diff --git a/src/ephemeris.c b/src/ephemeris.c
index 9b1fa034ed57ed78ace7d4d39dd3aad7c43a8aff..6a25ae9038e5e0846d2774857b4a83bac5fab1a6 100644
--- a/src/ephemeris.c
+++ b/src/ephemeris.c
@@ -813,6 +813,9 @@ extern void satposs(gtime_t teph, const obsd_t *obs, int n, const nav_t *nav,
trace(4,"%s sat=%2d rs=%13.3f %13.3f %13.3f dts=%12.3f var=%7.3f svh=%02X\n",
time_str(time[i],6),obs[i].sat,rs[i*6],rs[1+i*6],rs[2+i*6],
dts[i*2]*1E9,var[i],svh[i]);
+ //printf("%s sat=%2d rs=%13.3f %13.3f %13.3f dts=%12.3f var=%7.3f svh=%02X\n",
+ // time_str(time[i],6),obs[i].sat,rs[i*6],rs[1+i*6],rs[2+i*6],
+ // dts[i*2]*1E9,var[i],svh[i]);
}
}
/* select satellite ephemeris --------------------------------------------------
diff --git a/src/pntpos.c b/src/pntpos.c
index 5db921749dca3accf3e440385873190e72afe0b4..ddaf284c4d16c1812e28a87c2af21299c23760ad 100644
--- a/src/pntpos.c
+++ b/src/pntpos.c
@@ -245,9 +245,13 @@ static int rescode(int iter, const obsd_t *obs, int n, const double *rs,
ecef2pos(rr,pos);
+ //printf("////////// rescode iter=%i\n",iter);
+
for (i=*ns=0;i<n&&i<MAXOBS;i++) {
vsat[i]=0; azel[i*2]=azel[1+i*2]=resp[i]=0.0;
+ //printf("\tsat %3d - ", obs[i].sat);
+
if (!(sys=satsys(obs[i].sat,NULL)))
continue;
@@ -261,20 +265,31 @@ static int rescode(int iter, const obsd_t *obs, int n, const double *rs,
/* geometric distance/azimuth/elevation angle */
if ((r=geodist(rs+i*6,rr,e))<=0.0||
satazel(pos,e,azel+i*2)<opt->elmin)
+ {
+ //printf("discarding because of distance r = %f / elevation = %f\n", r, satazel(pos,e,azel+i*2)*R2D);
continue;
-
+ }
/* psudorange with code bias correction */
if ((P=prange(obs+i,nav,azel+i*2,iter,opt,&vmeas))==0.0)
+ {
+ //printf("discarding because of null prange\n");
continue;
+ }
/* excluded satellite? */
if (satexclude(obs[i].sat,vare[i],svh[i],opt))
+ {
+ //printf("excluded\n");
continue;
+ }
/* ionospheric corrections */
if (!ionocorr(obs[i].time,nav,obs[i].sat,pos,azel+i*2,
iter>0?opt->ionoopt:IONOOPT_BRDC,&dion,&vion))
+ {
+ //printf("discarding because error in iono corr\n");
continue;
+ }
/* GPS-L1 -> L1/B1 */
if ((lam_L1=nav->lam[obs[i].sat-1][0])>0.0) {
@@ -283,8 +298,12 @@ static int rescode(int iter, const obsd_t *obs, int n, const double *rs,
/* tropospheric corrections */
if (!tropcorr(obs[i].time,nav,pos,azel+i*2,
iter>0?opt->tropopt:TROPOPT_SAAS,&dtrp,&vtrp))
+ {
+ //printf("discarding because error in tropo corr\n");
continue;
+ }
+ //printf(" OK!\n");
/* pseudorange residual */
v[nv]=P-(r+dtr-CLIGHT*dts[i*2]+dion+dtrp);
diff --git a/src/rtkcmn.c b/src/rtkcmn.c
index e47627ffd7d4d9c0e9f7d21efbced097b7b31d5b..4e2f7ba7ade0b8355e13d68a725501cefd84820f 100644
--- a/src/rtkcmn.c
+++ b/src/rtkcmn.c
@@ -537,31 +537,31 @@ extern int satexclude(int sat, double var, int svh, const prcopt_t *opt)
if (svh<0)
{
- //printf("excluding sat: svh < 0 (eph unavailable)\n");
+ //printf("svh < 0 (eph unavailable) ");
return 1; /* ephemeris unavailable */
}
if (opt) {
if (opt->exsats[sat-1]==1)
{
- //printf("excluding sat: in exsats\n");
+ //printf("in exsats list! ");
return 1; /* excluded satellite */
}
if (opt->exsats[sat-1]==2) return 0; /* included satellite */
if (!(sys&opt->navsys))
{
- //printf("excluding sat: constellation not used\n");
+ //printf("constellation not used! ");
return 1; /* unselected sat sys */
}
}
if (sys==SYS_QZS) svh&=0xFE; /* mask QZSS LEX health */
if (svh) {
- //printf("excluding sat: unhealthy satellite\n");
+ //printf("unhealthy satellite! ");
trace(3,"unhealthy satellite: sat=%3d svh=%02X\n",sat,svh);
return 1;
}
if (var>MAX_VAR_EPH) {
- //printf("excluding sat: invalid ura satellite\n");
+ //printf("invalid ura satellite! ");
trace(3,"invalid ura satellite: sat=%3d ura=%.2f\n",sat,sqrt(var));
return 1;
}
diff --git a/src/sbas.c b/src/sbas.c
index 765432acbac174cc8a485edca8d6dd2d008fe6cd..fbc7cc42fbc0fe18fab064188bddc66e1cfbab08 100644
--- a/src/sbas.c
+++ b/src/sbas.c
@@ -126,9 +126,9 @@ static double degfcorr(int ai)
/* print sbsfcorr_t (JV) -------------------------------------------------------*/
static void print_sbsfcorr(const sbsfcorr_t *sbsfcorr)
{
- printf("iodf: %d, udre: %d, [%f, %f, %f, %d]\n",
+ printf("iodf: %3d, udre: %2d, [%f, %f, %f, %d]\n",
sbsfcorr->iodf,
- sbsfcorr->udre,
+ sbsfcorr->udre-1,//udre = UDRE+1
sbsfcorr->prc,
sbsfcorr->rrc,
sbsfcorr->dt,
@@ -137,7 +137,7 @@ static void print_sbsfcorr(const sbsfcorr_t *sbsfcorr)
/* print sbslcorr_t (JV) -------------------------------------------------------*/
static void print_sbslcorr(const sbslcorr_t *sbslcorr)
{
- printf("iode: %d, dpos=[%f, %f, %f], dvel=[%f, %f, %f], daf=[%f, %f]\n",
+ printf("iode: %3d, [%f, %f, %f | %f, %f, %f | %f, %f]\n",
sbslcorr->iode,
sbslcorr->dpos[0],sbslcorr->dpos[1],sbslcorr->dpos[2],
sbslcorr->dvel[0],sbslcorr->dvel[1],sbslcorr->dvel[2],
@@ -146,12 +146,12 @@ static void print_sbslcorr(const sbslcorr_t *sbslcorr)
/* print sbssatp_t (JV) -------------------------------------------------------*/
static void print_sbssatp(const sbssatp_t *sbssatp)
{
- printf("\tsat: %d\n", sbssatp->sat); /* satellite number */
- printf("\t\tfcorr:\t");
+ printf(" sat %3d:", sbssatp->sat); /* satellite number */
+ printf(" fcorr: ");
print_sbsfcorr(&sbssatp->fcorr);/* fast correction */
if (sbssatp->lcorr.iode > 0)
{
- printf("\t\tlcorr:\t");
+ printf(" lcorr: ");
print_sbslcorr(&sbssatp->lcorr);/* long term correction */
}
}
@@ -171,10 +171,10 @@ static int decode_sbstype1(const sbsmsg_t *msg, sbssat_t *sbssat)
int i,i_new,i_old,new_n,n,sat;
sbssatp_t sbssat_zero = { 0 };
sbssat_zero.lcorr.iode = -1;
- sbssat_zero.fcorr.udre = 15;
+ sbssat_zero.fcorr.udre = 15; // udre=UDRE+1: udre=15->UDRE=14 (not monitored)
trace(4,"decode_sbstype1:\n");
- //printf("\tdecode_sbstype1: \n");
+ //printf(" decode_sbstype1: \n");
// old_sat to store old data (to be used if changing IODP, prn mask)
sbssatp_t old_sat[MAXSAT];
@@ -185,12 +185,12 @@ static int decode_sbstype1(const sbsmsg_t *msg, sbssat_t *sbssat)
{
for (i=0; i<MAXSAT;i++)
{
- // store
+ // store old
old_sat[i] = sbssat->sat[i];
- //printf("old_sat[%d].sat = %d\n", i, old_sat[i].sat);
- // remove
+ printf("old_sat[%d].sat = %d\n", i, old_sat[i].sat);
+ // remove current
sbssat->sat[i] = sbssat_zero;
- // initialize
+ // initialize new
new_sat[i] = sbssat_zero;
}
}
@@ -207,8 +207,8 @@ static int decode_sbstype1(const sbsmsg_t *msg, sbssat_t *sbssat)
else sat=0; /* 203- : reserved */
new_sat[new_n++].sat=sat;
//sbssat->sat[n++].sat=sat;
- //printf("\t\tsat: %d\n",sat);
- //printf("new_sat[%d].sat = %d\n", new_n-1, new_sat[new_n-1].sat);
+ //printf(" sat: %d\n",sat);
+ printf("new_sat[%d].sat = %d\n", new_n-1, new_sat[new_n-1].sat);
}
}
@@ -264,14 +264,14 @@ static int decode_sbstype1(const sbsmsg_t *msg, sbssat_t *sbssat)
i_old++;
}
}
- //printf("sat[%d].sat = %d\n", n-1, sbssat->sat[n-1].sat);
+ printf("sat[%d].sat = %d\n", n-1, sbssat->sat[n-1].sat);
}
//}
sbssat->iodp=getbitu(msg->msg,224,2);
sbssat->nsat=n;
trace(5,"decode_sbstype1: nprn=%d iodp=%d\n",n,sbssat->iodp);
- //printf("\tdecode_sbstype1: %d sats, iodp=%d\n",n,sbssat->iodp);
+ //printf(" decode_sbstype1: %d sats, iodp=%d\n",n,sbssat->iodp);
return 1;
}
/* decode type 2-5,0: fast corrections ---------------------------------------*/
@@ -290,7 +290,7 @@ static int decode_sbstype2(const sbsmsg_t *msg, sbssat_t *sbssat)
type=getbitu(msg->msg, 8,6);
iodf=getbitu(msg->msg,14,2);
- //printf("\tdecode_sbstype2: type=%d iodf=%d\n",type,iodf);
+ //printf(" decode_sbstype2: type=%d iodf=%d\n",type,iodf);
for (i=0;i<13;i++) {
if ((j=13*((type==0?2:type)-2)+i)>=sbssat->nsat) break;
@@ -310,7 +310,7 @@ static int decode_sbstype2(const sbsmsg_t *msg, sbssat_t *sbssat)
sbssat->sat[j].fcorr.dt=dt;
}
sbssat->sat[j].fcorr.iodf=iodf;
- //printf("\t\tsat %d\n",sbssat->sat[j].sat);
+ //printf(" sat %d\n",sbssat->sat[j].sat);
}
trace(5,"decode_sbstype2: type=%d iodf=%d\n",type,iodf);
return 1;
@@ -331,7 +331,7 @@ static int decode_sbstype6(const sbsmsg_t *msg, sbssat_t *sbssat)
sbssat->sat[i].fcorr.udre=udre+1;
}
trace(5,"decode_sbstype6: iodf=%d %d %d %d\n",iodf[0],iodf[1],iodf[2],iodf[3]);
- //printf("\tdecode_sbstype6: iodf=%d %d %d %d\n",iodf[0],iodf[1],iodf[2],iodf[3]);
+ //printf(" decode_sbstype6: iodf=%d %d %d %d\n",iodf[0],iodf[1],iodf[2],iodf[3]);
return 1;
}
/* decode type 7: fast correction degradation factor -------------------------*/
@@ -434,7 +434,7 @@ static int decode_longcorr0(const sbsmsg_t *msg, int p, sbssat_t *sbssat)
if (n==0||n>MAXSAT) return 0;
sbssat->sat[n-1].lcorr.iode=getbitu(msg->msg,p+6,8);
- printf("\tdecode_longcorr0: sat=%d n=%d iode=%d\n",sbssat->sat[n-1].sat,n,sbssat->sat[n-1].lcorr.iode);
+ printf(" decode_longcorr0: sat=%d n=%d iode=%d\n",sbssat->sat[n-1].sat,n,sbssat->sat[n-1].lcorr.iode);
for (i=0;i<3;i++) {
sbssat->sat[n-1].lcorr.dpos[i]=getbits(msg->msg,p+14+9*i,9)*0.125;
@@ -457,7 +457,7 @@ static int decode_longcorr1(const sbsmsg_t *msg, int p, sbssat_t *sbssat)
if (n==0||n>MAXSAT) return 0;
sbssat->sat[n-1].lcorr.iode=getbitu(msg->msg,p+6,8);
- printf("\tdecode_longcorr1: sat=%d n=%d iode=%d\n",sbssat->sat[n-1].sat,n,sbssat->sat[n-1].lcorr.iode);
+ printf(" decode_longcorr1: sat=%d n=%d iode=%d\n",sbssat->sat[n-1].sat,n,sbssat->sat[n-1].lcorr.iode);
for (i=0;i<3;i++) {
sbssat->sat[n-1].lcorr.dpos[i]=getbits(msg->msg,p+14+i*11,11)*0.125;
@@ -512,7 +512,7 @@ static int decode_sbstype24(const sbsmsg_t *msg, sbssat_t *sbssat)
sbssat->sat[j].fcorr.prc =getbits(msg->msg,14+i*12,12)*0.125f;
sbssat->sat[j].fcorr.udre=udre+1;
sbssat->sat[j].fcorr.iodf=iodf;
- //printf("\tdecode_sbstype24: sat=%2d fcorr.iodf=%2d\n",sbssat->sat[j].sat,iodf);
+ //printf(" decode_sbstype24: sat=%2d fcorr.iodf=%2d\n",sbssat->sat[j].sat,iodf);
}
return decode_longcorrh(msg,120,sbssat);
}
@@ -567,7 +567,7 @@ extern int sbsupdatecorr(const sbsmsg_t *msg, nav_t *nav)
if (msg->week==0) return -1;
- printf("============== sbsupdatecorr: PROCESSING type=%d...\n",type);
+ printf("============== sbsupdatecorr: PROCESSING PRN %3d type=%d...\n",msg->prn, type);
print_sbassat(&nav->sbssat);
switch (type) {
@@ -964,8 +964,8 @@ static int sbsfastcorr(gtime_t time, int sat, const sbssat_t *sbssat,
if (p->fcorr.t0.time==0) break;
t=timediff(time,p->fcorr.t0)+sbssat->tlat;
- /* expire age of correction or UDRE==14 (not monitored) */
- if (fabs(t)>MAXSBSAGEF||p->fcorr.udre>=14/*JV 15*/) continue;
+ /* expire age of correction or UDRE==14 (not monitored) (udre=UDRE+1) */
+ if (fabs(t)>MAXSBSAGEF||p->fcorr.udre>=15) continue;
*prc=p->fcorr.prc;
#ifdef RRCENA
if (p->fcorr.ai>0&&fabs(t)<=8.0*p->fcorr.dt) {