Merge branch 'next' of github.com:gnss-sdr/gnss-sdr into pps_lime

docs/protobuf/galileo_ephemeris.proto

@@ -6,21 +6,21 @@ package gnss_sdr;
 
 message GalileoEphemeris {
   int32 PRN = 1;        // SV ID
-  double M_0 = 2;       // Mean anomaly at reference time [semi-circles]
+  double M_0 = 2;       // Mean anomaly at reference time [rad]
-  double delta_n = 3;   // Mean motion difference from computed value [semi-circles/sec]
+  double delta_n = 3;   // Mean motion difference from computed value [rad/sec]
   double ecc = 4;       // Eccentricity
   double sqrtA = 5;     // Square root of the semi-major axis [meters^1/2]
-  double OMEGA_0 = 6;   // Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
+  double OMEGA_0 = 6;   // Longitude of ascending node of orbital plane at weekly epoch [rad]
-  double i_0 = 7;       // Inclination angle at reference time [semi-circles]
+  double i_0 = 7;       // Inclination angle at reference time [rad]
-  double omega = 8;     // Argument of perigee [semi-circles]
+  double omega = 8;     // Argument of perigee [rad]
-  double OMEGAdot = 9;  // Rate of right ascension [semi-circles/sec]
+  double OMEGAdot = 9;  // Rate of right ascension [rad/sec]
-  double idot = 10;     // Rate of inclination angle [semi-circles/sec]
+  double idot = 10;     // Rate of inclination angle [rad/sec]
-  double Cuc = 11;      // Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
+  double Cuc = 11;      // Amplitude of the cosine harmonic correction term to the argument of latitude [rad]
-  double Cus = 12;      // Amplitude of the sine harmonic correction term to the argument of latitude [radians]
+  double Cus = 12;      // Amplitude of the sine harmonic correction term to the argument of latitude [rad]
   double Crc = 13;      // Amplitude of the cosine harmonic correction term to the orbit radius [meters]
   double Crs = 14;      // Amplitude of the sine harmonic correction term to the orbit radius [meters]
-  double Cic = 15;      // Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
+  double Cic = 15;      // Amplitude of the cosine harmonic correction term to the angle of inclination [rad]
-  double Cis = 16;      // Amplitude of the sine harmonic correction term to the angle of inclination [radians]
+  double Cis = 16;      // Amplitude of the sine harmonic correction term to the angle of inclination [rad]
   int32 toe = 17;       // Ephemeris reference time [s]
 
   // Clock correction parameters

docs/protobuf/gps_ephemeris.proto

@@ -6,21 +6,21 @@ package gnss_sdr;
 
 message GpsEphemeris {
   int32 PRN = 1;        // SV ID
-  double M_0 = 2;       // Mean anomaly at reference time [semi-circles]
+  double M_0 = 2;       // Mean anomaly at reference time [rad]
-  double delta_n = 3;   // Mean motion difference from computed value [semi-circles/sec]
+  double delta_n = 3;   // Mean motion difference from computed value [rad/sec]
   double ecc = 4;       // Eccentricity
   double sqrtA = 5;     // Square root of the semi-major axis [meters^1/2]
-  double OMEGA_0 = 6;   // Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
+  double OMEGA_0 = 6;   // Longitude of ascending node of orbital plane at weekly epoch [rad]
-  double i_0 = 7;       // Inclination angle at reference time [semi-circles]
+  double i_0 = 7;       // Inclination angle at reference time [rad]
-  double omega = 8;     // Argument of perigee [semi-circles]
+  double omega = 8;     // Argument of perigee [rad]
-  double OMEGAdot = 9;  // Rate of right ascension [semi-circles/sec]
+  double OMEGAdot = 9;  // Rate of right ascension [rad/sec]
-  double idot = 10;     // Rate of inclination angle [semi-circles/sec]
+  double idot = 10;     // Rate of inclination angle [rad/sec]
-  double Cuc = 11;      // Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
+  double Cuc = 11;      // Amplitude of the cosine harmonic correction term to the argument of latitude [rad]
-  double Cus = 12;      // Amplitude of the sine harmonic correction term to the argument of latitude [radians]
+  double Cus = 12;      // Amplitude of the sine harmonic correction term to the argument of latitude [rad]
   double Crc = 13;      // Amplitude of the cosine harmonic correction term to the orbit radius [meters]
   double Crs = 14;      // Amplitude of the sine harmonic correction term to the orbit radius [meters]
-  double Cic = 15;      // Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
+  double Cic = 15;      // Amplitude of the cosine harmonic correction term to the angle of inclination [rad]
-  double Cis = 16;      // Amplitude of the sine harmonic correction term to the angle of inclination [radians]
+  double Cis = 16;      // Amplitude of the sine harmonic correction term to the angle of inclination [rad]
   int32 toe = 17;       // Ephemeris reference time [s]
 
   // Clock correction parameters

src/core/system_parameters/galileo_fnav_message.cc

@@ -401,15 +401,15 @@ Galileo_Ephemeris Galileo_Fnav_Message::get_ephemeris() const
     ephemeris.flag_all_ephemeris = flag_all_ephemeris;
     ephemeris.IOD_ephemeris = IOD_ephemeris;
     ephemeris.PRN = FNAV_SV_ID_PRN_1;
-    ephemeris.M_0 = FNAV_M0_2;             // Mean anomaly at reference time [semi-circles]
+    ephemeris.M_0 = FNAV_M0_2;             // Mean anomaly at reference time [rad]
-    ephemeris.delta_n = FNAV_deltan_3;     // Mean motion difference from computed value  [semi-circles/sec]
+    ephemeris.delta_n = FNAV_deltan_3;     // Mean motion difference from computed value [rad/sec]
     ephemeris.ecc = FNAV_e_2;              // Eccentricity
     ephemeris.sqrtA = FNAV_a12_2;          // Square root of the semi-major axis [meters^1/2]
-    ephemeris.OMEGA_0 = FNAV_omega0_2;     // Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
+    ephemeris.OMEGA_0 = FNAV_omega0_2;     // Longitude of ascending node of orbital plane at weekly epoch [rad]
-    ephemeris.i_0 = FNAV_i0_3;             // Inclination angle at reference time  [semi-circles]
+    ephemeris.i_0 = FNAV_i0_3;             // Inclination angle at reference time [rad]
-    ephemeris.omega = FNAV_w_3;            // Argument of perigee [semi-circles]
+    ephemeris.omega = FNAV_w_3;            // Argument of perigee [rad]
-    ephemeris.OMEGAdot = FNAV_omegadot_2;  // Rate of right ascension [semi-circles/sec]
+    ephemeris.OMEGAdot = FNAV_omegadot_2;  // Rate of right ascension [rad/sec]
-    ephemeris.idot = FNAV_idot_2;          // Rate of inclination angle [semi-circles/sec]
+    ephemeris.idot = FNAV_idot_2;          // Rate of inclination angle [rad/sec]
     ephemeris.Cuc = FNAV_Cuc_3;            // Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
     ephemeris.Cus = FNAV_Cus_3;            // Amplitude of the sine harmonic correction term to the argument of latitude [radians]
     ephemeris.Crc = FNAV_Crc_3;            // Amplitude of the cosine harmonic correction term to the orbit radius [meters]

src/core/system_parameters/galileo_inav_message.cc

@@ -428,21 +428,21 @@ Galileo_Ephemeris Galileo_Inav_Message::get_ephemeris() const
     ephemeris.IOD_ephemeris = IOD_ephemeris;
     ephemeris.IOD_nav = IOD_nav_1;
     ephemeris.PRN = SV_ID_PRN_4;
-    ephemeris.M_0 = M0_1;              // Mean anomaly at reference time [semi-circles]
+    ephemeris.M_0 = M0_1;              // Mean anomaly at reference time [rad]
-    ephemeris.delta_n = delta_n_3;     // Mean motion difference from computed value  [semi-circles/sec]
+    ephemeris.delta_n = delta_n_3;     // Mean motion difference from computed value [rad/sec]
     ephemeris.ecc = e_1;               // Eccentricity
     ephemeris.sqrtA = A_1;             // Square root of the semi-major axis [meters^1/2]
-    ephemeris.OMEGA_0 = OMEGA_0_2;     // Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
+    ephemeris.OMEGA_0 = OMEGA_0_2;     // Longitude of ascending node of orbital plane at weekly epoch [rad]
-    ephemeris.i_0 = i_0_2;             // Inclination angle at reference time  [semi-circles]
+    ephemeris.i_0 = i_0_2;             // Inclination angle at reference time  [rad]
-    ephemeris.omega = omega_2;         // Argument of perigee [semi-circles]
+    ephemeris.omega = omega_2;         // Argument of perigee [rad]
-    ephemeris.OMEGAdot = OMEGA_dot_3;  // Rate of right ascension [semi-circles/sec]
+    ephemeris.OMEGAdot = OMEGA_dot_3;  // Rate of right ascension [rad/sec]
-    ephemeris.idot = iDot_2;           // Rate of inclination angle [semi-circles/sec]
+    ephemeris.idot = iDot_2;           // Rate of inclination angle [rad/sec]
-    ephemeris.Cuc = C_uc_3;            // Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
+    ephemeris.Cuc = C_uc_3;            // Amplitude of the cosine harmonic correction term to the argument of latitude [rad]
-    ephemeris.Cus = C_us_3;            // Amplitude of the sine harmonic correction term to the argument of latitude [radians]
+    ephemeris.Cus = C_us_3;            // Amplitude of the sine harmonic correction term to the argument of latitude [rad]
     ephemeris.Crc = C_rc_3;            // Amplitude of the cosine harmonic correction term to the orbit radius [meters]
     ephemeris.Crs = C_rs_3;            // Amplitude of the sine harmonic correction term to the orbit radius [meters]
-    ephemeris.Cic = C_ic_4;            // Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
+    ephemeris.Cic = C_ic_4;            // Amplitude of the cosine harmonic correction term to the angle of inclination [rad]
-    ephemeris.Cis = C_is_4;            // Amplitude of the sine harmonic correction term to the angle of inclination [radians]
+    ephemeris.Cis = C_is_4;            // Amplitude of the sine harmonic correction term to the angle of inclination [rad]
     ephemeris.toe = t0e_1;             // Ephemeris reference time [s]
 
     // Clock correction parameters
@@ -609,8 +609,7 @@ Galileo_Ephemeris Galileo_Inav_Message::get_reduced_ced() const
     ced.af1red = ced_af1red;
 
     Galileo_Ephemeris eph = ced.compute_eph();
-    eph.BGD_E1E5a = BGD_E1E5a_5;
+
-    eph.BGD_E1E5b = BGD_E1E5b_5;
     return eph;
 }
 

src/core/system_parameters/galileo_inav_message.h

@@ -248,22 +248,22 @@ private:
     // Word type 1: Ephemeris (1/4)
     int32_t IOD_nav_1{};  // IOD_nav page 1
     int32_t t0e_1{};      // Ephemeris reference time [s]
-    double M0_1{};        // Mean anomaly at reference time [semi-circles]
+    double M0_1{};        // Mean anomaly at reference time [rad]
     double e_1{};         // Eccentricity
     double A_1{};         // Square root of the semi-major axis [meters^1/2]
 
     // Word type 2: Ephemeris (2/4)
     int32_t IOD_nav_2{};  // IOD_nav page 2
-    double OMEGA_0_2{};   // Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
+    double OMEGA_0_2{};   // Longitude of ascending node of orbital plane at weekly epoch [rad]
-    double i_0_2{};       // Inclination angle at reference time  [semi-circles]
+    double i_0_2{};       // Inclination angle at reference time  [rad]
-    double omega_2{};     // Argument of perigee [semi-circles]
+    double omega_2{};     // Argument of perigee [rad]
-    double iDot_2{};      // Rate of inclination angle [semi-circles/sec]
+    double iDot_2{};      // Rate of inclination angle [rad/sec]
 
     // Word type 3: Ephemeris (3/4) and SISA
     int32_t IOD_nav_3{};
     int32_t SISA_3{};
-    double OMEGA_dot_3{};  // Rate of right ascension [semi-circles/sec]
+    double OMEGA_dot_3{};  // Rate of right ascension [rad/sec]
-    double delta_n_3{};    // Mean motion difference from computed value  [semi-circles/sec]
+    double delta_n_3{};    // Mean motion difference from computed value  [rad/sec]
     double C_uc_3{};       // Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
     double C_us_3{};       // Amplitude of the sine harmonic correction term to the argument of latitude [radians]
     double C_rc_3{};       // Amplitude of the cosine harmonic correction term to the orbit radius [meters]

src/core/system_parameters/galileo_reduced_ced.cc

@@ -28,12 +28,11 @@ Galileo_Ephemeris Galileo_Reduced_CED::compute_eph() const
     eph.sqrtA = std::sqrt(Ared);    // Square root of the semi-major axis [meters^1/2]
     const double i_nominal = 56.0;  // degrees (Table 1 Galileo ICD 2.0)
     const double i0red = Deltai0red + i_nominal / 180.0;
-    eph.i_0 = i0red;                                     // Inclination angle at reference time  [semi-circles]
+    eph.i_0 = i0red * GNSS_PI;                           // Inclination angle at reference time [rad]
     eph.ecc = std::sqrt(exred * exred + eyred * eyred);  // Eccentricity
-    const double omega_semicircles = std::atan2(eyred, exred) / GNSS_PI;
+    eph.omega = std::atan2(eyred, exred);                // Argument of perigee [rad]
-    eph.omega = omega_semicircles;             // Argument of perigee [semi-circles]
+    eph.M_0 = lambda0red * GNSS_PI - eph.omega;          // Mean anomaly at reference time [rad]
-    eph.M_0 = lambda0red - omega_semicircles;  // Mean anomaly at reference time [semi-circles]
+    eph.OMEGA_0 = Omega0red * GNSS_PI;                   // Longitude of ascending node of orbital plane at weekly epoch [rad]
-    eph.OMEGA_0 = Omega0red;                   // Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
 
     eph.flag_all_ephemeris = true;
     eph.IOD_ephemeris = IODnav;

src/core/system_parameters/galileo_reduced_ced.h

@@ -49,9 +49,9 @@ public:
     double DeltaAred{};   //!< Difference between the Reduced CED semi-major axis and the nominal semi-major axis [meters]
     double exred{};       //!< Reduced CED eccentricity vector component x
     double eyred{};       //!< Reduced CED eccentricity vector component y
-    double Deltai0red{};  //!< Difference between the Reduced CED inclination angle at reference time and the nominal inclination [semi-circles]
+    double Deltai0red{};  //!< Difference between the Reduced CED inclination angle at reference time and the nominal inclination [rad]
-    double Omega0red{};   //!< Reduced CED longitude of ascending node at weekly epoch [semi-circles]
+    double Omega0red{};   //!< Reduced CED longitude of ascending node at weekly epoch [rad]
-    double lambda0red{};  //!< Reduced CED mean argument of latitude [semi-circles]
+    double lambda0red{};  //!< Reduced CED mean argument of latitude [rad]
     double af0red{};      //!< Reduced CED satellite clock bias correction coefficient [seconds]
     double af1red{};      //!< Reduced CED satellite clock drift correction coefficient [seconds/seconds]
 };

src/core/system_parameters/gnss_ephemeris.h

@@ -68,21 +68,21 @@ public:
     void satellitePosition(double transmitTime);  //!< Computes the ECEF SV coordinates and ECEF velocity
 
     uint32_t PRN{};     //!< SV ID
-    double M_0{};       //!< Mean anomaly at reference time [semi-circles]
+    double M_0{};       //!< Mean anomaly at reference time [rad]
-    double delta_n{};   //!< Mean motion difference from computed value [semi-circles/sec]
+    double delta_n{};   //!< Mean motion difference from computed value [rad/sec]
     double ecc{};       //!< Eccentricity
     double sqrtA{};     //!< Square root of the semi-major axis [meters^1/2]
-    double OMEGA_0{};   //!< Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
+    double OMEGA_0{};   //!< Longitude of ascending node of orbital plane at weekly epoch [rad]
-    double i_0{};       //!< Inclination angle at reference time [semi-circles]
+    double i_0{};       //!< Inclination angle at reference time [rad]
-    double omega{};     //!< Argument of perigee [semi-circles]
+    double omega{};     //!< Argument of perigee [rad]
-    double OMEGAdot{};  //!< Rate of right ascension [semi-circles/sec]
+    double OMEGAdot{};  //!< Rate of right ascension [rad/sec]
-    double idot{};      //!< Rate of inclination angle [semi-circles/sec]
+    double idot{};      //!< Rate of inclination angle [rad/sec]
-    double Cuc{};       //!< Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
+    double Cuc{};       //!< Amplitude of the cosine harmonic correction term to the argument of latitude [rad]
-    double Cus{};       //!< Amplitude of the sine harmonic correction term to the argument of latitude [radians]
+    double Cus{};       //!< Amplitude of the sine harmonic correction term to the argument of latitude [rad]
     double Crc{};       //!< Amplitude of the cosine harmonic correction term to the orbit radius [meters]
     double Crs{};       //!< Amplitude of the sine harmonic correction term to the orbit radius [meters]
-    double Cic{};       //!< Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
+    double Cic{};       //!< Amplitude of the cosine harmonic correction term to the angle of inclination [rad]
-    double Cis{};       //!< Amplitude of the sine harmonic correction term to the angle of inclination [radians]
+    double Cis{};       //!< Amplitude of the sine harmonic correction term to the angle of inclination [rad]
     int32_t toe{};      //!< Ephemeris reference time [s]
 
     // Clock correction parameters