From 63c4f4ac3e02621ab226261f45b54c2e259743a6 Mon Sep 17 00:00:00 2001
From: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Date: Fri, 30 Jan 2026 08:31:38 -0900
Subject: [PATCH] uavcannode: publisher: Fix2: fix eph/epv off by sqrt bug
 (#26389)

---
 src/drivers/uavcannode/Publishers/GnssFix2.hpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/drivers/uavcannode/Publishers/GnssFix2.hpp b/src/drivers/uavcannode/Publishers/GnssFix2.hpp
index 4f3223ec48..4f0968c269 100644
--- a/src/drivers/uavcannode/Publishers/GnssFix2.hpp
+++ b/src/drivers/uavcannode/Publishers/GnssFix2.hpp
@@ -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);