Merge branch 'devel' of...

Merge branch 'devel' of ssh://gitlab.iri.upc.edu:2202/mobile_robotics/gauss_project/gnss_utils into devel

include/gnss_utils/gnss_utils.h

@@ -163,15 +163,15 @@ struct Options
 
 const Options default_options =
 {
-    EPHOPT_BRDC,  // satellite ephemeris option: EPHOPT_BRDC(0):broadcast ephemeris, EPHOPT_PREC(1): precise ephemeris, EPHOPT_SBAS(2): broadcast + SBAS, EPHOPT_SSRAPC(3): broadcast + SSR_APC, EPHOPT_SSRCOM(4): broadcast + SSR_COM, EPHOPT_LEX(5): QZSS LEX ephemeris
-    IONOOPT_BRDC,    // ionosphere option: IONOOPT_OFF(0):correction off, IONOOPT_BRDC(1):broadcast mode, IONOOPT_SBAS(2):SBAS model, IONOOPT_IFLC(3):L1/L2 or L1/L5, IONOOPT_EST(4):estimation, IONOOPT_TEC(5):IONEX TEC model, IONOOPT_QZS(6):QZSS broadcast, IONOOPT_LEX(7):QZSS LEX ionosphere, IONOOPT_STEC(8):SLANT TEC mode
-    TROPOPT_SAAS,    // troposphere option: TROPOPT_OFF(0):correction off, TROPOPT_SAAS(1):Saastamoinen model, TROPOPT_SBAS(2):SBAS model, TROPOPT_EST(3):troposphere option: ZTD estimation, TROPOPT_ESTG(4):ZTD+grad estimation, TROPOPT_ZTD(5):ZTD correction,6:ZTD+grad correction
-    SBSOPT_LCORR+SBSOPT_FCORR+SBSOPT_ICORR+SBSOPT_RANGE,   // SBAS correction options (can be added): SBSOPT_LCORR(1): long term correction, SBSOPT_FCORR(2): fast correction, SBSOPT_ICORR(4): ionosphere correction, SBSOPT_RANGE(8): ranging
-    false,      // RAIM enabled
-    D2R*30.0,   // min elevation (degrees)
-    0, // maxgdop: reject threshold of gdop
+    EPHOPT_BRDC,    // satellite ephemeris option: EPHOPT_BRDC(0):broadcast ephemeris, EPHOPT_PREC(1): precise ephemeris, EPHOPT_SBAS(2): broadcast + SBAS, EPHOPT_SSRAPC(3): broadcast + SSR_APC, EPHOPT_SSRCOM(4): broadcast + SSR_COM, EPHOPT_LEX(5): QZSS LEX ephemeris
+    IONOOPT_BRDC,   // ionosphere option: IONOOPT_OFF(0):correction off, IONOOPT_BRDC(1):broadcast mode, IONOOPT_SBAS(2):SBAS model, IONOOPT_IFLC(3):L1/L2 or L1/L5, IONOOPT_EST(4):estimation, IONOOPT_TEC(5):IONEX TEC model, IONOOPT_QZS(6):QZSS broadcast, IONOOPT_LEX(7):QZSS LEX ionosphere, IONOOPT_STEC(8):SLANT TEC mode
+    TROPOPT_SAAS,   // troposphere option: TROPOPT_OFF(0):correction off, TROPOPT_SAAS(1):Saastamoinen model, TROPOPT_SBAS(2):SBAS model, TROPOPT_EST(3):troposphere option: ZTD estimation, TROPOPT_ESTG(4):ZTD+grad estimation, TROPOPT_ZTD(5):ZTD correction,6:ZTD+grad correction
+    0,              // SBAS correction options (can be added): SBSOPT_LCORR(1): long term correction, SBSOPT_FCORR(2): fast correction, SBSOPT_ICORR(4): ionosphere correction, SBSOPT_RANGE(8): ranging
+    true,           // RAIM enabled
+    D2R*15.0,       // min elevation (degrees)
+    30.0,           // maxgdop: reject threshold of gdop
     true, false, true, true, false, false, false, false, //GPS,SBS,GLO,GAL,QZS,CMP,IRN,LEO; // constellations used
-    {0} // TDCP options
+    {0}             // TDCP options
 };
 
 // forward declarations

include/gnss_utils/utils/rcv_position.h

@@ -20,7 +20,8 @@
 namespace GnssUtils
 {
 
-ComputePosOutput computePos(const Observations& _observations, const Navigation& _navigation, const Options& _prcopt);
+ComputePosOutput computePos(const Observations& _observations, const Navigation& _navigation, const Options& _opt);
+ComputePosOutput computePos(const Observations& _observations, const Navigation& _navigation, const prcopt_t& _prcopt);
 
 // ComputePosOutput computePosOwn(const Observations & _observations,
 //                                Navigation & _navigation,

src/utils/rcv_position.cpp

@@ -15,12 +15,19 @@ ComputePosOutput computePos(const GnssUtils::Observations& _observations,
                             const GnssUtils::Navigation&   _navigation,
                             const Options&                 _opt)
 {
-  // Define error msg
-  char msg[128] = "";
-
   // Convert options to rtklib
   prcopt_t prcopt = _opt.getPrcopt();
 
+  return computePos(_observations, _navigation, prcopt);
+}
+
+ComputePosOutput computePos(const GnssUtils::Observations& _observations,
+                            const GnssUtils::Navigation&   _navigation,
+                            const prcopt_t&                _prcopt)
+{
+  // Define error msg
+  char msg[128] = "";
+
   // output data
   GnssUtils::ComputePosOutput output;
   sol_t                       sol;
@@ -32,7 +39,7 @@ ComputePosOutput computePos(const GnssUtils::Observations& _observations,
   output.pos_stat = pntpos(_observations.data(),
                            _observations.size(),
                            &(_navigation.getNavigation()),
-                           &prcopt,
+                           &_prcopt,
                            &sol,
                            sat_elevations.data(),
                            sats_status,