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Commit 64d9eb28 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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WIP

parent 6c726f69
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2 merge requests!28release after RAL,!27After 2nd RAL submission
...@@ -17,7 +17,7 @@ struct ParamsProcessorTrackerGnss : public ParamsProcessorTrackerFeature ...@@ -17,7 +17,7 @@ struct ParamsProcessorTrackerGnss : public ParamsProcessorTrackerFeature
GnssUtils::Options gnss_opt; GnssUtils::Options gnss_opt;
GnssUtils::Options fix_opt{GnssUtils::default_options}; GnssUtils::Options fix_opt{GnssUtils::default_options};
double max_time_span; double max_time_span;
bool remove_outliers; bool remove_outliers, remove_outliers_tdcp;
double outlier_residual_th; double outlier_residual_th;
bool init_frames; bool init_frames;
...@@ -52,18 +52,19 @@ struct ParamsProcessorTrackerGnss : public ParamsProcessorTrackerFeature ...@@ -52,18 +52,19 @@ struct ParamsProcessorTrackerGnss : public ParamsProcessorTrackerFeature
gnss_opt.tdcp.enabled = _server.getParam<bool>(prefix + _unique_name + "/gnss/tdcp/enabled"); gnss_opt.tdcp.enabled = _server.getParam<bool>(prefix + _unique_name + "/gnss/tdcp/enabled");
if (gnss_opt.tdcp.enabled) if (gnss_opt.tdcp.enabled)
{ {
gnss_opt.tdcp.corr_iono = _server.getParam<bool> (prefix + _unique_name + "/gnss/tdcp/corr_iono"); remove_outliers_tdcp = _server.getParam<bool> (prefix + _unique_name + "/gnss/tdcp/remove_outliers");
gnss_opt.tdcp.corr_tropo = _server.getParam<bool> (prefix + _unique_name + "/gnss/tdcp/corr_tropo"); gnss_opt.tdcp.corr_iono = _server.getParam<bool> (prefix + _unique_name + "/gnss/tdcp/corr_iono");
gnss_opt.tdcp.loss_function = _server.getParam<bool> (prefix + _unique_name + "/gnss/tdcp/loss_function"); gnss_opt.tdcp.corr_tropo = _server.getParam<bool> (prefix + _unique_name + "/gnss/tdcp/corr_tropo");
gnss_opt.tdcp.time_window = _server.getParam<double>(prefix + _unique_name + "/gnss/tdcp/time_window"); gnss_opt.tdcp.loss_function = _server.getParam<bool> (prefix + _unique_name + "/gnss/tdcp/loss_function");
gnss_opt.tdcp.sigma_atm = _server.getParam<double>(prefix + _unique_name + "/gnss/tdcp/sigma_atm"); gnss_opt.tdcp.time_window = _server.getParam<double>(prefix + _unique_name + "/gnss/tdcp/time_window");
gnss_opt.tdcp.sigma_carrier = _server.getParam<double>(prefix + _unique_name + "/gnss/tdcp/sigma_carrier"); gnss_opt.tdcp.sigma_atm = _server.getParam<double>(prefix + _unique_name + "/gnss/tdcp/sigma_atm");
gnss_opt.tdcp.multi_freq = _server.getParam<bool> (prefix + _unique_name + "/gnss/tdcp/multi_freq"); 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) // COMPUTE FIX OPTIONS (RAIM)
fix_opt.elmin = 0; fix_opt.elmin = 0;
fix_opt.maxgdop = 10; fix_opt.maxgdop = 30;
} }
std::string print() const std::string print() const
...@@ -121,6 +122,8 @@ class ProcessorTrackerGnss : public ProcessorTrackerFeature ...@@ -121,6 +122,8 @@ class ProcessorTrackerGnss : public ProcessorTrackerFeature
SensorGnssPtr sensor_gnss_; SensorGnssPtr sensor_gnss_;
std::map<int, FeatureGnssSatellitePtr> untracked_incoming_features_, untracked_last_features_; std::map<int, FeatureGnssSatellitePtr> untracked_incoming_features_, untracked_last_features_;
GnssUtils::ComputePosOutput fix_incoming_, fix_last_; 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 /** \brief Track provided features in \b _capture
* \param _features_in input list of features in \b last to track * \param _features_in input list of features in \b last to track
...@@ -212,7 +215,7 @@ class ProcessorTrackerGnss : public ProcessorTrackerFeature ...@@ -212,7 +215,7 @@ class ProcessorTrackerGnss : public ProcessorTrackerFeature
void advanceDerived() override; void advanceDerived() override;
void resetDerived() override; void resetDerived() override;
void removeOutliers(FactorBasePtrList fac_list, CaptureBasePtr cap) const; void removeOutliers(FactorBasePtrList fac_list, CaptureBasePtr cap);
}; };
inline ProcessorTrackerGnss::~ProcessorTrackerGnss() inline ProcessorTrackerGnss::~ProcessorTrackerGnss()
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