pose_cov_msg.pose.covariance calculated value

[szepilot]

duro_gps_driver/src/duro_node.cpp

Lines 309 to 316 in 517aa60

	pose_cov_msg.pose.pose = pose_msg.pose;
	pose_cov_msg.header = pose_msg.header;
	pose_cov_msg.pose.covariance[0] = 0.01;
	pose_cov_msg.pose.covariance[7] = 0.01;
	pose_cov_msg.pose.covariance[14] = 0.01;
	pose_cov_msg.pose.covariance[21] = 0.01;
	pose_cov_msg.pose.covariance[28] = 0.01;
	pose_cov_msg.pose.covariance[35] = 0.01;

duro_gps_driver/src/duro_node.cpp

Lines 194 to 200 in 517aa60

	// covariance matrix
	double h_covariance = pow(latlonmsg->h_accuracy * 1e-3, 2); // Convert mm to m and take the ^2 for going from std to cov
	double v_covariance = pow(latlonmsg->v_accuracy * 1e-3, 2); // Convert mm to m and take the ^2 for going from std to cov
	navsatfix_msg.position_covariance[0] = h_covariance; // x = 0, 0
	navsatfix_msg.position_covariance[4] = h_covariance; // y = 1, 1
	navsatfix_msg.position_covariance[8] = v_covariance; // z = 2, 2
	navsatfix_msg.position_covariance_type = sensor_msgs::msg::NavSatFix::COVARIANCE_TYPE_DIAGONAL_KNOWN;