value published by the estimator. This limit is released gradually if the estimator starts using GPS and is no longer reliant on the optical flow sensor to prevent sudden acceleration if GPS use commences while stick inputs are non-zero.\r\n\r\nFlight test log here with GPS use commencing during flight: https://logs.px4.io/plot_app?log=2a18e88c-4068-4c76-967b-911f05993a94\r\n\r\nSITL test log here with optical flow only operation : https://logs.px4.io/plot_app?log=fb4729b7-212e-4ef8-9144-d80e99c8ab00\r\n"},"comment":{"url":"https://api.github.com/repos/PX4/Firmware/issues/comments/351675011","html_url":"https://github.com/PX4/Firmware/pull/8223#issuecomment-351675011","issue_url":"https://api.github.com/repos/PX4/Firmware/issues/8223","id":351675011,"user":{"login":"priseborough","id":3596952,"avatar_url":"https://avatars2.githubusercontent.com/u/3596952?v=4","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},"created_at":"2017-12-14T10:44:59Z","updated_at":"2017-12-14T10:44:59Z","author_association":"CONTRIBUTOR","body":"jenkins test this please"}}
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