From 7fff19a2151a4bcf0d845d952b4445619db6120e Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Wed, 6 May 2020 18:02:09 +0200
Subject: [PATCH] WIP
---
src/processor/processor_tracker_gnss.cpp | 9 +++++++--
1 file changed, 7 insertions(+), 2 deletions(-)
diff --git a/src/processor/processor_tracker_gnss.cpp b/src/processor/processor_tracker_gnss.cpp
index 070e48d97..c382cba77 100644
--- a/src/processor/processor_tracker_gnss.cpp
+++ b/src/processor/processor_tracker_gnss.cpp
@@ -25,8 +25,13 @@ void ProcessorTrackerGnss::preProcess()
fix_incoming_(3) = fix_output.rcv_bias(0);
// Set ECEF-ENU
- if (!sensor_gnss_->isEnuDefined())
- sensor_gnss_->setEcefEnu(Eigen::Vector3d::Zero(),true);
+ if (!sensor_gnss_->isEnuDefined() and fix_output.stat != 0)
+ {
+ WOLF_INFO("setting ECEF-ENU: ", fix_output.pos.transpose());
+ sensor_gnss_->setEcefEnu(fix_output.pos,true);
+ //sensor_gnss_->setEcefEnu(Eigen::Vector3d::Zero(),true);
+ WOLF_INFO("ECEF-ENU set: ", sensor_gnss_->gettEnuEcef().transpose(), "\n", sensor_gnss_->getREnuEcef());
+ }
WOLF_INFO("TS: ", incoming_ptr_->getTimeStamp(), " - Fix solution (ECEF): ", fix_incoming_.transpose());
--
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