Merge branch 'next' of git+ssh://github.com/carlesfernandez/gnss-sdr

into next

# Conflicts:
#	src/core/system_parameters/rtcm.cc
#	src/core/system_parameters/rtcm.h
#	src/tests/formats/rtcm_test.cc

conf/gnss-sdr.conf

@@ -118,7 +118,7 @@ InputFilter.number_of_bands=2
 ;#The number of band_begin and band_end elements must match the number of bands
 
 InputFilter.band1_begin=0.0
-InputFilter.band1_end=0.45
+InputFilter.band1_end=0.44
 InputFilter.band2_begin=0.55
 InputFilter.band2_end=1.0
 
@@ -159,6 +159,7 @@ InputFilter.IF=0
 ;Resampler.implementation=Direct_Resampler
 Resampler.implementation=Pass_Through
 
+
 ;#dump: Dump the resamplered data to a file.
 Resampler.dump=false
 ;#dump_filename: Log path and filename.
@@ -169,10 +170,10 @@ Resampler.item_type=gr_complex
 ;Resampler.item_type=cbyte
 
 ;#sample_freq_in: the sample frequency of the input signal
-Resampler.sample_freq_in=8000000
+Resampler.sample_freq_in=4000000
 
 ;#sample_freq_out: the desired sample frequency of the output signal
-Resampler.sample_freq_out=4000000
+Resampler.sample_freq_out=2000000
 
 
 ;######### CHANNELS GLOBAL CONFIG ############
@@ -289,9 +290,9 @@ PVT.output_rate_ms=10
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500
 
-;# RINEX, KML, and NMEA output configuration
+;# KML, GeoJSON and NMEA output configuration
 
-;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
+;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump, ".kml" and ".geojson" to GIS-friendly formats.
 PVT.dump_filename=./PVT
 
 ;#nmea_dump_filename: NMEA log path and filename

src/algorithms/tracking/libs/lock_detectors.cc

@@ -73,16 +73,20 @@ float cn0_svn_estimator(gr_complex* Prompt_buffer, int length, long fs_in, doubl
     float SNR_dB_Hz = 0;
     float Psig = 0;
     float Ptot = 0;
+    float Psig2, Ptot2, SNR_dB_Hz2; Psig2=0; Ptot2=0;
     for (int i=0; i<length; i++)
         {
-            Psig += std::abs(Prompt_buffer[i].real());
+            Psig += Prompt_buffer[i].real() * Prompt_buffer[i].real(); //std::abs(Prompt_buffer[i].real());
+            Psig2 += std::abs(Prompt_buffer[i].real());
             Ptot += Prompt_buffer[i].imag() * Prompt_buffer[i].imag() + Prompt_buffer[i].real() * Prompt_buffer[i].real();
         }
-    Psig = Psig / (float)length;
-    Psig = Psig * Psig;
-    Ptot = Ptot / (float)length;
+    Psig2 = Psig2 / (float)length;//
+    Psig2 = Psig2 * Psig2;//
+    Ptot2 = Ptot / (float)length;//
     SNR = Psig / (Ptot - Psig);
-    SNR_dB_Hz = 10 * log10(SNR) + 10 * log10(fs_in/2) - 10 * log10((float)code_length);
+    SNR_dB_Hz = 10 * log10(Psig2 / (Ptot2 - Psig2)) + 10 * log10(fs_in/2) - 10 * log10((float)code_length  * 1023000 /fs_in ); // 10 * log10(SNR) + 10 * log10(fs_in/2) - 10 * log10((float)code_length);
+    SNR_dB_Hz2 = 10 * log10(Psig2 / (Ptot2 - Psig2)) + 10 * log10(fs_in/2) - 10 * log10((float)code_length);
+    //std::cout << "CNO = " << SNR_dB_Hz << "  old: " << SNR_dB_Hz2 << "  code_length: " << code_length << std::endl;
     return SNR_dB_Hz;
 }
 

src/core/system_parameters/rtcm.cc

@@ -134,7 +134,6 @@ std::string Rtcm::bin_to_hex(const std::string& s)
             unsigned n = bs.to_ulong();
             ss << std::hex << n;
         }
-
     return boost::to_upper_copy(ss.str());
 }
 
@@ -335,7 +334,6 @@ std::bitset<58> Rtcm::get_MT1001_sat_content(const Gnss_Synchro & gnss_synchro)
 }
 
 
-
 std::string Rtcm::print_MT1001(const Gps_Ephemeris & gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
 {
     unsigned int ref_id = static_cast<unsigned int>(FLAGS_RTCM_Ref_Station_ID);
@@ -351,8 +349,7 @@ std::string Rtcm::print_MT1001(const Gps_Ephemeris & gps_eph, double obs_time, c
             pseudoranges_iter != pseudoranges.end();
             pseudoranges_iter++)
         {
-
-            std::bitset<58> content = Rtcm::get_MT1001_sat_content(pseudoranges_iter->second);
+            std::bitset<58> content = Rtcm::get_M1001_sat_content(pseudoranges_iter->second);
             data += content.to_string();
         }
 
@@ -420,6 +417,42 @@ std::bitset<152> Rtcm::get_MT1005_test ()
     return test_msg;
 }
 
+std::string Rtcm::print_M1005( unsigned int ref_id, double ecef_x, double ecef_y, double ecef_z, bool gps, bool glonass, bool galileo, bool non_physical, bool single_oscillator, unsigned int quarter_cycle_indicator)
+{
+    unsigned int msg_number = 1005;
+    std::bitset<1> DF001_;
+
+    Rtcm::set_DF002(msg_number);
+    Rtcm::set_DF003(ref_id);
+    Rtcm::set_DF021();
+    Rtcm::set_DF022(gps);
+    Rtcm::set_DF023(glonass);
+    Rtcm::set_DF024(galileo);
+    DF141 = std::bitset<1>(non_physical);
+    DF001_ = std::bitset<1>("0");
+    Rtcm::set_DF025(ecef_x);
+    DF142 = std::bitset<1>(single_oscillator);
+    Rtcm::set_DF026(ecef_y);
+    DF364 = std::bitset<2>(quarter_cycle_indicator);
+    Rtcm::set_DF027(ecef_z);
+
+    std::string data = DF002.to_string() +
+            DF003.to_string() +
+            DF021.to_string() +
+            DF022.to_string() +
+            DF023.to_string() +
+            DF024.to_string() +
+            DF141.to_string() +
+            DF025.to_string() +
+            DF142.to_string() +
+            DF001_.to_string() +
+            DF026.to_string() +
+            DF364.to_string() +
+            DF027.to_string() ;
+
+    std::string message = build_message(data);
+    return message;
+}
 
 std::string Rtcm::print_MT1005( unsigned int ref_id, double ecef_x, double ecef_y, double ecef_z, bool gps, bool glonass, bool galileo, bool non_physical, bool single_oscillator, unsigned int quarter_cycle_indicator)
 {

src/core/system_parameters/rtcm.h

@@ -97,6 +97,7 @@ public:
     std::string print_MT1005_test();                     //<! For testing purposes
 
     bool check_CRC(const std::string & message);         //<! Checks that the CRC of a RTCM package is correct
+
 private:
     //
     // Messages

src/tests/formats/rtcm_test.cc

@@ -173,6 +173,10 @@ TEST(Rtcm_Test, Test_MT1005)
 
     EXPECT_EQ(0, reference_msg.compare(reference_msg2));
 
+    std::string reference_msg2 = rtcm->print_M1005(2003, 1114104.5999, -4850729.7108, 3975521.4643, true, false, false, false, false, 0);
+
+    EXPECT_EQ(0, reference_msg.compare(reference_msg2));
+
     unsigned int ref_id;
     double ecef_x;
     double ecef_y;