diff --git a/src/ephemeris.c b/src/ephemeris.c
index 685dce0a11518d1cffc6991047c283a9731d09fd..404d6d133a68cded0e042d62e0abf7d3a0fdc51c 100644
--- a/src/ephemeris.c
+++ b/src/ephemeris.c
@@ -415,7 +415,11 @@ static eph_t *seleph(gtime_t time, int sat, int iode, const nav_t *nav)
for (i=0;i<nav->n;i++) {
if (nav->eph[i].sat!=sat) continue;
- if (iode>=0&&nav->eph[i].iode!=iode) continue;
+ if (iode>=0&&nav->eph[i].iode!=iode){
+ printf("seleph: existent eph of sat =%2d but different iode=%3d (searching %3d)\n",
+ sat,nav->eph[i].iode, iode);
+ continue;
+ }
if (sys==SYS_GAL&&sel) {
if (sel==1&&!(nav->eph[i].code&(1<<9))) continue; /* I/NAV */
if (sel==2&&!(nav->eph[i].code&(1<<8))) continue; /* F/NAV */
@@ -427,8 +431,8 @@ static eph_t *seleph(gtime_t time, int sat, int iode, const nav_t *nav)
if (iode>=0||j<0) {
trace(3,"no broadcast ephemeris: %s sat=%2d iode=%3d\n",time_str(time,0),
sat,iode);
- printf("seleph: no broadcast ephemeris: %s sat=%2d iode=%3d\n",time_str(time,0),
- sat,iode);
+ if (iode >= 0)
+ printf("seleph: no broadcast ephemeris: %s sat=%2d iode=%3d\n",time_str(time,0),sat,iode);
return NULL;
}
return nav->eph+j;
@@ -569,7 +573,10 @@ static int satpos_sbas(gtime_t time, gtime_t teph, int sat, const nav_t *nav,
if (ephpos(time,teph,sat,nav,-1,rs,dts,var,svh))
*svh=-2;// JV: error code for detecting available ephemeris without sbas correction
else
- printf("satpos_sbas: no broadcast eph for sat %2d\n",sat);
+ {
+ *svh=-1;
+ // printf("satpos_sbas: no broadcast eph for sat %2d\n",sat);
+ }
return 0;
}
/* satellite postion and clock by broadcast ephemeris */
@@ -751,7 +758,8 @@ extern void satposs(gtime_t teph, const obsd_t *obs, int n, const nav_t *nav,
int i,j;
trace(3,"satposs : teph=%s n=%d ephopt=%d\n",time_str(teph,3),n,ephopt);
- printf("====satposs : teph=%s n=%d ephopt=%d\n",time_str(teph,3),n,ephopt);
+ if (ephopt==2)
+ printf("====satposs : teph=%s n=%d ephopt=%d\n",time_str(teph,3),n,ephopt);
for (i=0;i<n&&i<2*MAXOBS;i++) {
for (j=0;j<6;j++) rs [j+i*6]=0.0;
diff --git a/src/rcv/ublox.c b/src/rcv/ublox.c
index b524fb9bff5686a4944e6727a3c5168f72c777fa..2b665858d4696fe501c87310d8728d72b65d27d3 100644
--- a/src/rcv/ublox.c
+++ b/src/rcv/ublox.c
@@ -262,7 +262,7 @@ static int decode_rxmraw(raw_t *raw)
char *q;
trace(4,"decode_rxmraw: len=%d\n",raw->len);
- //printf("decode_rxmraw: len=%d\n",raw->len);
+ //printf("\tdecode_rxmraw: len=%d\n",raw->len);
if (raw->outtype) {
sprintf(raw->msgtype,"UBX RXM-RAW (%4d): nsat=%d",raw->len,U1(p+6));
@@ -340,7 +340,7 @@ static int decode_rxmrawx(raw_t *raw)
int week,nmeas,ver,gnss,svid,sigid,frqid,lockt,cn0,cpstd,prstd,tstat;
trace(4,"decode_rxmrawx: len=%d\n",raw->len);
- //printf("decode_rxmrawx: len=%d\n",raw->len);
+ //printf("\tdecode_rxmrawx: len=%d\n",raw->len);
if (raw->len<24) {
trace(2,"ubx rxmrawx length error: len=%d\n",raw->len);
@@ -523,7 +523,7 @@ static int decode_ephem(int sat, raw_t *raw)
eph.sat=sat;
raw->nav.eph[sat-1]=eph;
raw->ephsat=sat;
- printf("decode_ephem eph.iode = %d\n", eph.iode);
+ printf("\tdecode_ephem eph.iode = %d\n", eph.iode);
return 2;
}
/* decode almanac and ion/utc ------------------------------------------------*/
@@ -570,7 +570,7 @@ static int decode_rxmsfrb(raw_t *raw)
unsigned char *p=raw->buff+6;
trace(4,"decode_rxmsfrb: len=%d\n",raw->len);
- //printf("decode_rxmsfrb: len=%d\n",raw->len);
+ //printf("\tdecode_rxmsfrb: len=%d\n",raw->len);
if (raw->outtype) {
sprintf(raw->msgtype,"UBX RXM-SFRB (%4d): prn=%2d",raw->len,U1(p+1));
@@ -606,7 +606,7 @@ static int decode_navsol(raw_t *raw)
unsigned char *p=raw->buff+6;
trace(4,"decode_navsol: len=%d\n",raw->len);
- //printf("decode_navsol: len=%d\n",raw->len);
+ //printf("\tdecode_navsol: len=%d\n",raw->len);
if (raw->outtype) {
sprintf(raw->msgtype,"UBX NAV-SOL (%4d):",raw->len);
@@ -626,7 +626,7 @@ static int decode_navtime(raw_t *raw)
unsigned char *p=raw->buff+6;
trace(4,"decode_navtime: len=%d\n",raw->len);
- //printf("decode_navtime: len=%d\n",raw->len);
+ //printf("\tdecode_navtime: len=%d\n",raw->len);
if (raw->outtype) {
sprintf(raw->msgtype,"UBX NAV-TIME (%4d):",raw->len);
@@ -654,7 +654,7 @@ static int decode_trkmeas(raw_t *raw)
const char P_adj_fw3[]={11,13,13,14,14,13,12,10, 8, 6, 5, 5, 5, 7, 0}; /* fw 3.01 */
trace(4,"decode_trkmeas: len=%d\n",raw->len);
- //printf("decode_trkmeas: len=%d\n",raw->len);
+ //printf("\tdecode_trkmeas: len=%d\n",raw->len);
if (raw->outtype) {
sprintf(raw->msgtype,"UBX TRK-MEAS (%4d):",raw->len);
@@ -787,7 +787,7 @@ static int decode_trkd5(raw_t *raw)
unsigned char *p=raw->buff+6;
trace(4,"decode_trkd5: len=%d\n",raw->len);
- //printf("decode_trkd5: len=%d\n",raw->len);
+ //printf("\tdecode_trkd5: len=%d\n",raw->len);
if (raw->outtype) {
sprintf(raw->msgtype,"UBX TRK-D5 (%4d):",raw->len);
@@ -904,24 +904,24 @@ static int decode_nav(raw_t *raw, int sat, int off)
//printf("ubx rawsfrbx length error: sat=%d len=%d\n",sat,raw->len);
return -1;
}
- //printf("decode_nav: p = %hhx\n", *p);
- //printf("decode_nav: p+1 = %hhx\n", *(p+1));
- //printf("decode_nav: p+2 = %hhx\n", *(p+2));
- //printf("decode_nav: p+3 = %hhx\n", *(p+3));
- //printf("decode_nav: U4(p) = %lu\n",U4(p));
- //printf("decode_nav: U4(p)>>24 = %lu\n",U4(p)>>24);
-// printf("decode_nav: U4(p+4) = %lu\n",U4(p+4));
-// printf("decode_nav: U4(p+4)>>24 = %lu\n",U4(p+4)>>24);
-// printf("decode_nav: U4(p+8) = %lu\n",U4(p+8));
-// printf("decode_nav: U4(p+8)>>24 = %lu\n",U4(p+8)>>24);
-// printf("decode_nav: U4(p+12) = %lu\n",U4(p+12));
-// printf("decode_nav: U4(p+12)>>24 = %lu\n",U4(p+12)>>24);
-// printf("decode_nav: U4(p+16) = %lu\n",U4(p+16));
-// printf("decode_nav: U4(p+16)>>24 = %lu\n",U4(p+16)>>24);
-// printf("decode_nav: U4(p+20) = %lu\n",U4(p+20));
-// printf("decode_nav: U4(p+20)>>24 = %lu\n",U4(p+20)>>24);
-// printf("decode_nav: U4(p+24) = %lu\n",U4(p+24));
-// printf("decode_nav: U4(p+24)>>24 = %lu\n",U4(p+24)>>24);
+ //printf("\tdecode_nav: p = %hhx\n", *p);
+ //printf("\tdecode_nav: p+1 = %hhx\n", *(p+1));
+ //printf("\tdecode_nav: p+2 = %hhx\n", *(p+2));
+ //printf("\tdecode_nav: p+3 = %hhx\n", *(p+3));
+ //printf("\tdecode_nav: U4(p) = %lu\n",U4(p));
+ //printf("\tdecode_nav: U4(p)>>24 = %lu\n",U4(p)>>24);
+// printf("\tdecode_nav: U4(p+4) = %lu\n",U4(p+4));
+// printf("\tdecode_nav: U4(p+4)>>24 = %lu\n",U4(p+4)>>24);
+// printf("\tdecode_nav: U4(p+8) = %lu\n",U4(p+8));
+// printf("\tdecode_nav: U4(p+8)>>24 = %lu\n",U4(p+8)>>24);
+// printf("\tdecode_nav: U4(p+12) = %lu\n",U4(p+12));
+// printf("\tdecode_nav: U4(p+12)>>24 = %lu\n",U4(p+12)>>24);
+// printf("\tdecode_nav: U4(p+16) = %lu\n",U4(p+16));
+// printf("\tdecode_nav: U4(p+16)>>24 = %lu\n",U4(p+16)>>24);
+// printf("\tdecode_nav: U4(p+20) = %lu\n",U4(p+20));
+// printf("\tdecode_nav: U4(p+20)>>24 = %lu\n",U4(p+20)>>24);
+// printf("\tdecode_nav: U4(p+24) = %lu\n",U4(p+24));
+// printf("\tdecode_nav: U4(p+24)>>24 = %lu\n",U4(p+24)>>24);
if ((U4(p)>>24)==PREAMB_CNAV) {
trace(3,"ubx rawsfrbx cnav not supported sat=%d prn=%d\n",sat,
(U4(p)>>18)&0x3F);
@@ -931,7 +931,7 @@ static int decode_nav(raw_t *raw, int sat, int off)
for (i=0;i<10;i++,p+=4) words[i]=U4(p)>>6; /* 24 bits without parity */
id=(words[1]>>2)&7;
- //printf("decode_nav: sat=%2d id=%d len=%d\n",sat,id,raw->len);
+ //printf("\tdecode_nav: sat=%2d id=%d len=%d\n",sat,id,raw->len);
if (id<1||5<id) {
trace(2,"ubx rawsfrbx subfrm id error: sat=%2d id=%d len=%d\n",sat,id,
raw->len);
@@ -949,7 +949,7 @@ static int decode_nav(raw_t *raw, int sat, int off)
/* decode galileo navigation data --------------------------------------------*/
static int decode_enav(raw_t *raw, int sat, int off)
{
- //printf("decode_enav\n");
+ //printf("\tdecode_enav\n");
eph_t eph={0};
unsigned char *p=raw->buff+6+off,buff[32],crc_buff[26]={0};
int i,j,k,part1,page1,part2,page2,type;
@@ -1022,13 +1022,13 @@ static int decode_enav(raw_t *raw, int sat, int off)
eph.sat=sat;
raw->nav.eph[sat-1]=eph;
raw->ephsat=sat;
- printf("decode_enav eph.iode = %d\n", eph.iode);
+ printf("\tdecode_enav eph.iode = %d\n", eph.iode);
return 2;
}
/* decode beidou navigation data ---------------------------------------------*/
static int decode_cnav(raw_t *raw, int sat, int off)
{
- //printf("decode_cnav\n");
+ //printf("\tdecode_cnav\n");
eph_t eph={0};
unsigned int words[10];
int i,id,pgn,prn;
@@ -1089,7 +1089,7 @@ static int decode_cnav(raw_t *raw, int sat, int off)
/* decode glonass navigation data --------------------------------------------*/
static int decode_gnav(raw_t *raw, int sat, int off, int frq)
{
- //printf("decode_gnav\n");
+ //printf("\tdecode_gnav\n");
geph_t geph={0};
int i,j,k,m,prn;
unsigned char *p=raw->buff+6+off,buff[64],*fid;
@@ -1136,13 +1136,13 @@ static int decode_gnav(raw_t *raw, int sat, int off, int frq)
}
raw->nav.geph[prn-1]=geph;
raw->ephsat=sat;
- printf("decode_gnav geph.iode = %d\n", geph.iode);
+ printf("\tdecode_gnav geph.iode = %d\n", geph.iode);
return 2;
}
/* decode sbas navigation data -----------------------------------------------*/
static int decode_snav(raw_t *raw, int sat, int off)
{
- //printf("decode_snav\n");
+ //printf("\tdecode_snav\n");
int i,j,k,prn,tow,week;
unsigned char *p=raw->buff+6+off,buff[64];
@@ -1170,7 +1170,7 @@ static int decode_rxmsfrbx(raw_t *raw)
unsigned char *p=raw->buff+6;
trace(4,"decode_rxmsfrbx: len=%d\n",raw->len);
- //printf("decode_rxmsfrbx: len=%d\n",raw->len);
+ //printf("\tdecode_rxmsfrbx: len=%d\n",raw->len);
if (raw->outtype) {
sprintf(raw->msgtype,"UBX RXM-SFRBX (%4d): sys=%d prn=%3d",raw->len,
@@ -1184,7 +1184,7 @@ static int decode_rxmsfrbx(raw_t *raw)
prn=U1(p+1)+(sys==SYS_QZS?192:0);
if (!(sat=satno(sys,prn))) {
if (sys==SYS_GLO&&prn==255) {
- //printf("decode_rxmsfrbx: GLO and prn 255\n",sys,prn);
+ //printf("\tdecode_rxmsfrbx: GLO and prn 255\n",sys,prn);
return 0; /* suppress error for unknown glo satellite */
}
trace(2,"ubx rxmsfrbx sat number error: sys=%d prn=%d\n",sys,prn);
@@ -1208,7 +1208,7 @@ static int decode_trksfrbx(raw_t *raw)
unsigned char *p=raw->buff+6;
trace(4,"decode_trksfrbx: len=%d\n",raw->len);
- //printf("decode_trksfrbx: len=%d\n",raw->len);
+ //printf("\tdecode_trksfrbx: len=%d\n",raw->len);
if (raw->outtype) {
sprintf(raw->msgtype,"UBX TRK-SFRBX (%4d): sys=%d prn=%3d",raw->len,
@@ -1245,7 +1245,7 @@ static int decode_timtm2(raw_t *raw)
double tr[6],tf[6];
trace(4, "decode_timtm2: len=%d\n", raw->len);
- //printf("decode_timtm2: len=%d\n", raw->len);
+ //printf("\tdecode_timtm2: len=%d\n", raw->len);
if (raw->outtype) {
sprintf(raw->msgtype, "UBX TIM-TM2 (%4d)", raw->len);
diff --git a/src/sbas.c b/src/sbas.c
index 5c150101eb862d79c4cdfd302646189e743dd494..2223a3b9770499e9ebaeeffdb620bce3d219941c 100644
--- a/src/sbas.c
+++ b/src/sbas.c
@@ -129,6 +129,7 @@ static int decode_sbstype1(const sbsmsg_t *msg, sbssat_t *sbssat)
int i,n,sat;
trace(4,"decode_sbstype1:\n");
+ //printf("\tdecode_sbstype1: \n");
for (i=1,n=0;i<=210&&n<MAXSAT;i++) {
if (getbitu(msg->msg,13+i,1)) {
@@ -141,13 +142,14 @@ static int decode_sbstype1(const sbsmsg_t *msg, sbssat_t *sbssat)
else if (i<=202) sat=satno(SYS_QZS,i); /* 193-202: qzss ref [2] */
else sat=0; /* 203- : reserved */
sbssat->sat[n++].sat=sat;
+ //printf("\t\tsat: %d\n",sat);
}
}
sbssat->iodp=getbitu(msg->msg,224,2);
sbssat->nsat=n;
trace(5,"decode_sbstype1: nprn=%d iodp=%d\n",n,sbssat->iodp);
- printf("decode_sbstype1: nprn=%d iodp=%d\n",n,sbssat->iodp);
+ printf("\tdecode_sbstype1: %d sats, iodp=%d\n",n,sbssat->iodp);
return 1;
}
/* decode type 2-5,0: fast corrections ---------------------------------------*/
@@ -163,6 +165,7 @@ 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);
for (i=0;i<13;i++) {
if ((j=13*((type==0?2:type)-2)+i)>=sbssat->nsat) break;
@@ -182,9 +185,9 @@ 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);
}
trace(5,"decode_sbstype2: type=%d iodf=%d\n",type,iodf);
- printf("decode_sbstype2: type=%d iodf=%d\n",type,iodf);
return 1;
}
/* decode type 6: integrity info ---------------------------------------------*/
@@ -203,7 +206,7 @@ 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("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]);
return 1;
}
/* decode type 7: fast correction degradation factor -------------------------*/
@@ -304,6 +307,7 @@ 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 iode=%d\n",sbssat->sat[n-1].sat,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;
@@ -326,6 +330,7 @@ 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 iode=%d\n",sbssat->sat[n-1].sat,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;
@@ -377,7 +382,7 @@ 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("decode_sbstype24: sat=%2d fcorr.iodf=%2d\n",sbssat->sat[j].sat,iodf);
+ printf("\tdecode_sbstype24: sat=%2d fcorr.iodf=%2d\n",sbssat->sat[j].sat,iodf);
}
return decode_longcorrh(msg,120,sbssat);
}