diff --git a/include/gnss_utils/gnss_utils.h b/include/gnss_utils/gnss_utils.h index 10b7e909fc44d18f95b0cc69006c816e832e571a..1a555b0d3a53041434a567705bf164a8e44e7ec4 100644 --- a/include/gnss_utils/gnss_utils.h +++ b/include/gnss_utils/gnss_utils.h @@ -29,7 +29,7 @@ namespace GNSSUtils Eigen::Matrix3d pos_covar; // position covariance (m^2) // {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} Eigen::VectorXd rcv_bias; // receiver clock bias to time systems (s) - int type; // type (0:xyz-ecef,1:enu-baseline) + int type; // coordinates used (0:xyz-ecef,1:enu-baseline) int stat; // solution status (SOLQ_???) int ns; // number of valid satellites double age; // age of differential (s) diff --git a/src/gnss_utils.cpp b/src/gnss_utils.cpp index 93ef9a3eff7f7c135fa9ba56972fff565186e309..5f55ef8254116084ca1c9378e006f64533bf422d 100644 --- a/src/gnss_utils.cpp +++ b/src/gnss_utils.cpp @@ -29,7 +29,7 @@ namespace GNSSUtils } output.time = sol.time.time; - output.time = sol.time.sec; + output.sec = sol.time.sec; output.pos = Eigen::Vector3d(sol.rr); // std::cout << "Compute pos: " << output.pos.transpose() << "\n"; output.vel = Eigen::Vector3d(&sol.rr[3]); @@ -78,7 +78,7 @@ namespace GNSSUtils } output.time = sol.time.time; - output.time = sol.time.sec; + output.sec = sol.time.sec; output.pos = Eigen::Vector3d(sol.rr); // std::cout << "Compute pos: " << output.pos.transpose() << "\n"; output.vel = Eigen::Vector3d(&sol.rr[3]);