From 9272176ffb6ceaf7d9168005fc59bc02d4095b7b Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Thu, 11 Jun 2020 09:16:56 +0200
Subject: [PATCH] adapted to new output from GnssUtils::pntpos
---
src/processor/processor_gnss_fix.cpp | 5 ++++-
src/processor/processor_tracker_gnss.cpp | 2 +-
2 files changed, 5 insertions(+), 2 deletions(-)
diff --git a/src/processor/processor_gnss_fix.cpp b/src/processor/processor_gnss_fix.cpp
index c8a399010..036a91d51 100644
--- a/src/processor/processor_gnss_fix.cpp
+++ b/src/processor/processor_gnss_fix.cpp
@@ -76,8 +76,11 @@ void ProcessorGnssFix::processCapture(CaptureBasePtr _capture)
{
auto raw_capture = std::static_pointer_cast<CaptureGnss>(incoming_capture_);
incoming_pos_out_ = GnssUtils::computePos(*(raw_capture->getObservations()), *(raw_capture->getNavigation()), params_gnss_->compute_pos_opt);
- if (incoming_pos_out_.pos_stat == 0) // error
+ if (!incoming_pos_out_.success) // error
+ {
+ WOLF_DEBUG("computePos failed with msg: ", incoming_pos_out_.msg);
return;
+ }
}
else
{
diff --git a/src/processor/processor_tracker_gnss.cpp b/src/processor/processor_tracker_gnss.cpp
index 2f2b937e8..6bbe11a71 100644
--- a/src/processor/processor_tracker_gnss.cpp
+++ b/src/processor/processor_tracker_gnss.cpp
@@ -41,7 +41,7 @@ void ProcessorTrackerGnss::preProcess()
params_tracker_gnss_->fix_opt);
// Set ECEF-ENU
- if (!sensor_gnss_->isEnuDefined() and sensor_gnss_->isEnuModeAuto() and fix_incoming_.stat != 0)
+ if (!sensor_gnss_->isEnuDefined() and sensor_gnss_->isEnuModeAuto() and fix_incoming_.success)
{
WOLF_INFO("setting ECEF-ENU: ", fix_incoming_.pos.transpose());
sensor_gnss_->setEcefEnu(fix_incoming_.pos, true);
--
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