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MOD: time update implemented

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miguel 2022-12-19 18:34:01 +01:00
parent 6a2271d07e
commit 06f6d6be7b
1 changed files with 2 additions and 2 deletions
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4
src/algorithms/tracking/gnuradio_blocks/kf_tracking.cc
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@ -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;