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Rename distance_sensor.covariance to variance

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This commit is contained in:
Oleg Kalachev
2019-02-22 18:31:27 +00:00
committed by Nuno Marques
parent 8ba7569852
commit fbc8d01a7e
22 changed files with 25 additions and 25 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+3 -3
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@@ -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