I read that the "quality" reported by the qvio process is generated from the covariance matrix of the onboard state estimation. After running voxl_mpa_to_ros, these covariance values are all set to zero. Is there any work around/configuration for the starling to report the actual covariance values it uses to generate the quality?

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Starling 2 qvio/odometry covariance all zeroes

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Kashish Garg

wrote on last edited by Kashish Garg

#1

I read that the "quality" reported by the qvio process is generated from the covariance matrix of the onboard state estimation.
After running voxl_mpa_to_ros, these covariance values are all set to zero.
Is there any work around/configuration for the starling to report the actual covariance values it uses to generate the quality?
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