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Parameterize the observables processing rate with the global configuration parameter GNSS-SDR.observable_interval_ms, set to 20 by default

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Carles Fernandez 2021-06-12 11:01:18 +02:00
parent ac84750f60
commit 0b5920338f
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GPG Key ID: 4C583C52B0C3877D
9 changed files with 27 additions and 17 deletions
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4
src/algorithms/PVT/adapters/rtklib_pvt.cc
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@ -58,7 +58,9 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
pvt_output_parameters.pre_2009_file = configuration->property("GNSS-SDR.pre_2009_file", false);
// output rate
pvt_output_parameters.output_rate_ms = bc::lcm(20, configuration->property(role + ".output_rate_ms", 500));
pvt_output_parameters.observable_interval_ms = configuration->property("GNSS-SDR.observable_interval_ms", pvt_output_parameters.observable_interval_ms);
pvt_output_parameters.output_rate_ms = bc::lcm(static_cast<int>(pvt_output_parameters.observable_interval_ms), configuration->property(role + ".output_rate_ms", 500));
// display rate
pvt_output_parameters.display_rate_ms = bc::lcm(pvt_output_parameters.output_rate_ms, configuration->property(role + ".display_rate_ms", 500));

5
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@ -173,6 +173,7 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
d_nchannels = nchannels;
d_type_of_rx = conf_.type_of_receiver;
d_observable_interval_ms = conf_.observable_interval_ms;
// GPS Ephemeris data message port in
this->message_port_register_in(pmt::mp("telemetry"));
@ -2003,8 +2004,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (!d_gnss_observables_map_t0.empty())
{
const auto t0_int_ms = static_cast<uint32_t>(d_gnss_observables_map_t0.cbegin()->second.RX_time * 1000.0);
const uint32_t adjust_next_20ms = 20 - t0_int_ms % 20;
current_RX_time_ms = t0_int_ms + adjust_next_20ms;
const uint32_t adjust_next_obs_interval_ms = d_observable_interval_ms - t0_int_ms % d_observable_interval_ms;
current_RX_time_ms = t0_int_ms + adjust_next_obs_interval_ms;
if (current_RX_time_ms % d_output_rate_ms == 0)
{

1
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
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@ -254,6 +254,7 @@ private:
uint32_t d_nchannels;
uint32_t d_type_of_rx;
uint32_t d_observable_interval_ms;
bool d_dump;
bool d_dump_mat;

1
src/algorithms/PVT/libs/pvt_conf.cc
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@ -19,6 +19,7 @@
Pvt_Conf::Pvt_Conf()
{
type_of_receiver = 0U;
observable_interval_ms = 20U;
output_rate_ms = 0;
display_rate_ms = 0;
kml_rate_ms = 1000;

2
src/algorithms/PVT/libs/pvt_conf.h
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@ -51,6 +51,8 @@ public:
std::string udp_eph_addresses;
uint32_t type_of_receiver;
uint32_t observable_interval_ms;
int32_t output_rate_ms;
int32_t display_rate_ms;
int32_t kml_rate_ms;

3
src/algorithms/observables/adapters/hybrid_observables.cc
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@ -31,13 +31,14 @@ HybridObservables::HybridObservables(const ConfigurationInterface* configuration
dump_mat_ = configuration->property(role + ".dump_mat", true);
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
Obs_Conf conf;
Obs_Conf conf{};
conf.dump = dump_;
conf.dump_mat = dump_mat_;
conf.dump_filename = dump_filename_;
conf.nchannels_in = in_streams_;
conf.nchannels_out = out_streams_;
conf.observable_interval_ms = configuration->property("GNSS-SDR.observable_interval_ms", conf.observable_interval_ms);
conf.enable_carrier_smoothing = configuration->property(role + ".enable_carrier_smoothing", conf.enable_carrier_smoothing);
if (FLAGS_carrier_smoothing_factor == DEFAULT_CARRIER_SMOOTHING_FACTOR)

22
src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc
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@ -26,6 +26,7 @@
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
#include <matio.h>
#include <algorithm> // for std::min
#include <array>
#include <cmath> // for round
#include <cstdlib> // for size_t, llabs
@ -117,12 +118,11 @@ hybrid_observables_gs::hybrid_observables_gs(const Obs_Conf &conf_) : gr::block(
}
}
d_T_rx_TOW_ms = 0U;
d_T_rx_step_ms = 20; // read from config at the adapter GNSS-SDR.observable_interval_ms!!
d_T_rx_step_ms = conf_.observable_interval_ms;
d_T_rx_TOW_set = false;
d_T_status_report_timer_ms = 0;
// rework
d_Rx_clock_buffer.set_capacity(10); // 10*20 ms = 200 ms of data in buffer
d_Rx_clock_buffer.clear(); // Clear all the elements in the buffer
d_Rx_clock_buffer.set_capacity(std::min(std::max(200U / d_T_rx_step_ms, 3U), 10U));
d_Rx_clock_buffer.clear();
d_channel_last_pll_lock = std::vector<bool>(d_nchannels_out, false);
d_channel_last_pseudorange_smooth = std::vector<double>(d_nchannels_out, 0.0);
@ -191,10 +191,10 @@ void hybrid_observables_gs::msg_handler_pvt_to_observables(const pmt::pmt_t &msg
{
const auto new_rx_clock_offset_s = boost::any_cast<double>(pmt::any_ref(msg));
d_T_rx_TOW_ms = d_T_rx_TOW_ms - static_cast<int>(round(new_rx_clock_offset_s * 1000.0));
// align the receiver clock to integer multiple of 20 ms
if (d_T_rx_TOW_ms % 20)
// align the receiver clock to integer multiple of d_T_rx_step_ms
if (d_T_rx_TOW_ms % d_T_rx_step_ms)
{
d_T_rx_TOW_ms += 20 - d_T_rx_TOW_ms % 20;
d_T_rx_TOW_ms += d_T_rx_step_ms - d_T_rx_TOW_ms % d_T_rx_step_ms;
}
// d_Rx_clock_buffer.clear(); // Clear all the elements in the buffer
for (uint32_t n = 0; n < d_nchannels_out; n++)
@ -371,7 +371,7 @@ bool hybrid_observables_gs::interp_trk_obs(Gnss_Synchro &interpolated_obs, uint3
if (nearest_element != -1 and nearest_element != static_cast<int32_t>(d_gnss_synchro_history->size(ch)))
{
if ((static_cast<double>(old_abs_diff) / static_cast<double>(d_gnss_synchro_history->get(ch, nearest_element).fs)) < 0.02)
if ((static_cast<double>(old_abs_diff) / static_cast<double>(d_gnss_synchro_history->get(ch, nearest_element).fs)) < static_cast<double>(d_T_rx_step_ms) / 1000.0)
{
int32_t neighbor_element;
if (rx_clock > d_gnss_synchro_history->get(ch, nearest_element).Tracking_sample_counter)
@ -483,10 +483,10 @@ void hybrid_observables_gs::update_TOW(const std::vector<Gnss_Synchro> &data)
}
}
d_T_rx_TOW_ms = TOW_ref;
// align the receiver clock to integer multiple of 20 ms
if (d_T_rx_TOW_ms % 20)
// align the receiver clock to integer multiple of d_T_rx_step_ms
if (d_T_rx_TOW_ms % d_T_rx_step_ms)
{
d_T_rx_TOW_ms += 20 - d_T_rx_TOW_ms % 20;
d_T_rx_TOW_ms += d_T_rx_step_ms - d_T_rx_TOW_ms % d_T_rx_step_ms;
}
}
else

5
src/algorithms/observables/libs/obs_conf.cc
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@ -22,8 +22,9 @@ Obs_Conf::Obs_Conf()
{
dump_filename = std::string("obs_dump.dat");
smoothing_factor = FLAGS_carrier_smoothing_factor;
nchannels_in = 0;
nchannels_out = 0;
nchannels_in = 0U;
nchannels_out = 0U;
observable_interval_ms = 20U;
enable_carrier_smoothing = false;
dump = false;
dump_mat = false;

1
src/algorithms/observables/libs/obs_conf.h
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@ -36,6 +36,7 @@ public:
int32_t smoothing_factor;
uint32_t nchannels_in;
uint32_t nchannels_out;
uint32_t observable_interval_ms;
bool enable_carrier_smoothing;
bool dump;
bool dump_mat;