WIP

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;
+    bool remove_outliers, remove_outliers_tdcp;
     double outlier_residual_th;
     bool init_frames;
 
@@ -52,18 +52,19 @@ struct ParamsProcessorTrackerGnss : public ParamsProcessorTrackerFeature
         gnss_opt.tdcp.enabled = _server.getParam<bool>(prefix + _unique_name + "/gnss/tdcp/enabled");
         if (gnss_opt.tdcp.enabled)
         {
-            gnss_opt.tdcp.corr_iono      = _server.getParam<bool>  (prefix + _unique_name + "/gnss/tdcp/corr_iono");
-            gnss_opt.tdcp.corr_tropo     = _server.getParam<bool>  (prefix + _unique_name + "/gnss/tdcp/corr_tropo");
-            gnss_opt.tdcp.loss_function  = _server.getParam<bool>  (prefix + _unique_name + "/gnss/tdcp/loss_function");
-            gnss_opt.tdcp.time_window    = _server.getParam<double>(prefix + _unique_name + "/gnss/tdcp/time_window");
-            gnss_opt.tdcp.sigma_atm      = _server.getParam<double>(prefix + _unique_name + "/gnss/tdcp/sigma_atm");
-            gnss_opt.tdcp.sigma_carrier  = _server.getParam<double>(prefix + _unique_name + "/gnss/tdcp/sigma_carrier");
-            gnss_opt.tdcp.multi_freq     = _server.getParam<bool>  (prefix + _unique_name + "/gnss/tdcp/multi_freq");
+            remove_outliers_tdcp        = _server.getParam<bool>  (prefix + _unique_name + "/gnss/tdcp/remove_outliers");
+            gnss_opt.tdcp.corr_iono     = _server.getParam<bool>  (prefix + _unique_name + "/gnss/tdcp/corr_iono");
+            gnss_opt.tdcp.corr_tropo    = _server.getParam<bool>  (prefix + _unique_name + "/gnss/tdcp/corr_tropo");
+            gnss_opt.tdcp.loss_function = _server.getParam<bool>  (prefix + _unique_name + "/gnss/tdcp/loss_function");
+            gnss_opt.tdcp.time_window   = _server.getParam<double>(prefix + _unique_name + "/gnss/tdcp/time_window");
+            gnss_opt.tdcp.sigma_atm     = _server.getParam<double>(prefix + _unique_name + "/gnss/tdcp/sigma_atm");
+            gnss_opt.tdcp.sigma_carrier = _server.getParam<double>(prefix + _unique_name + "/gnss/tdcp/sigma_carrier");
+            gnss_opt.tdcp.multi_freq    = _server.getParam<bool>  (prefix + _unique_name + "/gnss/tdcp/multi_freq");
         }
 
         // COMPUTE FIX OPTIONS (RAIM)
         fix_opt.elmin = 0;
-        fix_opt.maxgdop = 10;
+        fix_opt.maxgdop = 30;
     }
 
     std::string print() const
@@ -121,6 +122,8 @@ class ProcessorTrackerGnss : public ProcessorTrackerFeature
         SensorGnssPtr sensor_gnss_;
         std::map<int, FeatureGnssSatellitePtr> untracked_incoming_features_, untracked_last_features_;
         GnssUtils::ComputePosOutput fix_incoming_, fix_last_;
+        unsigned int outliers_pseudorange_, outliers_tdcp_, inliers_pseudorange_, inliers_tdcp_;
+        std::map<int, unsigned int> sat_outliers_;
 
         /** \brief Track provided features in \b _capture
          * \param _features_in input list of features in \b last to track
@@ -212,7 +215,7 @@ class ProcessorTrackerGnss : public ProcessorTrackerFeature
         void advanceDerived() override;
         void resetDerived() override;
 
-        void removeOutliers(FactorBasePtrList fac_list, CaptureBasePtr cap) const;
+        void removeOutliers(FactorBasePtrList fac_list, CaptureBasePtr cap);
 };
 
 inline ProcessorTrackerGnss::~ProcessorTrackerGnss()