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Pass through horizontal and vertial covariances

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Dion Gonano
2018-09-16 21:30:20 -04:00
committed by Daniel Agar
parent 8158cdfcf4
commit 7691990a50
2 changed files with 6 additions and 1 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+4
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@@ -1253,6 +1253,10 @@ MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg)
vision_position.y = pos.y;
vision_position.z = pos.z;
//copy horizontal and vertical covariances
vision_position.eph = fmaxf(pos.covariance[0], pos.covariance[6]);
vision_position.epv = pos.covariance[11];
vision_position.xy_valid = true;
vision_position.z_valid = true;
vision_position.v_xy_valid = true;