mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-11-09 19:40:04 +00:00
Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next
This commit is contained in:
Carles Fernandez
commit
142a344c4f
@ -106,7 +106,6 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
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pvt_output_parameters.rinex_version = 2;
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}
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pvt_output_parameters.rinexobs_rate_ms = bc::lcm(configuration->property(role + ".rinexobs_rate_ms", 1000), pvt_output_parameters.output_rate_ms);
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pvt_output_parameters.rinexnav_rate_ms = bc::lcm(configuration->property(role + ".rinexnav_rate_ms", 6000), pvt_output_parameters.output_rate_ms);
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// RTCM Printer settings
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pvt_output_parameters.flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false);
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@ -299,7 +299,6 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
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rp = nullptr;
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}
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d_rinexobs_rate_ms = conf_.rinexobs_rate_ms;
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d_rinexnav_rate_ms = conf_.rinexnav_rate_ms;
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// XML printer
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d_xml_storage = conf_.xml_output_enabled;
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@ -973,6 +972,69 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
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<< "inserted with Toe=" << gps_eph->d_Toe << " and GPS Week="
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<< gps_eph->i_GPS_week;
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// update/insert new ephemeris record to the global ephemeris map
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if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
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{
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bool new_annotation = false;
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if (d_pvt_solver->gps_ephemeris_map.find(gps_eph->i_satellite_PRN) == d_pvt_solver->gps_ephemeris_map.cend())
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{
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new_annotation = true;
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}
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else
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{
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if (d_pvt_solver->gps_ephemeris_map[gps_eph->i_satellite_PRN].d_Toc != gps_eph->d_Toc)
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{
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new_annotation = true;
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}
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}
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if (new_annotation == true)
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{
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// New record!
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std::map<int32_t, Gps_Ephemeris> new_eph;
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std::map<int32_t, Galileo_Ephemeris> new_gal_eph;
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std::map<int32_t, Glonass_Gnav_Ephemeris> new_glo_eph;
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new_eph[gps_eph->i_satellite_PRN] = *gps_eph;
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switch (type_of_rx)
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{
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case 1: // GPS L1 C/A only
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rp->log_rinex_nav(rp->navFile, new_eph);
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break;
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case 8: // L1+L5
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rp->log_rinex_nav(rp->navFile, new_eph);
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break;
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case 11: // GPS L1 C/A + Galileo E5b
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rp->log_rinex_nav(rp->navMixFile, new_eph, new_gal_eph);
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break;
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case 26: // GPS L1 C/A + GLONASS L1 C/A
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if (d_rinex_version == 3)
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{
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rp->log_rinex_nav(rp->navMixFile, new_eph, new_glo_eph);
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}
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if (d_rinex_version == 2)
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{
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rp->log_rinex_nav(rp->navFile, new_glo_eph);
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}
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break;
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case 29: // GPS L1 C/A + GLONASS L2 C/A
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if (d_rinex_version == 3)
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{
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rp->log_rinex_nav(rp->navMixFile, new_eph, new_glo_eph);
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}
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if (d_rinex_version == 2)
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{
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rp->log_rinex_nav(rp->navFile, new_eph);
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}
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break;
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case 32: // L1+E1+L5+E5a
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rp->log_rinex_nav(rp->navMixFile, new_eph, new_gal_eph);
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break;
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case 33: // L1+E1+E5a
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rp->log_rinex_nav(rp->navMixFile, new_eph, new_gal_eph);
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break;
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default:
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break;
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}
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}
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}
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d_pvt_solver->gps_ephemeris_map[gps_eph->i_satellite_PRN] = *gps_eph;
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}
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Iono>))
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@ -997,6 +1059,52 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
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std::shared_ptr<Gps_CNAV_Ephemeris> gps_cnav_ephemeris;
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gps_cnav_ephemeris = boost::any_cast<std::shared_ptr<Gps_CNAV_Ephemeris>>(pmt::any_ref(msg));
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// update/insert new ephemeris record to the global ephemeris map
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if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
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{
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bool new_annotation = false;
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if (d_pvt_solver->gps_cnav_ephemeris_map.find(gps_cnav_ephemeris->i_satellite_PRN) == d_pvt_solver->gps_cnav_ephemeris_map.cend())
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{
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new_annotation = true;
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}
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else
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{
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if (d_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->i_satellite_PRN].d_Toc != gps_cnav_ephemeris->d_Toc)
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{
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new_annotation = true;
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}
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}
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if (new_annotation == true)
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{
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// New record!
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std::map<int32_t, Galileo_Ephemeris> new_gal_eph;
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std::map<int32_t, Gps_CNAV_Ephemeris> new_cnav_eph;
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std::map<int32_t, Glonass_Gnav_Ephemeris> new_glo_eph;
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new_cnav_eph[gps_cnav_ephemeris->i_satellite_PRN] = *gps_cnav_ephemeris;
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switch (type_of_rx)
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{
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case 2: // GPS L2C only
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rp->log_rinex_nav(rp->navFile, new_cnav_eph);
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break;
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case 3: // GPS L5 only
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rp->log_rinex_nav(rp->navFile, new_cnav_eph);
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break;
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case 7: // GPS L1 C/A + GPS L2C
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rp->log_rinex_nav(rp->navFile, new_cnav_eph);
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break;
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case 13: // L5+E5a
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rp->log_rinex_nav(rp->navFile, new_cnav_eph, new_gal_eph);
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break;
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case 28: // GPS L2C + GLONASS L1 C/A
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rp->log_rinex_nav(rp->navMixFile, new_cnav_eph, new_glo_eph);
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break;
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case 31: // GPS L2C + GLONASS L2 C/A
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rp->log_rinex_nav(rp->navMixFile, new_cnav_eph, new_glo_eph);
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break;
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default:
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break;
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}
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}
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}
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d_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->i_satellite_PRN] = *gps_cnav_ephemeris;
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DLOG(INFO) << "New GPS CNAV ephemeris record has arrived ";
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}
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@ -1037,6 +1145,59 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
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<< ", GALILEO Week Number =" << galileo_eph->WN_5
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<< " and Ephemeris IOD = " << galileo_eph->IOD_ephemeris;
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// update/insert new ephemeris record to the global ephemeris map
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if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
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{
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bool new_annotation = false;
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if (d_pvt_solver->galileo_ephemeris_map.find(galileo_eph->i_satellite_PRN) == d_pvt_solver->galileo_ephemeris_map.cend())
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{
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new_annotation = true;
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}
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else
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{
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if (d_pvt_solver->galileo_ephemeris_map[galileo_eph->i_satellite_PRN].t0e_1 != galileo_eph->t0e_1)
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{
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new_annotation = true;
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}
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}
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if (new_annotation == true)
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{
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// New record!
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std::map<int32_t, Galileo_Ephemeris> new_gal_eph;
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std::map<int32_t, Gps_CNAV_Ephemeris> new_cnav_eph;
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std::map<int32_t, Gps_Ephemeris> new_eph;
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std::map<int32_t, Glonass_Gnav_Ephemeris> new_glo_eph;
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new_gal_eph[galileo_eph->i_satellite_PRN] = *galileo_eph;
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switch (type_of_rx)
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{
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case 6: // Galileo E5b only
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rp->log_rinex_nav(rp->navGalFile, new_gal_eph);
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break;
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case 11: // GPS L1 C/A + Galileo E5b
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rp->log_rinex_nav(rp->navMixFile, new_eph, new_gal_eph);
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break;
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case 13: // L5+E5a
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rp->log_rinex_nav(rp->navFile, new_cnav_eph, new_gal_eph);
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break;
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case 15: // Galileo E1B + Galileo E5b
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rp->log_rinex_nav(rp->navGalFile, new_gal_eph);
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break;
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case 27: // Galileo E1B + GLONASS L1 C/A
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rp->log_rinex_nav(rp->navMixFile, new_gal_eph, new_glo_eph);
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break;
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case 30: // Galileo E1B + GLONASS L2 C/A
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rp->log_rinex_nav(rp->navMixFile, new_gal_eph, new_glo_eph);
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break;
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case 32: // L1+E1+L5+E5a
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rp->log_rinex_nav(rp->navMixFile, new_eph, new_gal_eph);
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break;
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case 33: // L1+E1+E5a
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rp->log_rinex_nav(rp->navMixFile, new_eph, new_gal_eph);
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break;
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default:
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break;
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}
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}
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}
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d_pvt_solver->galileo_ephemeris_map[galileo_eph->i_satellite_PRN] = *galileo_eph;
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}
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Iono>))
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@ -1101,6 +1262,70 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
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<< " and Ephemeris IOD in UTC = " << glonass_gnav_eph->compute_GLONASS_time(glonass_gnav_eph->d_t_b)
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<< " from SV = " << glonass_gnav_eph->i_satellite_slot_number;
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// update/insert new ephemeris record to the global ephemeris map
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if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
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{
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bool new_annotation = false;
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if (d_pvt_solver->glonass_gnav_ephemeris_map.find(glonass_gnav_eph->i_satellite_PRN) == d_pvt_solver->glonass_gnav_ephemeris_map.cend())
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{
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new_annotation = true;
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}
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else
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{
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if (d_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN].d_t_b != glonass_gnav_eph->d_t_b)
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{
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new_annotation = true;
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}
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}
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if (new_annotation == true)
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{
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// New record!
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std::map<int32_t, Galileo_Ephemeris> new_gal_eph;
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std::map<int32_t, Gps_CNAV_Ephemeris> new_cnav_eph;
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std::map<int32_t, Gps_Ephemeris> new_eph;
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std::map<int32_t, Glonass_Gnav_Ephemeris> new_glo_eph;
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new_glo_eph[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
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switch (type_of_rx)
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{
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case 25: // GLONASS L1 C/A + GLONASS L2 C/A
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rp->log_rinex_nav(rp->navGloFile, new_glo_eph);
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break;
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case 26: // GPS L1 C/A + GLONASS L1 C/A
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if (d_rinex_version == 3)
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{
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rp->log_rinex_nav(rp->navMixFile, new_eph, new_glo_eph);
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}
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if (d_rinex_version == 2)
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{
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rp->log_rinex_nav(rp->navGloFile, new_glo_eph);
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}
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break;
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case 27: // Galileo E1B + GLONASS L1 C/A
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rp->log_rinex_nav(rp->navMixFile, new_gal_eph, new_glo_eph);
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break;
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case 28: // GPS L2C + GLONASS L1 C/A
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rp->log_rinex_nav(rp->navMixFile, new_cnav_eph, new_glo_eph);
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break;
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case 29: // GPS L1 C/A + GLONASS L2 C/A
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if (d_rinex_version == 3)
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{
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rp->log_rinex_nav(rp->navMixFile, new_eph, new_glo_eph);
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}
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if (d_rinex_version == 2)
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{
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rp->log_rinex_nav(rp->navGloFile, new_glo_eph);
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}
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break;
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case 30: // Galileo E1B + GLONASS L2 C/A
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rp->log_rinex_nav(rp->navMixFile, new_gal_eph, new_glo_eph);
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break;
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case 31: // GPS L2C + GLONASS L2 C/A
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rp->log_rinex_nav(rp->navMixFile, new_cnav_eph, new_glo_eph);
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break;
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default:
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break;
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}
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}
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}
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d_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
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}
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Utc_Model>))
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@ -1133,6 +1358,35 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
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<< "inserted with Toe=" << bds_dnav_eph->d_Toe << " and BDS Week="
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<< bds_dnav_eph->i_BEIDOU_week;
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// update/insert new ephemeris record to the global ephemeris map
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if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
|
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{
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bool new_annotation = false;
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if (d_pvt_solver->beidou_dnav_ephemeris_map.find(bds_dnav_eph->i_satellite_PRN) == d_pvt_solver->beidou_dnav_ephemeris_map.cend())
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{
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new_annotation = true;
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}
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else
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{
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if (d_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->i_satellite_PRN].d_Toc != bds_dnav_eph->d_Toc)
|
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{
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new_annotation = true;
|
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}
|
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}
|
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if (new_annotation == true)
|
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{
|
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// New record!
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std::map<int32_t, Beidou_Dnav_Ephemeris> new_bds_eph;
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new_bds_eph[bds_dnav_eph->i_satellite_PRN] = *bds_dnav_eph;
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switch (type_of_rx)
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{
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case 50: // BDS B1I only
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rp->log_rinex_nav(rp->navFile, new_bds_eph);
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break;
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default:
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break;
|
||||
}
|
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}
|
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}
|
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d_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->i_satellite_PRN] = *bds_dnav_eph;
|
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}
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Beidou_Dnav_Iono>))
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@ -1336,7 +1590,6 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
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bool flag_write_RTCM_1045_output = false;
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bool flag_write_RTCM_MSM_output = false;
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bool flag_write_RINEX_obs_output = false;
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bool flag_write_RINEX_nav_output = false;
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gnss_observables_map.clear();
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const auto** in = reinterpret_cast<const Gnss_Synchro**>(&input_items[0]); // Get the input buffer pointer
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@ -1453,10 +1706,10 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
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//end debug
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||||
if (d_display_rate_ms != 0)
|
||||
{
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||||
// if (current_RX_time_ms % d_display_rate_ms == 0)
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// {
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if (current_RX_time_ms % d_display_rate_ms == 0)
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||||
{
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flag_display_pvt = true;
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||||
// }
|
||||
}
|
||||
}
|
||||
if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
|
||||
{
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||||
@ -1506,13 +1759,6 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
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flag_write_RINEX_obs_output = true;
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}
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}
|
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if (d_rinexnav_rate_ms != 0)
|
||||
{
|
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if (current_RX_time_ms % static_cast<uint32_t>(d_rinexnav_rate_ms) == 0)
|
||||
{
|
||||
flag_write_RINEX_nav_output = true;
|
||||
}
|
||||
}
|
||||
|
||||
if (first_fix == true)
|
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{
|
||||
@ -1611,6 +1857,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
|
||||
{
|
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rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, d_rx_time);
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rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model);
|
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rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
|
||||
b_rinex_header_written = true; // do not write header anymore
|
||||
}
|
||||
break;
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@ -1620,6 +1867,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
|
||||
std::string signal("2S");
|
||||
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, signal);
|
||||
rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model);
|
||||
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map);
|
||||
b_rinex_header_written = true; // do not write header anymore
|
||||
}
|
||||
break;
|
||||
@ -1629,6 +1877,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
|
||||
std::string signal("L5");
|
||||
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, signal);
|
||||
rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model);
|
||||
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map);
|
||||
b_rinex_header_written = true; // do not write header anymore
|
||||
}
|
||||
break;
|
||||
@ -1655,6 +1904,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
|
||||
std::string signal("7X");
|
||||
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, signal);
|
||||
rp->rinex_nav_header(rp->navGalFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
|
||||
rp->log_rinex_nav(rp->navGalFile, d_pvt_solver->galileo_ephemeris_map);
|
||||
b_rinex_header_written = true; // do not write header anymore
|
||||
}
|
||||
break;
|
||||
@ -1664,6 +1914,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
|
||||
std::string signal("1C 2S");
|
||||
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time, signal);
|
||||
rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model);
|
||||
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map);
|
||||
b_rinex_header_written = true; // do not write header anymore
|
||||
}
|
||||
break;
|
||||
@ -1673,6 +1924,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
|
||||
std::string signal("1C L5");
|
||||
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time, signal);
|
||||
rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model);
|
||||
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
|
||||
b_rinex_header_written = true; // do not write header anymore
|
||||
}
|
||||
break;
|
||||
@ -1700,6 +1952,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
|
||||
std::string gal_signal("7X");
|
||||
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
|
||||
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
|
||||
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
|
||||
b_rinex_header_written = true; // do not write header anymore
|
||||
}
|
||||
break;
|
||||
@ -1710,6 +1963,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
|
||||
std::string gps_signal("L5");
|
||||
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gps_signal, gal_signal);
|
||||
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
|
||||
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
|
||||
b_rinex_header_written = true; // do not write header anymore
|
||||
}
|
||||
break;
|
||||
@ -1728,6 +1982,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
|
||||
std::string gal_signal("1B 7X");
|
||||
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
|
||||
rp->rinex_nav_header(rp->navGalFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
|
||||
rp->log_rinex_nav(rp->navGalFile, d_pvt_solver->galileo_ephemeris_map);
|
||||
b_rinex_header_written = true; // do not write header anymore
|
||||
}
|
||||
break;
|
||||
@ -1755,6 +2010,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
|
||||
std::string signal("1G 2G");
|
||||
rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
|
||||
rp->rinex_nav_header(rp->navGloFile, d_pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
|
||||
rp->log_rinex_nav(rp->navGloFile, d_pvt_solver->glonass_gnav_ephemeris_map);
|
||||
b_rinex_header_written = true; // do not write header anymore
|
||||
}
|
||||
break;
|
||||
@ -1766,11 +2022,14 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
|
||||
if (d_rinex_version == 3)
|
||||
{
|
||||
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
|
||||
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
|
||||
}
|
||||
if (d_rinex_version == 2)
|
||||
{
|
||||
rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model);
|
||||
rp->rinex_nav_header(rp->navGloFile, d_pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
|
||||
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
|
||||
rp->log_rinex_nav(rp->navGloFile, d_pvt_solver->glonass_gnav_ephemeris_map);
|
||||
}
|
||||
b_rinex_header_written = true; // do not write header anymore
|
||||
}
|
||||
@ -1782,6 +2041,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
|
||||
std::string gal_signal("1B");
|
||||
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal, gal_signal);
|
||||
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
|
||||
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->galileo_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
|
||||
b_rinex_header_written = true; // do not write header anymore
|
||||
}
|
||||
break;
|
||||
@ -1791,6 +2051,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
|
||||
std::string glo_signal("1G");
|
||||
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
|
||||
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
|
||||
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_cnav_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
|
||||
b_rinex_header_written = true; // do not write header anymore
|
||||
}
|
||||
break;
|
||||
@ -1802,11 +2063,14 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
|
||||
if (d_rinex_version == 3)
|
||||
{
|
||||
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
|
||||
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
|
||||
}
|
||||
if (d_rinex_version == 2)
|
||||
{
|
||||
rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model);
|
||||
rp->rinex_nav_header(rp->navGloFile, d_pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
|
||||
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
|
||||
rp->log_rinex_nav(rp->navGloFile, d_pvt_solver->glonass_gnav_ephemeris_map);
|
||||
}
|
||||
b_rinex_header_written = true; // do not write header anymore
|
||||
}
|
||||
@ -1818,6 +2082,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
|
||||
std::string gal_signal("1B");
|
||||
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal, gal_signal);
|
||||
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
|
||||
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->galileo_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
|
||||
b_rinex_header_written = true; // do not write header anymore
|
||||
}
|
||||
break;
|
||||
@ -1827,6 +2092,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
|
||||
std::string glo_signal("2G");
|
||||
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
|
||||
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
|
||||
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_cnav_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
|
||||
b_rinex_header_written = true; // do not write header anymore
|
||||
}
|
||||
break;
|
||||
@ -1839,6 +2105,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
|
||||
std::string gps_signal("1C L5");
|
||||
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gps_signal, gal_signal);
|
||||
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
|
||||
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
|
||||
b_rinex_header_written = true; // do not write header anymore
|
||||
}
|
||||
break;
|
||||
@ -1849,6 +2116,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
|
||||
std::string gal_signal("1B 5X");
|
||||
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
|
||||
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
|
||||
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
|
||||
b_rinex_header_written = true; // do not write header anymore
|
||||
}
|
||||
break;
|
||||
@ -1857,6 +2125,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
|
||||
{
|
||||
rp->rinex_obs_header(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B1");
|
||||
rp->rinex_nav_header(rp->navFile, d_pvt_solver->beidou_dnav_iono, d_pvt_solver->beidou_dnav_utc_model);
|
||||
rp->log_rinex_nav(rp->navFile, d_pvt_solver->beidou_dnav_ephemeris_map);
|
||||
b_rinex_header_written = true; // do not write header anymore
|
||||
}
|
||||
|
||||
@ -1876,94 +2145,6 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
|
||||
}
|
||||
if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
|
||||
{
|
||||
if (flag_write_RINEX_nav_output)
|
||||
{
|
||||
switch (type_of_rx)
|
||||
{
|
||||
case 1: // GPS L1 C/A only
|
||||
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
|
||||
break;
|
||||
case 2: // GPS L2C only
|
||||
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map);
|
||||
break;
|
||||
case 3: // GPS L5 only
|
||||
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map);
|
||||
break;
|
||||
case 4:
|
||||
case 5:
|
||||
case 6:
|
||||
rp->log_rinex_nav(rp->navGalFile, d_pvt_solver->galileo_ephemeris_map);
|
||||
break;
|
||||
case 7: // GPS L1 C/A + GPS L2C
|
||||
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map);
|
||||
break;
|
||||
case 8: // L1+L5
|
||||
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
|
||||
break;
|
||||
case 9:
|
||||
case 10:
|
||||
case 11:
|
||||
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
|
||||
break;
|
||||
case 13: // L5+E5a
|
||||
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
|
||||
break;
|
||||
case 14:
|
||||
case 15:
|
||||
rp->log_rinex_nav(rp->navGalFile, d_pvt_solver->galileo_ephemeris_map);
|
||||
break;
|
||||
case 23:
|
||||
case 24:
|
||||
case 25:
|
||||
rp->log_rinex_nav(rp->navGloFile, d_pvt_solver->glonass_gnav_ephemeris_map);
|
||||
break;
|
||||
case 26: // GPS L1 C/A + GLONASS L1 C/A
|
||||
if (d_rinex_version == 3)
|
||||
{
|
||||
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
|
||||
}
|
||||
if (d_rinex_version == 2)
|
||||
{
|
||||
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
|
||||
rp->log_rinex_nav(rp->navGloFile, d_pvt_solver->glonass_gnav_ephemeris_map);
|
||||
}
|
||||
break;
|
||||
case 27: // Galileo E1B + GLONASS L1 C/A
|
||||
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->galileo_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
|
||||
break;
|
||||
case 28: // GPS L2C + GLONASS L1 C/A
|
||||
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_cnav_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
|
||||
break;
|
||||
case 29: // GPS L1 C/A + GLONASS L2 C/A
|
||||
if (d_rinex_version == 3)
|
||||
{
|
||||
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
|
||||
}
|
||||
if (d_rinex_version == 2)
|
||||
{
|
||||
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
|
||||
rp->log_rinex_nav(rp->navGloFile, d_pvt_solver->glonass_gnav_ephemeris_map);
|
||||
}
|
||||
break;
|
||||
case 30: // Galileo E1B + GLONASS L2 C/A
|
||||
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->galileo_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
|
||||
break;
|
||||
case 31: // GPS L2C + GLONASS L2 C/A
|
||||
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_cnav_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
|
||||
break;
|
||||
case 32: // L1+E1+L5+E5a
|
||||
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
|
||||
break;
|
||||
case 33: // L1+E1+E5a
|
||||
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
|
||||
break;
|
||||
case 50: // BDS B1I only
|
||||
rp->log_rinex_nav(rp->navFile, d_pvt_solver->beidou_dnav_ephemeris_map);
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
galileo_ephemeris_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
|
||||
gps_ephemeris_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
|
||||
gps_cnav_ephemeris_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin();
|
||||
|
||||
@ -95,7 +95,6 @@ private:
|
||||
bool b_rinex_header_updated;
|
||||
double d_rinex_version;
|
||||
int32_t d_rinexobs_rate_ms;
|
||||
int32_t d_rinexnav_rate_ms;
|
||||
|
||||
bool b_rtcm_writing_started;
|
||||
bool b_rtcm_enabled;
|
||||
|
||||
@ -38,7 +38,6 @@ Pvt_Conf::Pvt_Conf()
|
||||
|
||||
rinex_version = 0;
|
||||
rinexobs_rate_ms = 0;
|
||||
rinexnav_rate_ms = 0;
|
||||
|
||||
dump = false;
|
||||
dump_mat = true;
|
||||
|
||||
@ -44,7 +44,6 @@ public:
|
||||
|
||||
int32_t rinex_version;
|
||||
int32_t rinexobs_rate_ms;
|
||||
int32_t rinexnav_rate_ms;
|
||||
std::map<int, int> rtcm_msg_rate_ms;
|
||||
|
||||
bool dump;
|
||||
|
||||
Loading…
Reference in New Issue
Block a user