WIP

src/observations.cpp

@@ -204,9 +204,9 @@ std::set<int> Observations::filterByEphemeris(const SatellitesPositions& sats_po
       // bad or inexistent satellite position (satellite is not included in the discarded list)
       if (sats_pos.count(sat_number) == 0 or
           sats_pos.at(sat_number).isApprox(Eigen::Vector3d::Zero(), 1e-3) or
-          sats_pos.at(sat_number).isApprox(Eigen::Vector3d::Zero(), 1e-3))
+          sats_pos.at(sat_number).norm() < 2.5e7)
       {
-        //std::cout << "Discarding sat " << sat_number << ": wrong satellite position: \n\t" << sats_pos.at(sat_number).transpose() << std::endl;
+        std::cout << "Discarding sat " << sat_number << ": wrong satellite position: \n\t" << sats_pos.at(sat_number).transpose() << std::endl;
         remove_sats.insert(sat_number);
       }
     }

src/utils/rcv_position.cpp

@@ -45,10 +45,12 @@ ComputePosOutput computePos(const GnssUtils::Observations& _observations,
   // std::cout << "Covariance:\n" << output.pos_covar << "\n";
 
   // XXX: segmentation fault here.
-  // if (sol.dtr != NULL)
-  // {
-  //   output.rcv_bias << sol.dtr[0], sol.dtr[1], sol.dtr[2], sol.dtr[3], sol.dtr[4], sol.dtr[5];
-  // }
+  if (sol.dtr != NULL)
+  {
+    output.rcv_bias = (Eigen::Matrix<double,6,1>() << sol.dtr[0], sol.dtr[1], sol.dtr[2], sol.dtr[3], sol.dtr[4], sol.dtr[5]).finished();
+    //output.rcv_bias = Eigen::Matrix<double, 6,1>(sol.dtr[0], sol.dtr[1], sol.dtr[2], sol.dtr[3], sol.dtr[4], sol.dtr[5]);
+    //output.rcv_bias << sol.dtr[0], sol.dtr[1], sol.dtr[2], sol.dtr[3], sol.dtr[4], sol.dtr[5];
+  }
   output.type    = sol.type;
   output.stat    = sol.stat;
   output.ns      = sol.ns;
@@ -261,4 +263,4 @@ int estposOwn(const obsd_t*   obs,
 
   return 0;
 }
-}  // namespace GnssUtils
+}  // namespace GnssUtils
\ No newline at end of file