How to get covariance matrix ?

[fitzzzzzzzzz]

Hi @pattylo,

I want to find out the covariance matrix. but I am confuse where to add it,

should I change the default filter of madgwick and add ekf to get covariance or do you suggest any better way ?

thank you.

[pattylo]

in the curren repo, we did not explicitly calculate the covariances and publish it out.
May I ask the purpose of you retrieving the covariances?

[fitzzzzzzzzz]

Hi. thank you for your reply. I wanted to send the covariances matrix as part of the Mavlink message. right now there is some drift in position. I am not sure where I can calculate this in the current scenario!