From 0b4751d03167c4ee147f2e91a94f9919baea70e1 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 22 Feb 2019 18:44:30 +0300 Subject: [PATCH] simulator_mavlink: fix DISTANCE_SENSOR.covariance field handling --- src/modules/simulator/simulator_mavlink.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp index 6738e01f56..b15a354105 100644 --- a/src/modules/simulator/simulator_mavlink.cpp +++ b/src/modules/simulator/simulator_mavlink.cpp @@ -1188,7 +1188,7 @@ int Simulator::publish_distance_topic(mavlink_distance_sensor_t *dist_mavlink) dist.type = dist_mavlink->type; dist.id = dist_mavlink->id; dist.orientation = dist_mavlink->orientation; - dist.variance = dist_mavlink->covariance / 100.0f; + dist.variance = dist_mavlink->covariance * 1e-4f; // cm^2 to m^2 dist.signal_quality = -1; int dist_multi;