diff --git a/include/gnss_utils/gnss_utils.h b/include/gnss_utils/gnss_utils.h index d9eca70d109c82a2d96890cf6df67d4dcd06693b..b795d2d8fabdfd271a6c6ab636317105683586d3 100644 --- a/include/gnss_utils/gnss_utils.h +++ b/include/gnss_utils/gnss_utils.h @@ -15,6 +15,14 @@ extern "C" { // eigen #include <eigen3/Eigen/Dense> +#ifndef RAD2DEG +#define RAD2DEG 180.0 / 3.14159265358979323846 +#endif + +#ifndef DEG2RAD +#define DEG2RAD 3.14159265358979323846 / 180.0 +#endif + namespace GnssUtils { diff --git a/src/receivers/novatel_raw.cpp b/src/receivers/novatel_raw.cpp index 3c59e2544a78bb6b5e4faac00c75da936efb1a4f..d1b650a71c06f751f406a2895de4e2646f1fc4b5 100644 --- a/src/receivers/novatel_raw.cpp +++ b/src/receivers/novatel_raw.cpp @@ -36,6 +36,7 @@ RawDataType NovatelRaw::addDataStream(const std::vector<uint8_t>& data_stream) case NAV_SBAS: // SBAS std::cout << "SBAS received!\n"; + nav_.copySbasCorrections(raw_data_.nav); break; case NAV_ALM_IONUTC: // Almanac and ion/utc parameters