sagnac add/substract option

include/gnss_utils/tdcp.h

@@ -17,7 +17,7 @@ struct TdcpBatchParams
   bool   relinearize_jacobian;
   int    max_iterations;
   int    residual_opt; // 0: Normalized RMS of residual vector. 1: Max residual in Mahalanobis squared distance
-  bool   sagnac_correction;
+  int   sagnac_correction; // 0 deactivated, 1/2 substraction/addition
 };
 
 struct TdcpOutput

src/tdcp.cpp

@@ -246,11 +246,15 @@ TdcpOutput Tdcp(SnapshotPtr               snapshot_r,
         }
 
         // sagnac corrections
-        if (tdcp_params.sagnac_correction)
+        if (tdcp_params.sagnac_correction != 0)
         {
             double sagnac_corr_r = computeSagnacCorrection(x_r,s_r); //OMGE*(s_r.col(row)(0)*x_r(1)-s_r.col(row)(1)*x_r(0))/CLIGHT;
             double sagnac_corr_k = computeSagnacCorrection(x_r,s_k); //OMGE*(s_k.col(row)(0)*(x_r(1)+d_0(1))-s_k.col(row)(1)*(x_r(0)+d_0(0)))/CLIGHT;
-            drho_m(row) += -sagnac_corr_k + sagnac_corr_r;
+
+            if (tdcp_params.sagnac_correction == 1)
+                drho_m(row) += -sagnac_corr_k + sagnac_corr_r;
+            else
+                drho_m(row) -= -sagnac_corr_k + sagnac_corr_r;
         }
 
         #if GNSS_UTILS_TDCP_DEBUG == 1