From fbc8d01a7e96c25ec0e9bc70058d012735461273 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Fri, 22 Feb 2019 18:41:17 +0300
Subject: [PATCH] Rename distance_sensor.covariance to variance
---
msg/distance_sensor.msg | 2 +-
src/drivers/distance_sensor/cm8jl65/cm8jl65.cpp | 2 +-
src/drivers/distance_sensor/leddar_one/leddar_one.cpp | 2 +-
src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp | 2 +-
src/drivers/distance_sensor/ll40ls/LidarLitePWM.cpp | 2 +-
src/drivers/distance_sensor/mb12xx/mb12xx.cpp | 2 +-
src/drivers/distance_sensor/sf0x/sf0x.cpp | 2 +-
src/drivers/distance_sensor/sf1xx/sf1xx.cpp | 2 +-
src/drivers/distance_sensor/srf02/srf02.cpp | 2 +-
src/drivers/distance_sensor/teraranger/teraranger.cpp | 2 +-
src/drivers/distance_sensor/tfmini/tfmini.cpp | 2 +-
src/drivers/distance_sensor/ulanding/ulanding.cpp | 4 ++--
src/drivers/distance_sensor/vl53lxx/vl53lxx.cpp | 2 +-
src/drivers/px4flow/px4flow.cpp | 2 +-
src/modules/local_position_estimator/sensors/lidar.cpp | 2 +-
src/modules/local_position_estimator/sensors/sonar.cpp | 2 +-
src/modules/mavlink/mavlink_messages.cpp | 2 +-
src/modules/mavlink/mavlink_receiver.cpp | 6 +++---
src/modules/simulator/simulator_mavlink.cpp | 2 +-
.../df_bebop_rangefinder_wrapper.cpp | 2 +-
.../drivers/df_isl29501_wrapper/df_isl29501_wrapper.cpp | 2 +-
.../posix/drivers/df_trone_wrapper/df_trone_wrapper.cpp | 2 +-
22 files changed, 25 insertions(+), 25 deletions(-)
diff --git a/msg/distance_sensor.msg b/msg/distance_sensor.msg
index 6e636160c5..ca688ca79b 100644
--- a/msg/distance_sensor.msg
+++ b/msg/distance_sensor.msg
@@ -5,7 +5,7 @@ uint64 timestamp # time since system start (microseconds)
float32 min_distance # Minimum distance the sensor can measure (in m)
float32 max_distance # Maximum distance the sensor can measure (in m)
float32 current_distance # Current distance reading (in m)
-float32 covariance # Measurement covariance (in m^2), 0 for unknown / invalid readings
+float32 variance # Measurement variance (in m^2), 0 for unknown / invalid readings
int8 signal_quality # Signal quality in percent (0...100%), where 0 = invalid signal, 100 = perfect signal, and -1 = unknown signal quality.
uint8 type # Type from MAV_DISTANCE_SENSOR enum
diff --git a/src/drivers/distance_sensor/cm8jl65/cm8jl65.cpp b/src/drivers/distance_sensor/cm8jl65/cm8jl65.cpp
index 611ece114e..1c61c93fbf 100644
--- a/src/drivers/distance_sensor/cm8jl65/cm8jl65.cpp
+++ b/src/drivers/distance_sensor/cm8jl65/cm8jl65.cpp
@@ -399,7 +399,7 @@ CM8JL65::collect()
report.current_distance = _distance_mm / 1000.0f;
report.min_distance = get_minimum_distance();
report.max_distance = get_maximum_distance();
- report.covariance = 0.0f;
+ report.variance = 0.0f;
report.signal_quality = -1;
/* TODO: set proper ID */
report.id = 0;
diff --git a/src/drivers/distance_sensor/leddar_one/leddar_one.cpp b/src/drivers/distance_sensor/leddar_one/leddar_one.cpp
index 70678a5137..6b5ce4f493 100644
--- a/src/drivers/distance_sensor/leddar_one/leddar_one.cpp
+++ b/src/drivers/distance_sensor/leddar_one/leddar_one.cpp
@@ -436,7 +436,7 @@ void leddar_one::_publish(uint16_t distance_mm)
report.current_distance = ((float)distance_mm / 1000.0f);
report.min_distance = MIN_DISTANCE;
report.max_distance = MAX_DISTANCE;
- report.covariance = 0.0f;
+ report.variance = 0.0f;
report.signal_quality = -1;
report.id = 0;
diff --git a/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp b/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp
index 31b97dcc7f..e16effa511 100644
--- a/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp
+++ b/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp
@@ -540,7 +540,7 @@ int LidarLiteI2C::collect()
report.current_distance = distance_m;
report.min_distance = get_minimum_distance();
report.max_distance = get_maximum_distance();
- report.covariance = 0.0f;
+ report.variance = 0.0f;
report.signal_quality = signal_quality;
report.type =
distance_sensor_s::MAV_DISTANCE_SENSOR_LASER; // the sensor is in fact a laser + sonar but there is no enum for this
diff --git a/src/drivers/distance_sensor/ll40ls/LidarLitePWM.cpp b/src/drivers/distance_sensor/ll40ls/LidarLitePWM.cpp
index be1281c6a7..bd0ee07634 100644
--- a/src/drivers/distance_sensor/ll40ls/LidarLitePWM.cpp
+++ b/src/drivers/distance_sensor/ll40ls/LidarLitePWM.cpp
@@ -178,7 +178,7 @@ int LidarLitePWM::measure()
_range.max_distance = get_maximum_distance();
_range.min_distance = get_minimum_distance();
_range.current_distance = float(_pwm.pulse_width) * 1e-3f; /* 10 usec = 1 cm distance for LIDAR-Lite */
- _range.covariance = 0.0f;
+ _range.variance = 0.0f;
_range.orientation = _rotation;
/* TODO: set proper ID */
_range.id = 0;
diff --git a/src/drivers/distance_sensor/mb12xx/mb12xx.cpp b/src/drivers/distance_sensor/mb12xx/mb12xx.cpp
index d79fbb08cf..dcfc75dc05 100644
--- a/src/drivers/distance_sensor/mb12xx/mb12xx.cpp
+++ b/src/drivers/distance_sensor/mb12xx/mb12xx.cpp
@@ -507,7 +507,7 @@ MB12XX::collect()
report.current_distance = distance_m;
report.min_distance = get_minimum_distance();
report.max_distance = get_maximum_distance();
- report.covariance = 0.0f;
+ report.variance = 0.0f;
report.signal_quality = -1;
/* TODO: set proper ID */
report.id = 0;
diff --git a/src/drivers/distance_sensor/sf0x/sf0x.cpp b/src/drivers/distance_sensor/sf0x/sf0x.cpp
index 4614bb2e48..0e60b8a0f9 100644
--- a/src/drivers/distance_sensor/sf0x/sf0x.cpp
+++ b/src/drivers/distance_sensor/sf0x/sf0x.cpp
@@ -519,7 +519,7 @@ SF0X::collect()
report.current_distance = distance_m;
report.min_distance = get_minimum_distance();
report.max_distance = get_maximum_distance();
- report.covariance = 0.0f;
+ report.variance = 0.0f;
report.signal_quality = -1;
/* TODO: set proper ID */
report.id = 0;
diff --git a/src/drivers/distance_sensor/sf1xx/sf1xx.cpp b/src/drivers/distance_sensor/sf1xx/sf1xx.cpp
index ba67d56fae..56c3ccd607 100644
--- a/src/drivers/distance_sensor/sf1xx/sf1xx.cpp
+++ b/src/drivers/distance_sensor/sf1xx/sf1xx.cpp
@@ -507,7 +507,7 @@ SF1XX::collect()
report.current_distance = distance_m;
report.min_distance = get_minimum_distance();
report.max_distance = get_maximum_distance();
- report.covariance = 0.0f;
+ report.variance = 0.0f;
report.signal_quality = -1;
/* TODO: set proper ID */
report.id = 0;
diff --git a/src/drivers/distance_sensor/srf02/srf02.cpp b/src/drivers/distance_sensor/srf02/srf02.cpp
index d749d18929..9f504b3cf0 100644
--- a/src/drivers/distance_sensor/srf02/srf02.cpp
+++ b/src/drivers/distance_sensor/srf02/srf02.cpp
@@ -510,7 +510,7 @@ SRF02::collect()
report.current_distance = distance_m;
report.min_distance = get_minimum_distance();
report.max_distance = get_maximum_distance();
- report.covariance = 0.0f;
+ report.variance = 0.0f;
report.signal_quality = -1;
/* TODO: set proper ID */
report.id = 0;
diff --git a/src/drivers/distance_sensor/teraranger/teraranger.cpp b/src/drivers/distance_sensor/teraranger/teraranger.cpp
index 1766a62625..3cfbeb959d 100644
--- a/src/drivers/distance_sensor/teraranger/teraranger.cpp
+++ b/src/drivers/distance_sensor/teraranger/teraranger.cpp
@@ -588,7 +588,7 @@ TERARANGER::collect()
report.current_distance = distance_m;
report.min_distance = get_minimum_distance();
report.max_distance = get_maximum_distance();
- report.covariance = 0.0f;
+ report.variance = 0.0f;
report.signal_quality = -1;
/* TODO: set proper ID */
report.id = 0;
diff --git a/src/drivers/distance_sensor/tfmini/tfmini.cpp b/src/drivers/distance_sensor/tfmini/tfmini.cpp
index c1e30e4af8..e771c68041 100644
--- a/src/drivers/distance_sensor/tfmini/tfmini.cpp
+++ b/src/drivers/distance_sensor/tfmini/tfmini.cpp
@@ -540,7 +540,7 @@ TFMINI::collect()
report.current_distance = distance_m;
report.min_distance = get_minimum_distance();
report.max_distance = get_maximum_distance();
- report.covariance = 0.0f;
+ report.variance = 0.0f;
report.signal_quality = -1;
/* TODO: set proper ID */
report.id = 0;
diff --git a/src/drivers/distance_sensor/ulanding/ulanding.cpp b/src/drivers/distance_sensor/ulanding/ulanding.cpp
index 9c3e870310..b22ce466cd 100644
--- a/src/drivers/distance_sensor/ulanding/ulanding.cpp
+++ b/src/drivers/distance_sensor/ulanding/ulanding.cpp
@@ -277,7 +277,7 @@ Radar::init()
ds_report.orientation = _rotation;
ds_report.id = 0;
ds_report.current_distance = -1.0f; // make evident that this range sample is invalid
- ds_report.covariance = SENS_VARIANCE;
+ ds_report.variance = SENS_VARIANCE;
_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
&_orb_class_instance, ORB_PRIO_HIGH);
@@ -463,7 +463,7 @@ Radar::task_main()
report.current_distance;
report.min_distance = ULANDING_MIN_DISTANCE;
report.max_distance = ULANDING_MAX_DISTANCE;
- report.covariance = SENS_VARIANCE;
+ report.variance = SENS_VARIANCE;
report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_RADAR;
report.id = 0;
diff --git a/src/drivers/distance_sensor/vl53lxx/vl53lxx.cpp b/src/drivers/distance_sensor/vl53lxx/vl53lxx.cpp
index 332a5503fd..a9fde0422e 100644
--- a/src/drivers/distance_sensor/vl53lxx/vl53lxx.cpp
+++ b/src/drivers/distance_sensor/vl53lxx/vl53lxx.cpp
@@ -667,7 +667,7 @@ VL53LXX::collect()
report.min_distance = VL53LXX_MIN_RANGING_DISTANCE;
report.max_distance = VL53LXX_MAX_RANGING_DISTANCE;
- report.covariance = 0.0f;
+ report.variance = 0.0f;
report.signal_quality = -1;
/* TODO: set proper ID */
diff --git a/src/drivers/px4flow/px4flow.cpp b/src/drivers/px4flow/px4flow.cpp
index e2a345a1ce..756d42e102 100644
--- a/src/drivers/px4flow/px4flow.cpp
+++ b/src/drivers/px4flow/px4flow.cpp
@@ -556,7 +556,7 @@ PX4FLOW::collect()
distance_report.min_distance = PX4FLOW_MIN_DISTANCE;
distance_report.max_distance = PX4FLOW_MAX_DISTANCE;
distance_report.current_distance = report.ground_distance_m;
- distance_report.covariance = 0.0f;
+ distance_report.variance = 0.0f;
distance_report.signal_quality = -1;
distance_report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;
/* TODO: the ID needs to be properly set */
diff --git a/src/modules/local_position_estimator/sensors/lidar.cpp b/src/modules/local_position_estimator/sensors/lidar.cpp
index a1478bde25..0f1a3dafc6 100644
--- a/src/modules/local_position_estimator/sensors/lidar.cpp
+++ b/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();
diff --git a/src/modules/local_position_estimator/sensors/sonar.cpp b/src/modules/local_position_estimator/sensors/sonar.cpp
index 79c46f72e1..6071853bad 100644
--- a/src/modules/local_position_estimator/sensors/sonar.cpp
+++ b/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
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 0b78ca422d..6744841cb4 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 * 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);
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 8b9a88e663..63933fafeb 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/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
diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index ed87153b71..6738e01f56 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/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;
diff --git a/src/platforms/posix/drivers/df_bebop_rangefinder_wrapper/df_bebop_rangefinder_wrapper.cpp b/src/platforms/posix/drivers/df_bebop_rangefinder_wrapper/df_bebop_rangefinder_wrapper.cpp
index 21d96240e6..2ad7bddee3 100644
--- a/src/platforms/posix/drivers/df_bebop_rangefinder_wrapper/df_bebop_rangefinder_wrapper.cpp
+++ b/src/platforms/posix/drivers/df_bebop_rangefinder_wrapper/df_bebop_rangefinder_wrapper.cpp
@@ -160,7 +160,7 @@ int DfBebopRangeFinderWrapper::_publish(struct bebop_range &data)
distance_data.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
- distance_data.covariance = 1.0f; // TODO set correct value
+ distance_data.variance = 1.0f; // TODO set correct value
distance_data.signal_quality = -1;
diff --git a/src/platforms/posix/drivers/df_isl29501_wrapper/df_isl29501_wrapper.cpp b/src/platforms/posix/drivers/df_isl29501_wrapper/df_isl29501_wrapper.cpp
index 5c29b879e8..1aae077b91 100644
--- a/src/platforms/posix/drivers/df_isl29501_wrapper/df_isl29501_wrapper.cpp
+++ b/src/platforms/posix/drivers/df_isl29501_wrapper/df_isl29501_wrapper.cpp
@@ -167,7 +167,7 @@ int DfISL29501Wrapper::_publish(struct range_sensor_data &data)
d.id = 0; // TODO set proper ID
- d.covariance = 0.0f;
+ d.variance = 0.0f;
d.signal_quality = -1;
diff --git a/src/platforms/posix/drivers/df_trone_wrapper/df_trone_wrapper.cpp b/src/platforms/posix/drivers/df_trone_wrapper/df_trone_wrapper.cpp
index 61ae5f1279..6f06447486 100644
--- a/src/platforms/posix/drivers/df_trone_wrapper/df_trone_wrapper.cpp
+++ b/src/platforms/posix/drivers/df_trone_wrapper/df_trone_wrapper.cpp
@@ -173,7 +173,7 @@ int DfTROneWrapper::_publish(struct range_sensor_data &data)
d.orientation = _rotation;
- d.covariance = 0.0f;
+ d.variance = 0.0f;
d.signal_quality = -1;
--
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