SBAS bug fixed

RTKLIB @ c28e4307

-Subproject commit 3f0bb15ea844df97592a5d0c96222da5db6566ae
+Subproject commit c28e43077f2fb431ce3e1cc306155342e7307c66

include/gnss_utils/navigation.h

@@ -132,11 +132,6 @@ inline bool Navigation::addFcb(const fcbd_t& fcb)
   return addToArray<fcbd_t>(fcb, nav_.fcb, nav_.nf, nav_.nfmax);
 }
 
-inline void Navigation::addSbasMessage(const sbsmsg_t& sbas_msg)
-{
-  sbsupdatecorr(&sbas_msg, &nav_);
-}
-
 inline void Navigation::freeEphemeris()
 {
   freeEph(nav_);

src/navigation.cpp

@@ -158,6 +158,25 @@ void Navigation::loadFromRinex(const std::string& rnx_file, gtime_t t_start, gti
               << std::endl;
 }
 
+void Navigation::addSbasMessage(const sbsmsg_t& sbas_msg)
+{
+    // init seph with array of size NSATSBS*2
+    if (nav_.seph == NULL)
+    {
+        std::cout << "Navigation::addSbasMessage: initializing sbas ephemerides array...\n";
+        if (!(nav_.seph =(seph_t *)malloc(sizeof(seph_t)*NSATSBS*2)))
+        {
+            std::cout << "Navigation::addSbasMessage: could not malloc sbas ephemerides!\n";
+            return;
+        }
+        nav_.ns=NSATSBS*2;
+        nav_.nsmax=NSATSBS*2;
+        for (auto i=0; i<NSATSBS*2; i++)
+            nav_.seph[i]=seph_t{0};
+    }
+    sbsupdatecorr(&sbas_msg, &nav_);
+}
+
 void Navigation::copyAllArrays(const nav_t& nav)
 {
   // GPS/QZS/GAL ephemeris
@@ -182,11 +201,18 @@ void Navigation::copyAllArrays(const nav_t& nav)
 
 void Navigation::copyEphemeris(const nav_t& nav)
 {
-  copyArray<eph_t>(nav.eph, nav.n, nav_.eph, nav_.n, nav_.nmax);
-  copyArray<geph_t>(nav.geph, nav.ng, nav_.geph, nav_.ng, nav_.ngmax);
-  copyArray<seph_t>(nav.seph, nav.ns, nav_.seph, nav_.ns, nav_.nsmax);
+    // Not SBAS ephemeris!
 
-  uniqueNavigation();
+    // copy
+    copyArray<eph_t>(nav.eph, nav.n, nav_.eph, nav_.n, nav_.nmax);
+    copyArray<geph_t>(nav.geph, nav.ng, nav_.geph, nav_.ng, nav_.ngmax);
+
+    // unique
+    uniqeph (&nav_);
+    uniqgeph(&nav_);
+
+    // wavelengths
+    updatenav(&nav_);
 }
 
 void Navigation::copyAlmanac(const nav_t& nav)

src/receivers/ublox_raw.cpp

@@ -29,7 +29,7 @@ RawDataType UBloxRaw::addDataStream(const std::vector<uint8_t>& data_stream)
         break;
 
       case NAV_EPH:  // Ephemeris
-        //std::cout << "Ephemeris received!\n";
+        std::cout << "Ephemeris received!\n";
         nav_.copyEphemeris(raw_data_.nav);
         break;