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uavcannode: publisher: Fix2: fix eph/epv off by sqrt bug (#26389)

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Jacob Dahl 2026-01-30 08:31:38 -09:00 committed by GitHub
parent 40dc011d82
commit 63c4f4ac3e
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1 changed files with 4 additions and 4 deletions
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src/drivers/uavcannode/Publishers/GnssFix2.hpp
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@ -113,10 +113,10 @@ public:
}
// Diagonal matrix
// position variances -- Xx, Yy, Zz
fix2.covariance.push_back(gps.eph);
fix2.covariance.push_back(gps.eph);
fix2.covariance.push_back(gps.epv);
// position variances -- Xx, Yy, Zz (eph/epv are std dev in meters, must square for variance)
fix2.covariance.push_back(gps.eph * gps.eph);
fix2.covariance.push_back(gps.eph * gps.eph);
fix2.covariance.push_back(gps.epv * gps.epv);
// velocity variance -- Vxx, Vyy, Vzz
fix2.covariance.push_back(gps.s_variance_m_s);
fix2.covariance.push_back(gps.s_variance_m_s);