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Do not keep data of disappeared satellites in NMEA sentences

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This commit is contained in:
Carles Fernandez 2018-11-07 19:33:54 +01:00
parent 3477f41198
commit 11dc35084c
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GPG Key ID: 4C583C52B0C3877D
1 changed files with 6 additions and 6 deletions
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12
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -777,9 +777,9 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
for (int i = 0; i < MAXSAT; i++)
{
nav_data.lam[i][0] = SPEED_OF_LIGHT / FREQ1; /* L1/E1 */
nav_data.lam[i][1] = SPEED_OF_LIGHT / FREQ2; /* L2 */
nav_data.lam[i][2] = SPEED_OF_LIGHT / FREQ5; /* L5/E5 */
nav_data.lam[i][0] = SPEED_OF_LIGHT / FREQ1; // L1/E1
nav_data.lam[i][1] = SPEED_OF_LIGHT / FREQ2; // L2
nav_data.lam[i][2] = SPEED_OF_LIGHT / FREQ5; // L5/E5
}
result = rtkpos(&rtk_, obs_data, valid_obs + glo_valid_obs, &nav_data);
@ -788,20 +788,20 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{
LOG(INFO) << "RTKLIB rtkpos error";
DLOG(INFO) << "RTKLIB rtkpos error message: " << rtk_.errbuf;
this->set_time_offset_s(0.0); //reset rx time estimation
this->set_time_offset_s(0.0); // reset rx time estimation
this->set_num_valid_observations(0);
}
else
{
this->set_num_valid_observations(rtk_.sol.ns); //record the number of valid satellites used by the PVT solver
this->set_num_valid_observations(rtk_.sol.ns); // record the number of valid satellites used by the PVT solver
pvt_sol = rtk_.sol;
// DOP computation
unsigned int used_sats = 0;
for (unsigned int i = 0; i < MAXSAT; i++)
{
pvt_ssat[i] = rtk_.ssat[i];
if (rtk_.ssat[i].vs == 1)
{
pvt_ssat[i] = rtk_.ssat[i];
used_sats++;
}
}