remove outliers pseudoranges with fix/state optional

include/gnss/processor/processor_tracker_gnss.h

@@ -17,7 +17,7 @@ struct ParamsProcessorTrackerGnss : public ParamsProcessorTrackerFeature
     GnssUtils::Options gnss_opt;
     GnssUtils::Options fix_opt{GnssUtils::default_options};
     double max_time_span;
-    bool remove_outliers, remove_outliers_tdcp;
+    bool remove_outliers, remove_outliers_tdcp, remove_outliers_with_fix;
     double outlier_residual_th;
     bool init_frames;
 
@@ -25,10 +25,11 @@ struct ParamsProcessorTrackerGnss : public ParamsProcessorTrackerFeature
     ParamsProcessorTrackerGnss(std::string _unique_name, const ParamsServer& _server):
         ParamsProcessorTrackerFeature(_unique_name, _server)
     {
-        remove_outliers         = _server.getParam<bool>    (prefix + _unique_name + "/remove_outliers");
-        outlier_residual_th     = _server.getParam<double>  (prefix + _unique_name + "/outlier_residual_th");
-        init_frames             = _server.getParam<bool>    (prefix + _unique_name + "/init_frames");
-        max_time_span           = _server.getParam<double>  (prefix + _unique_name + "/keyframe_vote/max_time_span");
+        remove_outliers             = _server.getParam<bool>    (prefix + _unique_name + "/remove_outliers");
+        remove_outliers_with_fix    = _server.getParam<bool>    (prefix + _unique_name + "/remove_outliers_with_fix");
+        outlier_residual_th         = _server.getParam<double>  (prefix + _unique_name + "/outlier_residual_th");
+        init_frames                 = _server.getParam<bool>    (prefix + _unique_name + "/init_frames");
+        max_time_span               = _server.getParam<double>  (prefix + _unique_name + "/keyframe_vote/max_time_span");
 
         // GNSS OPTIONS (see rtklib.h)
         gnss_opt.sateph     =        _server.getParam<int>   (prefix + _unique_name + "/gnss/sateph");  // satellite ephemeris/clock (0:broadcast ephemeris,1:precise ephemeris,2:broadcast + SBAS,3:ephemeris option: broadcast + SSR_APC,4:broadcast + SSR_COM,5: QZSS LEX ephemeris

src/processor/processor_tracker_gnss.cpp

@@ -338,7 +338,7 @@ void ProcessorTrackerGnss::removeOutliers(FactorBasePtrList fac_list, CaptureBas
 
 
     // state for pseudoranges is fix solution if OK
-    if (cap == last_ptr_ and fix_last_.stat != 0)
+    if (cap == last_ptr_ and fix_last_.stat != 0 and params_tracker_gnss_->remove_outliers_with_fix)
     {
         WOLF_DEBUG("OUTLIERS COMPUTED USING fix_last");
         x = sensor_gnss_->getREnuMap().transpose() * (sensor_gnss_->getREnuEcef() * fix_last_.pos + sensor_gnss_->gettEnuEcef() - sensor_gnss_->gettEnuMap());