bug in options SBAS

src/processor/processor_tracker_gnss.cpp

@@ -27,6 +27,11 @@ void ProcessorTrackerGnss::preProcess()
     WOLF_DEBUG("ProcessorTrackerGnss::preProcess");
 
     GnssUtils::SnapshotPtr inc_snapshot = std::static_pointer_cast<CaptureGnss>(incoming_ptr_)->getSnapshot();
+    GnssUtils::Options copy_opt = params_tracker_gnss_->gnss_opt;
+    bool eph_sbas34 = params_tracker_gnss_->gnss_opt.sateph == EPHOPT_SBAS3 or
+                      params_tracker_gnss_->gnss_opt.sateph == EPHOPT_SBAS4;
+    bool iono_sbas34 = params_tracker_gnss_->gnss_opt.ionopt == IONOOPT_SBAS3 or
+                       params_tracker_gnss_->gnss_opt.ionopt == IONOOPT_SBAS4;
 
 #ifdef _WOLF_DEBUG
     int n_initial = inc_snapshot->getObservations()->size();
@@ -34,10 +39,14 @@ void ProcessorTrackerGnss::preProcess()
     for (auto obs : inc_snapshot->getObservations()->getObservations())
         initial_str += std::to_string(obs.sat) + " ";
 #endif
+    // overload SBAS3 and SBAS4 first chance
+    if (eph_sbas34)
+        copy_opt.sateph = EPHOPT_SBAS;
+    if (iono_sbas34)
+        copy_opt.ionoopt = IONOPT_SBAS;
 
     // compute satellites positions
-    if (!inc_snapshot ->satellitesComputed())
-        inc_snapshot ->computeSatellites(params_tracker_gnss_->gnss_opt.sateph);
+    inc_snapshot ->computeSatellites(copy_opt);
 
     /* iono, tropo, eph and sbas options are the less restrictive to avoid RTKLIB to discard satellites
      * corrections are applied in computeRanges, this fix is only used for:
@@ -87,8 +96,12 @@ void ProcessorTrackerGnss::preProcess()
 
     WOLF_DEBUG("TS: ", incoming_ptr_->getTimeStamp(), " - Fix solution (ECEF): ", fix_incoming_.pos.transpose(), " - Fix solution (GEO): ", fix_incoming_.lat_lon.transpose());
 
+    // store initial observation before filtering
+    GnssUtils::ObservationsPtr init_obs;
+    if (eph_sbas34 or iono_sbas34)
+        init_obs = std::make_shared<GnssUtils::Observations>(*inc_snapshot->getObservations());
+
     // filter observations (available ephemeris, constellations and elevation&SNR)
-    auto init_obs = std::make_shared<GnssUtils::Observations>(*inc_snapshot->getObservations());
     #ifdef _WOLF_DEBUG
         auto discarded_gnssutils =
     #endif
@@ -96,42 +109,36 @@ void ProcessorTrackerGnss::preProcess()
                                      fix_incoming_.sat_azel,
                                      false, // check code
                                      false, // check carrier phase
-                                     params_tracker_gnss_->gnss_opt);
+                                     copy_opt);
 
     // compute corrected Ranges
     inc_snapshot->computeRanges(fix_incoming_.sat_azel,
                                 fix_incoming_.lat_lon,
                                 params_tracker_gnss_->gnss_opt);
 
-    /* NOT ENOUGH SATS/RANGES in case of:
+    /* NOT ENOUGH SATS/RANGES in case of sbas34:
      *     eph:  EPHOPT_SBAS3 and EPHOPT_SBAS4
      *     iono: IONOOPT_SBAS3 and IONOOPT_SBAS4
      */
     if (inc_snapshot->getObservations()->size() < params_tracker_gnss_->min_sbas_sats and
-        (params_tracker_gnss_->gnss_opt.sateph == EPHOPT_SBAS3 or
-         params_tracker_gnss_->gnss_opt.sateph == EPHOPT_SBAS4 or
-         params_tracker_gnss_->gnss_opt.ionoopt == IONOOPT_SBAS3 or
-         params_tracker_gnss_->gnss_opt.ionoopt == IONOOPT_SBAS4))
+        (eph_sbas34 or iono_sbas34))
     {
         WOLF_DEBUG("ProcessorTrackerGnss::preProcess: with SBAS3/SBAS4, not enough ranges: ", inc_snapshot->getObservations()->size(), " Computing with SBAS2/BRDC");
 
-        int eph_opt_old  = params_tracker_gnss_->gnss_opt.sateph;
-        int iono_opt_old = params_tracker_gnss_->gnss_opt.ionoopt;
-
-        if (eph_opt_old == EPHOPT_SBAS3)
-            params_tracker_gnss_->gnss_opt.sateph = EPHOPT_SBAS2;
-        if (eph_opt_old == EPHOPT_SBAS4)
-            params_tracker_gnss_->gnss_opt.sateph = EPHOPT_BRDC;
+        if (params_tracker_gnss_->gnss_opt.sateph == EPHOPT_SBAS3)
+            copy_opt.sateph.sateph = EPHOPT_SBAS2;
+        if (params_tracker_gnss_->gnss_opt.sateph == EPHOPT_SBAS4)
+            copy_opt.sateph.sateph = EPHOPT_BRDC;
 
-        if (iono_opt_old == IONOOPT_SBAS3)
-            params_tracker_gnss_->gnss_opt.ionoopt = IONOOPT_SBAS2;
-        if (iono_opt_old == IONOOPT_SBAS4)
-            params_tracker_gnss_->gnss_opt.ionoopt = IONOOPT_BRDC;
+        if (params_tracker_gnss_->gnss_opt.ionoopt == IONOOPT_SBAS3)
+            copy_opt.ionoopt = IONOOPT_SBAS2;
+        if (params_tracker_gnss_->gnss_opt.ionoopt == IONOOPT_SBAS4)
+            copy_opt.ionoopt = IONOOPT_BRDC;
 
         // reset observations
         inc_snapshot->setObservations(init_obs);
         // recompute satellites
-        inc_snapshot ->computeSatellites(params_tracker_gnss_->gnss_opt.sateph);
+        inc_snapshot ->computeSatellites(copy_opt.sateph);
         // filter
         #ifdef _WOLF_DEBUG
             discarded_gnssutils =
@@ -140,18 +147,15 @@ void ProcessorTrackerGnss::preProcess()
                                          fix_incoming_.sat_azel,
                                          false, // check code
                                          false, // check carrier phase
-                                         params_tracker_gnss_->gnss_opt);
+                                         copy_opt);
 
 
         // recompute corrected Ranges
         inc_snapshot->computeRanges(fix_incoming_.sat_azel,
                                     fix_incoming_.lat_lon,
-                                    params_tracker_gnss_->gnss_opt);
+                                    copy_opt);
 
         WOLF_DEBUG("ProcessorTrackerGnss::preProcess: with SBAS2/BRDC, obtained ranges: ", inc_snapshot->getObservations()->size());
-
-        params_tracker_gnss_->gnss_opt.sateph  = eph_opt_old;
-        params_tracker_gnss_->gnss_opt.ionoopt = iono_opt_old;
     }
 
     // create features pseudorange