From 06f6d6be7b37d58fdb867431a804c757ebd741d4 Mon Sep 17 00:00:00 2001 From: miguel Date: Mon, 19 Dec 2022 18:34:01 +0100 Subject: [PATCH] MOD: time update implemented --- src/algorithms/tracking/gnuradio_blocks/kf_tracking.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/algorithms/tracking/gnuradio_blocks/kf_tracking.cc b/src/algorithms/tracking/gnuradio_blocks/kf_tracking.cc index cdb3c6c60..ec85d9881 100644 --- a/src/algorithms/tracking/gnuradio_blocks/kf_tracking.cc +++ b/src/algorithms/tracking/gnuradio_blocks/kf_tracking.cc @@ -652,9 +652,9 @@ void kf_tracking::msg_handler_pvt_to_trk(const pmt::pmt_t &msg) {0.0, 0.0, 1.0, delta_t_s}, {0.0, 0.0, 0.0, 1.0}}; // TODO: Replace only the desired states and leave the others as stored in d_x_old_old vector (e.g replace only the carrier_freq_hz) - //arma::vec tmp_x = F_tmp * x_tmp; + arma::vec tmp_x = F_tmp * x_tmp; double old_doppler = d_x_old_old(2); - d_x_old_old(2) = x_tmp(2); //replace only the Carrier Frequency state + d_x_old_old(2) = tmp_x(2); //replace only the Carrier Frequency state // set vtl corrections flag to inform VTL from gnss_synchro object d_vtl_cmd_applied_now = true;