From b59e81fbf20916f3b99d89ff2036b275170b0e1f Mon Sep 17 00:00:00 2001
From: Jacob Dahl <dahl.jakejacob@gmail.com>
Date: Mon, 22 Sep 2025 17:27:47 -0800
Subject: [PATCH] fix comment, use noise as uncertainty

---
 src/modules/ekf2/EKF/covariance.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/ekf2/EKF/covariance.cpp b/src/modules/ekf2/EKF/covariance.cpp
index 9bc7bde143..d7c8ec7b19 100644
--- a/src/modules/ekf2/EKF/covariance.cpp
+++ b/src/modules/ekf2/EKF/covariance.cpp
@@ -105,7 +105,7 @@ void Ekf::initialiseCovariance()
 #endif // CONFIG_EKF2_WIND
 
 #if defined(CONFIG_EKF2_TERRAIN)
-	// use the ground clearance value as our uncertainty. TODO: wouldn't it make more sense to  use the noise value instead?
+	// use the noise value as our uncertainty
 	P.uncorrelateCovarianceSetVariance<State::terrain.dof>(State::terrain.idx, sq(_params.ekf2_rng_noise));
 #endif // CONFIG_EKF2_TERRAIN
 }