debugging

src/gnss_utils.cpp

 #include "gnss_utils/gnss_utils.h"
 
+
 namespace GNSSUtils
 {
   GNSSUtils::ComputePosOutput computePos(const GNSSUtils::Observations & _observations,
@@ -7,21 +8,24 @@ namespace GNSSUtils
                                     const prcopt_t & _prcopt)
   {
     // Remove duplicated satellites
-    uniqnav(&(_navigation.getNavigation()));
+    // uniqnav(&(_navigation.getNavigation()));
+
+    std::cout << "Number of navigation satellites: " << _navigation.getNavigation().n << "\n";
+    std::cout << "Number of observations: " << _observations.getObservations().size() << "\n";
 
     // Define processing options
-    // prcopt_t prcopt = prcopt_default;
-    // prcopt.mode = PMODE_SINGLE;
-    // prcopt.soltype = 0;
-    // prcopt.nf = 1;
-    // prcopt.navsys = SYS_GPS;
-    // //prcopt.elmin = 1.05;  // 60 degrees = 1.05 rad
-    // prcopt.sateph = EPHOPT_BRDC;
-    // prcopt.ionoopt = IONOOPT_OFF;
-    // prcopt.tropopt = TROPOPT_OFF;
-    // prcopt.dynamics = 0;
-    // prcopt.tidecorr = 0;
-    // prcopt.sbascorr = SBSOPT_FCORR;
+    prcopt_t prcopt = prcopt_default;
+    prcopt.mode = PMODE_SINGLE;
+    prcopt.soltype = 0;
+    prcopt.nf = 1;
+    prcopt.navsys = SYS_GPS;
+    // prcopt.elmin = 1.05;  // 60 degrees = 1.05 rad
+    prcopt.sateph = EPHOPT_BRDC;
+    prcopt.ionoopt = IONOOPT_OFF;
+    prcopt.tropopt = TROPOPT_OFF;
+    prcopt.dynamics = 0;
+    prcopt.tidecorr = 0;
+    prcopt.sbascorr = SBSOPT_FCORR;
 
     // Define error msg
     char msg[128] = "";
@@ -32,11 +36,17 @@ namespace GNSSUtils
 
     output.pos_stat = pntpos(_observations.getObservations().data(), _observations.getObservations().size(),
                             &(_navigation.getNavigation()),
-                            &_prcopt, &sol, NULL, NULL, msg);
+                            &prcopt, &sol, NULL, NULL, msg);
+    
+    if (output.pos_stat == 0)
+    {
+      std::cout << "Bad computing: "  << msg << "\n";
+    }
 
     output.time = sol.time.time;
     output.time = sol.time.sec;
     output.pos  = Eigen::Vector3d(sol.rr);
+    std::cout << "Compute pos:  " << output.pos.transpose() << "\n";
     output.vel  = Eigen::Vector3d(&sol.rr[3]);
     output.pos_covar << sol.qr[0], sol.qr[3], sol.qr[5],
                         sol.qr[3], sol.qr[1], sol.qr[4],