Covariance matrix - how to use?

Hi,

I’m experimenting with VISUAL_POSITION_ESTIMATE messages with PX4 in a SITL simulation environment. I’m curious if my interpretation of the covariance parameter in the message is appropriate: Messages (common) · MAVLink Developer Guide

I have not found documentation for this matrix. Should I assume that the below value would mean that none of the parameters sent are each other co-variants:

float covariance[] = { 1, 0, 0, 0, 0, 0,
                          1, 0, 0, 0, 0,
                             1, 0, 0, 0,
                                1, 0, 0,
                                   1, 0,
                                      1 };

or, please let me know what part of the documentation I’m missing :slight_smile: or how this parameter is to be specified correctly.

best regards,

Akos