Fixed problem with defining std as variance^2 instead of variance^(1/2)

src/uas/UAS.cc

@@ -135,19 +135,35 @@ UAS::UAS(MAVLinkProtocol* protocol, Vehicle* vehicle) : UASInterface(),
     // Initialize HIL sensor noise variances to 0.  If user wants corrupted sensor values they will need to set them
     // Note variances calculated from flight case from this log: http://dash.oznet.ch/view/MRjW8NUNYQSuSZkbn8dEjY
     // TODO: calibrate stand-still pixhawk variances
-    xacc_var(1.2914f),
+    /*
+    xacc_var(0.6457f),
     yacc_var(0.7048f),
-    zacc_var(1.9577f),
+    zacc_var(0.97885f),
     rollspeed_var(0.8126f),
     pitchspeed_var(0.6145f),
     yawspeed_var(0.5852f),
-    xmag_var(0.4786f),
-    ymag_var(0.4566f),
-    zmag_var(0.3333f),
-    abs_pressure_var(1.1604f),
-    diff_pressure_var(1.1604f),
-    pressure_alt_var(1.1604f),
-    temperature_var(1.4290f),
+    xmag_var(0.2393f),
+    ymag_var(0.2283f),
+    zmag_var(0.1665f),
+    abs_pressure_var(0.5802f),
+    diff_pressure_var(0.5802f),
+    pressure_alt_var(0.5802f),
+    temperature_var(0.7145f),
+    */
+    xacc_var(0.0f),
+    yacc_var(0.0f),
+    zacc_var(0.0f),
+    rollspeed_var(0.0f),
+    pitchspeed_var(0.0f),
+    yawspeed_var(0.0f),
+    xmag_var(0.0f),
+    ymag_var(0.0f),
+    zmag_var(0.0f),
+    abs_pressure_var(0.0f),
+    diff_pressure_var(0.0f),
+    pressure_alt_var(0.0f),
+    temperature_var(0.0f),
+
 
 #ifndef __mobile__
     simulation(0),

tools/RandomNumberVerification/gaussian_noise.cpp

@@ -58,8 +58,8 @@ float generateGaussianNoise(float mu, float variance)
 	while ( u1 <= epsilon );  //Have a catch to ensure non-zero for log()
 
 	z0 = sqrt(-2.0 * log(u1)) * cos(two_pi * u2); //calculate normally distributed variable with mu = 0, var = 1
-	float noise = z0 * (variance*variance) + mu; //calculate normally distributed variable with mu = mu, std = var^2
-	return noise
+	float noise = z0 * sqrt(variance) + mu; //calculate normally distributed variable with mu = mu, std = var^2
+	return noise;
 }
 int main(int argc, char *argv[])
 {

tools/RandomNumberVerification/verify_noise_characteristics.m

@@ -39,7 +39,7 @@ clc
 system('g++ gaussian_noise.cpp -o generate_noise_csv');
 mu_des = 0.0;
 std_des = 0.02;
-var_des = 0.2;%sqrt(std_des);
+var_des = std_des^2;
 num_samples = 10000;
 num_runs = 100;
 if exist('generated_noise.csv','file')