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Commit 7fff19a2 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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WIP

parent 972fd496
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2 merge requests!28release after RAL,!27After 2nd RAL submission
...@@ -25,8 +25,13 @@ void ProcessorTrackerGnss::preProcess() ...@@ -25,8 +25,13 @@ void ProcessorTrackerGnss::preProcess()
fix_incoming_(3) = fix_output.rcv_bias(0); fix_incoming_(3) = fix_output.rcv_bias(0);
// Set ECEF-ENU // Set ECEF-ENU
if (!sensor_gnss_->isEnuDefined()) if (!sensor_gnss_->isEnuDefined() and fix_output.stat != 0)
sensor_gnss_->setEcefEnu(Eigen::Vector3d::Zero(),true); {
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()); WOLF_INFO("TS: ", incoming_ptr_->getTimeStamp(), " - Fix solution (ECEF): ", fix_incoming_.transpose());
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