From 576249dcdf7d74a13b4583271fc435bcdc95553d Mon Sep 17 00:00:00 2001
From: PepMS <jmarti@iri.upc.edu>
Date: Thu, 21 May 2020 16:18:45 +0200
Subject: [PATCH] [modifications] added sbas corrections in novatel and
definitions of unit conversions
---
include/gnss_utils/gnss_utils.h | 8 ++++++++
src/receivers/novatel_raw.cpp | 1 +
2 files changed, 9 insertions(+)
diff --git a/include/gnss_utils/gnss_utils.h b/include/gnss_utils/gnss_utils.h
index bcb6843..64594fa 100644
--- a/include/gnss_utils/gnss_utils.h
+++ b/include/gnss_utils/gnss_utils.h
@@ -15,6 +15,14 @@ extern "C" {
// eigen
#include <eigen3/Eigen/Dense>
+#ifndef RAD2DEG
+#define RAD2DEG 180.0 / 3.14159265358979323846
+#endif
+
+#ifndef DEG2RAD
+#define DEG2RAD 3.14159265358979323846 / 180.0
+#endif
+
namespace GnssUtils
{
diff --git a/src/receivers/novatel_raw.cpp b/src/receivers/novatel_raw.cpp
index 3c59e25..d1b650a 100644
--- a/src/receivers/novatel_raw.cpp
+++ b/src/receivers/novatel_raw.cpp
@@ -36,6 +36,7 @@ RawDataType NovatelRaw::addDataStream(const std::vector<uint8_t>& data_stream)
case NAV_SBAS: // SBAS
std::cout << "SBAS received!\n";
+ nav_.copySbasCorrections(raw_data_.nav);
break;
case NAV_ALM_IONUTC: // Almanac and ion/utc parameters
--
GitLab