Covariance matrices diagonal set to standard deviation parameters?

[diasdm]

Hello,

I was reviewing your code to see how you set the covariance matrices of the different sensor values and I found something which I found weird. Since there wasn't an issue on the subject...

I have learned that usually we only set the diagonal values, but what I found weird was the value you use to set the covariance diagonal values or the naming of the parameters.

You do it like this:
imu.orientation_covariance[0] = orientation_stddev;
But shouldn't it be like this?
imu.orientation_covariance[0] = orientation_stddev * orientation_stddev;
Or this?
imu.orientation_covariance[0] = orientation_variance;

Thank you.