diff --git a/include/gnss_utils/tdcp.h b/include/gnss_utils/tdcp.h index deb5aede610f1f8856bffba07ad4348b16d8309e..c582301194695d91b4b794fed71b13681be00b76 100644 --- a/include/gnss_utils/tdcp.h +++ b/include/gnss_utils/tdcp.h @@ -14,7 +14,6 @@ struct TdcpBatchParams int raim_n; double raim_min_residual; bool relinearize_jacobian; - bool old_nav; int max_iterations; }; diff --git a/src/tdcp.cpp b/src/tdcp.cpp index 8e0b0e050601906231cc87cf66ff1d71221d950e..75788b09c7ba9abb8e59e645cca7b64fa5f9e307 100644 --- a/src/tdcp.cpp +++ b/src/tdcp.cpp @@ -41,7 +41,7 @@ bool Tdcp(SnapshotPtr snapshot_r, { // If use old nav temporary change navigation to (re)compute satellites positions auto nav_k = snapshot_k->getNavigation(); - if (tdcp_params.old_nav) + if (tdcp_params.tdcp.use_old_nav) { snapshot_k->getSatellites().clear(); snapshot_k->setNavigation(snapshot_r->getNavigation()); @@ -79,7 +79,7 @@ bool Tdcp(SnapshotPtr snapshot_r, tdcp_params); // UNDO temporary change navigation - if (tdcp_params.old_nav) + if (tdcp_params.tdcp.use_old_nav) { snapshot_k->setNavigation(nav_k); snapshot_k->computeSatellites(opt.sateph);