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Fix vtl cmd vector flush

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This commit is contained in:
Javier Arribas 2022-12-19 16:05:22 +01:00
parent aa9608b11a
commit 06a0ba3af5
2 changed files with 10 additions and 9 deletions
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1
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@ -2158,6 +2158,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::cout << "VTL Engine problem: " << ex.what() << "\n";
}
}
d_internal_pvt_solver->vtl_engine.trk_cmd_outs.clear();
//Dummy messages for evaluation of msg latency
// std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
// for (gnss_observables_iter = d_gnss_observables_map.cbegin();

18
src/algorithms/PVT/libs/vtl_engine.cc
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@ -233,7 +233,7 @@ bool Vtl_Engine::vtl_loop(Vtl_Data& new_data)
// Filtered pseudorange error measurement (in m) AND Filtered Doppler shift measurements (in Hz):
TrackingCmd trk_cmd;
for (int32_t channel = 0; channel < new_data.sat_number; channel++) // Measurement vector
{
rho_pri_filt(channel) = new_data.pr_m(channel) + kf_yerr(channel); // now filtered
@ -245,8 +245,8 @@ bool Vtl_Engine::vtl_loop(Vtl_Data& new_data)
//TODO: Fill the tracking commands outputs
// Notice: keep the same satellite order as in the Vtl_Data matrices
// sample code
trk_cmd.carrier_phase_rads = 0; // difficult of calculation
trk_cmd.carrier_freq_hz = doppler_hz_filt(channel) + kf_x(7)/ Lambda_GPS_L1;//+ kf_x(7)/Lambda_GPS_L1; // this is el doppler WITHOUTH sintony correction
trk_cmd.carrier_phase_rads = 0; // difficult of calculation
trk_cmd.carrier_freq_hz = doppler_hz_filt(channel) + kf_x(7) / Lambda_GPS_L1; //+ kf_x(7)/Lambda_GPS_L1; // this is el doppler WITHOUTH sintony correction
trk_cmd.carrier_freq_rate_hz_s = 0;
trk_cmd.code_phase_chips = 0;
trk_cmd.enable_carrier_nco_cmd = true;
@ -254,12 +254,12 @@ bool Vtl_Engine::vtl_loop(Vtl_Data& new_data)
trk_cmd.sample_counter = new_data.sample_counter;
trk_cmd.channel_id = 0;
trk_cmd_outs.push_back(trk_cmd);
if(channel==0)
{
std::cout << "CH " << channel
<< " Doppler vtl commanded: " << doppler_hz_filt(channel) << " [Hz]"
<< " \n";
}
if (channel == 0)
{
std::cout << "[" << trk_cmd.sample_counter << "] CH " << channel
<< " Doppler vtl commanded: " << doppler_hz_filt(channel) << " [Hz]"
<< " \n";
}
}