update variable name, fix covariances

src/modules/ekf2/EKF/aid_sources/range_finder/jake_range_height_control.cpp

@@ -79,7 +79,7 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 	// Gate sample consumption on these checks
 	bool quality_ok = sample.quality > 0; // TODO: what about unknown? (-1)
 	bool tilt_ok = _range_sensor.isTiltOk();
-	bool range_ok = sample.rng <= _range_sensor.getValidMaxVal() && sample.rng >= _range_sensor.getValidMinVal();
+	bool range_ok = sample.range <= _range_sensor.getValidMaxVal() && sample.range >= _range_sensor.getValidMinVal();
 	// - Not stuck value
 	// - Not fog detected
 
@@ -112,7 +112,7 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 	// Correct the range data for position offset relative to the IMU
 	const Vector3f pos_offset_body = _params.rng_pos_body - _params.imu_pos_body;
 	const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
-	sample.rng = sample.rng + pos_offset_earth(2) / _range_sensor.getCosTilt();
+	sample.range = sample.range + pos_offset_earth(2) / _range_sensor.getCosTilt();
 
 	// Provide sample from buffer to object
 	_range_sensor.setSample(sample);

src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.hpp

@@ -51,7 +51,7 @@ namespace sensor
 
 struct rangeSample {
 	uint64_t    time_us{};  ///< timestamp of the measurement (uSec)
-	float       rng{};      ///< range (distance to ground) measurement (m)
+	float       range{};      ///< range (distance to ground) measurement (m)
 	int8_t      quality{};  ///< Signal quality in percent (0...100%), where 0 = invalid signal, 100 = perfect signal, and -1 = unknown signal quality.
 };
 
@@ -97,7 +97,7 @@ public:
 	// void setRange(float rng) { _sample.rng = rng; }
 	// float getRange() const { return _sample.rng; }
 
-	float getDistBottom() const { return _sample.rng * _cos_tilt_rng_to_earth; }
+	float getDistBottom() const { return _sample.range * _cos_tilt_rng_to_earth; }
 
 	float getValidMinVal() const { return _rng_valid_min_val; }
 	float getValidMaxVal() const { return _rng_valid_max_val; }

src/modules/ekf2/EKF/covariance.cpp

@@ -106,8 +106,8 @@ void Ekf::initialiseCovariance()
 
 #if defined(CONFIG_EKF2_TERRAIN)
 	// use the ground clearance value as our uncertainty
-	// TODO: ^ why?
-	P.uncorrelateCovarianceSetVariance<State::terrain.dof>(State::terrain.idx, sq(_params.ekf2_min_rng));
+	// TODO: ^ why? wouldn't the noise value make more sense?
+	P.uncorrelateCovarianceSetVariance<State::terrain.dof>(State::terrain.idx, sq(_params.ekf2_rng_noise));
 #endif // CONFIG_EKF2_TERRAIN
 }
 

src/modules/ekf2/EKF/terrain_control.cpp

@@ -42,12 +42,12 @@
 
 void Ekf::initTerrain()
 {
-	// JAKE: review
 	// assume a ground clearance
 	_state.terrain = -_gpos.altitude() + _params.ekf2_min_rng;
 
 	// use the ground clearance value as our uncertainty
-	P.uncorrelateCovarianceSetVariance<State::terrain.dof>(State::terrain.idx, sq(_params.ekf2_min_rng));
+	// TODO: JAKE: ^ doesn't make any sense
+	P.uncorrelateCovarianceSetVariance<State::terrain.dof>(State::terrain.idx, sq(_params.ekf2_rng_noise));
 }
 
 void Ekf::controlTerrainFakeFusion()

src/modules/ekf2/EKF2.cpp

@@ -2401,7 +2401,7 @@ bool EKF2::UpdateFlowSample(ekf2_timestamps_s &ekf2_timestamps)
 
 			estimator::sensor::rangeSample range_sample {
 				.time_us = optical_flow.timestamp_sample,
-				.rng = optical_flow.distance_m,
+				.range = optical_flow.distance_m,
 				.quality = quality,
 			};
 			_ekf.setRangeData(range_sample);
@@ -2576,7 +2576,7 @@ void EKF2::UpdateRangeSample(ekf2_timestamps_s &ekf2_timestamps)
 		if (distance_sensor.orientation == distance_sensor_s::ROTATION_DOWNWARD_FACING) {
 			estimator::sensor::rangeSample range_sample {
 				.time_us = distance_sensor.timestamp,
-				.rng = distance_sensor.current_distance,
+				.range = distance_sensor.current_distance,
 				.quality = distance_sensor.signal_quality,
 			};
 			_ekf.setRangeData(range_sample);