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labrobotica
algorithms
gnss_utils
Commits
6c1bda38
Commit
6c1bda38
authored
5 years ago
by
Joan Vallvé Navarro
Browse files
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Plain Diff
SBAS bug fixed
parent
2b6a0367
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2 merge requests
!20
new tag
,
!19
new tag
Changes
4
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4 changed files
deps/RTKLIB
+1
-1
1 addition, 1 deletion
deps/RTKLIB
include/gnss_utils/navigation.h
+0
-5
0 additions, 5 deletions
include/gnss_utils/navigation.h
src/navigation.cpp
+30
-4
30 additions, 4 deletions
src/navigation.cpp
src/receivers/ublox_raw.cpp
+1
-1
1 addition, 1 deletion
src/receivers/ublox_raw.cpp
with
32 additions
and
11 deletions
RTKLIB
@
c28e4307
Compare
3f0bb15e
...
c28e4307
Subproject commit
3f0bb15ea844df97592a5d0c96222da5db6566ae
Subproject commit
c28e43077f2fb431ce3e1cc306155342e7307c66
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include/gnss_utils/navigation.h
+
0
−
5
View file @
6c1bda38
...
@@ -132,11 +132,6 @@ inline bool Navigation::addFcb(const fcbd_t& fcb)
...
@@ -132,11 +132,6 @@ inline bool Navigation::addFcb(const fcbd_t& fcb)
return
addToArray
<
fcbd_t
>
(
fcb
,
nav_
.
fcb
,
nav_
.
nf
,
nav_
.
nfmax
);
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
()
inline
void
Navigation
::
freeEphemeris
()
{
{
freeEph
(
nav_
);
freeEph
(
nav_
);
...
...
This diff is collapsed.
Click to expand it.
src/navigation.cpp
+
30
−
4
View file @
6c1bda38
...
@@ -158,6 +158,25 @@ void Navigation::loadFromRinex(const std::string& rnx_file, gtime_t t_start, gti
...
@@ -158,6 +158,25 @@ void Navigation::loadFromRinex(const std::string& rnx_file, gtime_t t_start, gti
<<
std
::
endl
;
<<
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
)
void
Navigation
::
copyAllArrays
(
const
nav_t
&
nav
)
{
{
// GPS/QZS/GAL ephemeris
// GPS/QZS/GAL ephemeris
...
@@ -182,11 +201,18 @@ void Navigation::copyAllArrays(const nav_t& nav)
...
@@ -182,11 +201,18 @@ void Navigation::copyAllArrays(const nav_t& nav)
void
Navigation
::
copyEphemeris
(
const
nav_t
&
nav
)
void
Navigation
::
copyEphemeris
(
const
nav_t
&
nav
)
{
{
copyArray
<
eph_t
>
(
nav
.
eph
,
nav
.
n
,
nav_
.
eph
,
nav_
.
n
,
nav_
.
nmax
);
// Not SBAS ephemeris!
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
);
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
)
void
Navigation
::
copyAlmanac
(
const
nav_t
&
nav
)
...
...
This diff is collapsed.
Click to expand it.
src/receivers/ublox_raw.cpp
+
1
−
1
View file @
6c1bda38
...
@@ -29,7 +29,7 @@ RawDataType UBloxRaw::addDataStream(const std::vector<uint8_t>& data_stream)
...
@@ -29,7 +29,7 @@ RawDataType UBloxRaw::addDataStream(const std::vector<uint8_t>& data_stream)
break
;
break
;
case
NAV_EPH
:
// Ephemeris
case
NAV_EPH
:
// Ephemeris
//
std::cout << "Ephemeris received!\n";
std
::
cout
<<
"Ephemeris received!
\n
"
;
nav_
.
copyEphemeris
(
raw_data_
.
nav
);
nav_
.
copyEphemeris
(
raw_data_
.
nav
);
break
;
break
;
...
...
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