From fbc8d01a7e96c25ec0e9bc70058d012735461273 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev 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 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;