mavlink_receiver: fix DISTANCE_SENSOR covariance handling #11520
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mhkabir
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Feb 22, 2019
TSC21
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Feb 22, 2019
TSC21
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Feb 22, 2019
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TSC21
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| @@ -4195,7 +4195,7 @@ class MavlinkStreamDistanceSensor : public MavlinkStream | |||
| msg.min_distance = dist_sensor.min_distance * 100.0f; /* m to cm */ | |||
| msg.max_distance = dist_sensor.max_distance * 100.0f; /* m to cm */ | |||
| msg.current_distance = dist_sensor.current_distance * 100.0f; /* m to cm */ | |||
| msg.covariance = dist_sensor.covariance; | |||
| msg.covariance = dist_sensor.variance * 1e4f; // m^2 to cm^2 | |||
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To covert from uORB distance_sensor's meters^2 to MAVLInk's cm^2, we should multiply by 1e4f, don't we?
TSC21
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Feb 22, 2019
Just FYI, this field documentation was recently changed from cm to cm^2, and even though the field name is covariance, it is the variance. |
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MAVLink reference says that
DISTANCE_SENSOR.covariancefield is in cm^2.Currently, this value is getting passed directly to
distance_sensoruORB message, which has this field in m^2 (says m in comments, but this must be a mistake) without convertation.Fixed these issues.