Rename distance_sensor.covariance to variance

src/modules/local_position_estimator/sensors/lidar.cpp

@@ -77,7 +77,7 @@ void BlockLocalPositionEstimator::lidarCorrect()
 	// use parameter covariance unless sensor provides reasonable value
 	SquareMatrix<float, n_y_lidar> R;
 	R.setZero();
-	float cov = _sub_lidar->get().covariance;
+	float cov = _sub_lidar->get().variance;
 
 	if (cov < 1.0e-3f) {
 		R(0, 0) = _lidar_z_stddev.get() * _lidar_z_stddev.get();

src/modules/local_position_estimator/sensors/sonar.cpp

@@ -86,7 +86,7 @@ void BlockLocalPositionEstimator::sonarCorrect()
 	    && !(_sensorTimeout & SENSOR_LIDAR)) { return; }
 
 	// calculate covariance
-	float cov = _sub_sonar->get().covariance;
+	float cov = _sub_sonar->get().variance;
 
 	if (cov < 1.0e-3f) {
 		// use sensor value if reasoanble

src/modules/mavlink/mavlink_messages.cpp

@@ -4195,7 +4195,7 @@ protected:
 			msg.min_distance = dist_sensor.min_distance * 100.0f; /* m to cm */
 			msg.max_distance = dist_sensor.max_distance * 100.0f; /* m to cm */
 			msg.current_distance = dist_sensor.current_distance * 100.0f; /* m to cm */
-			msg.covariance = dist_sensor.covariance * 1e4f; // m^2 to cm^2
+			msg.covariance = dist_sensor.variance * 1e4f; // m^2 to cm^2
 
 			mavlink_msg_distance_sensor_send_struct(_mavlink->get_channel(), &msg);
 

src/modules/mavlink/mavlink_receiver.cpp

@@ -683,7 +683,7 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
 		d.type = 1;
 		d.id = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;
 		d.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
-		d.covariance = 0.0;
+		d.variance = 0.0;
 
 		if (_flow_distance_sensor_pub == nullptr) {
 			_flow_distance_sensor_pub = orb_advertise_multi(ORB_ID(distance_sensor), &d,
@@ -736,7 +736,7 @@ MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg)
 	d.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
 	d.id = 0;
 	d.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
-	d.covariance = 0.0;
+	d.variance = 0.0;
 
 	if (_hil_distance_sensor_pub == nullptr) {
 		_hil_distance_sensor_pub = orb_advertise_multi(ORB_ID(distance_sensor), &d,
@@ -797,7 +797,7 @@ MavlinkReceiver::handle_message_distance_sensor(mavlink_message_t *msg)
 	d.type = dist_sensor.type;
 	d.id = 	MAV_DISTANCE_SENSOR_LASER;
 	d.orientation = dist_sensor.orientation;
-	d.covariance = dist_sensor.covariance * 1e-4f; // cm^2 to m^2
+	d.variance = dist_sensor.covariance * 1e-4f; // cm^2 to m^2
 
 	/// TODO Add sensor rotation according to MAV_SENSOR_ORIENTATION enum
 

src/modules/simulator/simulator_mavlink.cpp

@@ -1188,7 +1188,7 @@ int Simulator::publish_distance_topic(mavlink_distance_sensor_t *dist_mavlink)
 	dist.type = dist_mavlink->type;
 	dist.id = dist_mavlink->id;
 	dist.orientation = dist_mavlink->orientation;
-	dist.covariance = dist_mavlink->covariance / 100.0f;
+	dist.variance = dist_mavlink->covariance / 100.0f;
 	dist.signal_quality = -1;
 
 	int dist_multi;