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mavlink: odometry: Initialize the covariance matrix to 0 to prevent the entire matrix from becoming invalid after mavros performs coordinate transformation. (#26321)

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This commit is contained in:
David Meng
2026-01-25 05:52:13 +08:00
committed by GitHub
parent e2864e521f
commit 1cfab8feb2
1 changed files with 2 additions and 2 deletions
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src/modules/mavlink/streams/ODOMETRY.hpp
+2 -2
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@@ -112,7 +112,7 @@ private:
// Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle // Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle
// (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.) // (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.)
for (auto &pc : msg.pose_covariance) { for (auto &pc : msg.pose_covariance) {
pc = NAN; pc = 0.f;
} }
msg.pose_covariance[0] = odom.position_variance[0]; // X row 0, col 0 msg.pose_covariance[0] = odom.position_variance[0]; // X row 0, col 0
@@ -127,7 +127,7 @@ private:
// Row-major representation of a 6x6 velocity cross-covariance matrix upper right triangle // Row-major representation of a 6x6 velocity cross-covariance matrix upper right triangle
// (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed; first six entries are the first ROW, next five entries are the second ROW, etc.) // (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed; first six entries are the first ROW, next five entries are the second ROW, etc.)
for (auto &vc : msg.velocity_covariance) { for (auto &vc : msg.velocity_covariance) {
vc = NAN; vc = 0.f;
} }
msg.velocity_covariance[0] = odom.velocity_variance[0]; // X row 0, col 0 msg.velocity_covariance[0] = odom.velocity_variance[0]; // X row 0, col 0