From 8ba75698521a36317c8a973cf510e84913080fe3 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Fri, 22 Feb 2019 18:33:15 +0300
Subject: [PATCH] mavlink_messages: fill DISTANCE_SENSOR.covariance correctly

---
 src/modules/mavlink/mavlink_messages.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 0e9fcba42a..0b78ca422d 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/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;
+			msg.covariance = dist_sensor.covariance * 1e4f; // m^2 to cm^2
 
 			mavlink_msg_distance_sensor_send_struct(_mavlink->get_channel(), &msg);
 
-- 
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