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Merge branch 'fix-time' of https://github.com/carlesfernandez/gnss-sdr into next

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Carles Fernandez 2019-06-24 21:47:29 +02:00
commit 15c741f7e8
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2 changed files with 38 additions and 36 deletions
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65
CMakeLists.txt
View File

@ -34,73 +34,53 @@ list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/Modules)
# Enable them at the command line by doing 'cmake -DENABLE_XXX=ON ..' # Enable them at the command line by doing 'cmake -DENABLE_XXX=ON ..'
################################################################################ ################################################################################
include(FeatureSummary) include(FeatureSummary)
# Support of optional RF front-ends # Support of optional RF front-ends
option(ENABLE_UHD "Enable the use of UHD (driver for all USRP devices)" ON) option(ENABLE_UHD "Enable the use of UHD (driver for all USRP devices)" ON)
add_feature_info(ENABLE_UHD ENABLE_UHD "Enables UHD_Signal_Source for using RF front-ends from the USRP family. Requires gr-uhd.")
option(ENABLE_OSMOSDR "Enable the use of OsmoSDR and other front-ends (RTL-based dongles, HackRF, bladeRF, etc.) as signal source" OFF) option(ENABLE_OSMOSDR "Enable the use of OsmoSDR and other front-ends (RTL-based dongles, HackRF, bladeRF, etc.) as signal source" OFF)
add_feature_info(ENABLE_OSMOSDR ENABLE_OSMOSDR "Enables Osmosdr_Signal_Source and RtlTcp_Signal_Source for using RF front-ends compatible with the OsmoSDR driver. Requires gr-osmosdr.")
option(ENABLE_FMCOMMS2 "Enable the use of FMCOMMS4-EBZ + ZedBoard hardware, requires gr-iio" OFF) option(ENABLE_FMCOMMS2 "Enable the use of FMCOMMS4-EBZ + ZedBoard hardware, requires gr-iio" OFF)
add_feature_info(ENABLE_FMCOMMS2 ENABLE_FMCOMMS2 "Enables Fmcomms2_Signal_Source for FMCOMMS2/3/4 devices. Requires gr-iio.")
option(ENABLE_PLUTOSDR "Enable the use of ADALM-PLUTO Evaluation Boards (Analog Devices Inc.), requires gr-iio" OFF) option(ENABLE_PLUTOSDR "Enable the use of ADALM-PLUTO Evaluation Boards (Analog Devices Inc.), requires gr-iio" OFF)
add_feature_info(ENABLE_PLUTOSDR ENABLE_PLUTOSDR "Enables Plutosdr_Signal_Source for using ADALM-PLUTO boards. Requires gr-iio.")
option(ENABLE_AD9361 "Enable the use of AD9361 direct to FPGA hardware, requires libiio" OFF) option(ENABLE_AD9361 "Enable the use of AD9361 direct to FPGA hardware, requires libiio" OFF)
add_feature_info(ENABLE_AD9361 ENABLE_AD9361 "Enables Ad9361_Fpga_Signal_Source for devices with the AD9361 chipset. Requires libiio.")
option(ENABLE_RAW_UDP "Enable the use of high-optimized custom UDP packet sample source, requires libpcap" OFF) option(ENABLE_RAW_UDP "Enable the use of high-optimized custom UDP packet sample source, requires libpcap" OFF)
add_feature_info(ENABLE_RAW_UDP ENABLE_RAW_UDP "Enables Custom_UDP_Signal_Source for custom UDP packet sample source. Requires libpcap.")
option(ENABLE_FLEXIBAND "Enable the use of the signal source adater for the Teleorbit Flexiband GNU Radio driver" OFF) option(ENABLE_FLEXIBAND "Enable the use of the signal source adater for the Teleorbit Flexiband GNU Radio driver" OFF)
add_feature_info(ENABLE_FLEXIBAND ENABLE_FLEXIBAND "Enables Flexiband_Signal_Source for using Teleorbit's Flexiband RF front-end. Requires gr-teleorbit.")
option(ENABLE_GN3S "Enable the use of the GN3S dongle as signal source (experimental)" OFF) option(ENABLE_GN3S "Enable the use of the GN3S dongle as signal source (experimental)" OFF)
add_feature_info(ENABLE_GN3S ENABLE_GN3S "Enables Gn3s_Signal_Source for using the GN3S v2 dongle. Requires gr-gn3s.")
option(ENABLE_ARRAY "Enable the use of CTTC's antenna array front-end as signal source (experimental)" OFF) option(ENABLE_ARRAY "Enable the use of CTTC's antenna array front-end as signal source (experimental)" OFF)
add_feature_info(ENABLE_ARRAY ENABLE_ARRAY "Enables Raw_Array_Signal_Source and Array_Signal_Conditioner for using CTTC's antenna array. Requires gr-dbfcttc.")
# Performance analysis tools # Performance analysis tools
option(ENABLE_GPERFTOOLS "Enable linking to Gperftools libraries (tcmalloc and profiler)" OFF) option(ENABLE_GPERFTOOLS "Enable linking to Gperftools libraries (tcmalloc and profiler)" OFF)
add_feature_info(ENABLE_GPERFTOOLS ENABLE_GPERFTOOLS "Enables performance analysis. Requires Gperftools.")
option(ENABLE_GPROF "Enable the use of the GNU profiler tool 'gprof'" OFF) option(ENABLE_GPROF "Enable the use of the GNU profiler tool 'gprof'" OFF)
add_feature_info(ENABLE_GPROF ENABLE_GPROF "Enables performance analysis with 'gprof'.")
# Code correctness # Code correctness
option(ENABLE_CLANG_TIDY "Enable the use of clang-tidy when compiling" OFF) option(ENABLE_CLANG_TIDY "Enable the use of clang-tidy when compiling" OFF)
add_feature_info(ENABLE_CLANG_TIDY ENABLE_CLANG_TIDY "Runs clang-tidy along with the compiler. Requires Clang.")
# Acceleration # Acceleration
option(ENABLE_PROFILING "Enable execution of volk_gnsssdr_profile at the end of the building" OFF) option(ENABLE_PROFILING "Enable execution of volk_gnsssdr_profile at the end of the building" OFF)
add_feature_info(ENABLE_PROFILING ENABLE_PROFILING "Runs volk_gnsssdr_profile at the end of the building.")
option(ENABLE_OPENCL "Enable building of processing blocks implemented with OpenCL (experimental)" OFF) option(ENABLE_OPENCL "Enable building of processing blocks implemented with OpenCL (experimental)" OFF)
add_feature_info(ENABLE_OPENCL ENABLE_OPENCL "Enables GPS_L1_CA_PCPS_OpenCl_Acquisition (experimental). Requires OpenCL.")
option(ENABLE_CUDA "Enable building of processing blocks implemented with CUDA (experimental, requires CUDA SDK)" OFF) option(ENABLE_CUDA "Enable building of processing blocks implemented with CUDA (experimental, requires CUDA SDK)" OFF)
add_feature_info(ENABLE_CUDA ENABLE_CUDA "Enables GPS_L1_CA_DLL_PLL_Tracking_GPU (experimental). Requires CUDA.")
option(ENABLE_FPGA "Enable building of processing blocks implemented with FPGA" OFF) option(ENABLE_FPGA "Enable building of processing blocks implemented with FPGA" OFF)
add_feature_info(ENABLE_FPGA ENABLE_FPGA "Enables building of processing blocks for FPGA off-loading.")
# Building and packaging options # Building and packaging options
option(ENABLE_GENERIC_ARCH "Builds a portable binary" OFF) option(ENABLE_GENERIC_ARCH "Builds a portable binary" OFF)
add_feature_info(ENABLE_GENERIC_ARCH ENABLE_GENERIC_ARCH "When disabled, flags such as '-march=native' are passed to the compiler.")
option(ENABLE_PACKAGING "Enable software packaging" OFF) option(ENABLE_PACKAGING "Enable software packaging" OFF)
add_feature_info(ENABLE_PACKAGING ENABLE_PACKAGING "Enables software packaging.")
option(ENABLE_OWN_GLOG "Download glog and link it to gflags" OFF) option(ENABLE_OWN_GLOG "Download glog and link it to gflags" OFF)
add_feature_info(ENABLE_OWN_GLOG ENABLE_OWN_GLOG "Forces the downloading and building of Google glog.")
option(ENABLE_OWN_ARMADILLO "Download and build Armadillo locally" OFF) option(ENABLE_OWN_ARMADILLO "Download and build Armadillo locally" OFF)
add_feature_info(ENABLE_OWN_ARMADILLO ENABLE_OWN_ARMADILLO "Forces the downloading and building of Armadillo.")
option(ENABLE_LOG "Enable logging" ON) option(ENABLE_LOG "Enable logging" ON)
add_feature_info(ENABLE_LOG ENABLE_LOG "Enables runtime internal logging with Google glog.")
if(ENABLE_PACKAGING) if(ENABLE_PACKAGING)
set(ENABLE_GENERIC_ARCH ON) set(ENABLE_GENERIC_ARCH ON)
@ -108,25 +88,19 @@ endif()
# Testing # Testing
option(ENABLE_UNIT_TESTING "Build unit tests" ON) option(ENABLE_UNIT_TESTING "Build unit tests" ON)
add_feature_info(ENABLE_UNIT_TESTING ENABLE_UNIT_TESTING "Enables building of Unit Tests.")
option(ENABLE_UNIT_TESTING_MINIMAL "Build a minimal set of unit tests" OFF) option(ENABLE_UNIT_TESTING_MINIMAL "Build a minimal set of unit tests" OFF)
add_feature_info(ENABLE_UNIT_TESTING_MINIMAL ENABLE_UNIT_TESTING_MINIMAL "Enables building a minimal set of Unit Tests.")
option(ENABLE_UNIT_TESTING_EXTRA "Download external files and build extra unit tests" OFF) option(ENABLE_UNIT_TESTING_EXTRA "Download external files and build extra unit tests" OFF)
add_feature_info(ENABLE_UNIT_TESTING_EXTRA ENABLE_UNIT_TESTING_EXTRA "Enables building of Extra Unit Tests and downloading of external data files.")
option(ENABLE_SYSTEM_TESTING "Build system tests" OFF) option(ENABLE_SYSTEM_TESTING "Build system tests" OFF)
add_feature_info(ENABLE_SYSTEM_TESTING ENABLE_SYSTEM_TESTING "Enables building of System Tests.")
option(ENABLE_SYSTEM_TESTING_EXTRA "Download external tools and build extra system tests" OFF) option(ENABLE_SYSTEM_TESTING_EXTRA "Download external tools and build extra system tests" OFF)
add_feature_info(ENABLE_SYSTEM_TESTING_EXTRA ENABLE_SYSTEM_TESTING_EXTRA "Enables building of Extra System Tests and downloading of external tools.")
if(ENABLE_SYSTEM_TESTING_EXTRA) if(ENABLE_SYSTEM_TESTING_EXTRA)
set(ENABLE_SYSTEM_TESTING ON) set(ENABLE_SYSTEM_TESTING ON)
endif() endif()
option(ENABLE_OWN_GPSTK "Force to download, build and link GPSTk for system tests, even if it is already installed" OFF) option(ENABLE_OWN_GPSTK "Force to download, build and link GPSTk for system tests, even if it is already installed" OFF)
add_feature_info(ENABLE_OWN_GPSTK ENABLE_OWN_GPSTK "Forces the downloading and building of GPSTk for system tests.")
option(ENABLE_INSTALL_TESTS "Install QA code system-wide" OFF) option(ENABLE_INSTALL_TESTS "Install QA code system-wide" OFF)
if(ENABLE_FPGA) if(ENABLE_FPGA)
@ -391,7 +365,6 @@ endif()
if(NOT CMAKE_MAKE_PROGRAM_PRETTY_NAME) if(NOT CMAKE_MAKE_PROGRAM_PRETTY_NAME)
set(CMAKE_MAKE_PROGRAM_PRETTY_NAME "${CMAKE_MAKE_PROGRAM}") set(CMAKE_MAKE_PROGRAM_PRETTY_NAME "${CMAKE_MAKE_PROGRAM}")
endif() endif()
add_feature_info(ENABLE_INSTALL_TESTS ENABLE_INSTALL_TESTS "Install test binaries when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME} install'.")
@ -2156,9 +2129,11 @@ set_package_properties(PCAP PROPERTIES
PURPOSE "Used for the custom UDP IP packet source." PURPOSE "Used for the custom UDP IP packet source."
TYPE OPTIONAL TYPE OPTIONAL
) )
if(PCAP_FOUND)
set(ENABLE_RAW_UDP ON)
endif()
if(ENABLE_RAW_UDP) if(ENABLE_RAW_UDP)
message(STATUS "High-optimized custom UDP IP packet source is enabled.") message(STATUS "Highly-optimized custom UDP IP packet source is enabled.")
message(STATUS " You can disable it with 'cmake -DENABLE_RAW_UDP=OFF ..'") message(STATUS " You can disable it with 'cmake -DENABLE_RAW_UDP=OFF ..'")
if(NOT PCAP_FOUND) if(NOT PCAP_FOUND)
message(FATAL_ERROR "PCAP required to compile custom UDP packet sample source (with ENABLE_RAW_UDP=ON)") message(FATAL_ERROR "PCAP required to compile custom UDP packet sample source (with ENABLE_RAW_UDP=ON)")
@ -2208,6 +2183,7 @@ if(ENABLE_OSMOSDR)
else() else()
message(FATAL_ERROR "gr-osmosdr required to build gnss-sdr with the optional OSMOSDR driver") message(FATAL_ERROR "gr-osmosdr required to build gnss-sdr with the optional OSMOSDR driver")
endif() endif()
set(ENABLE_OSMOSDR OFF)
endif() endif()
else() else()
message(STATUS "The (optional) driver for OsmoSDR and related front-ends is not enabled.") message(STATUS "The (optional) driver for OsmoSDR and related front-ends is not enabled.")
@ -2466,6 +2442,35 @@ add_subdirectory(src)
################################################################################ ################################################################################
# Print summary # Print summary
################################################################################ ################################################################################
add_feature_info(ENABLE_UHD ENABLE_UHD "Enables UHD_Signal_Source for using RF front-ends from the USRP family. Requires gr-uhd.")
add_feature_info(ENABLE_OSMOSDR ENABLE_OSMOSDR "Enables Osmosdr_Signal_Source and RtlTcp_Signal_Source for using RF front-ends compatible with the OsmoSDR driver. Requires gr-osmosdr.")
add_feature_info(ENABLE_FMCOMMS2 ENABLE_FMCOMMS2 "Enables Fmcomms2_Signal_Source for FMCOMMS2/3/4 devices. Requires gr-iio.")
add_feature_info(ENABLE_PLUTOSDR ENABLE_PLUTOSDR "Enables Plutosdr_Signal_Source for using ADALM-PLUTO boards. Requires gr-iio.")
add_feature_info(ENABLE_AD9361 ENABLE_AD9361 "Enables Ad9361_Fpga_Signal_Source for devices with the AD9361 chipset. Requires libiio.")
add_feature_info(ENABLE_RAW_UDP ENABLE_RAW_UDP "Enables Custom_UDP_Signal_Source for custom UDP packet sample source. Requires libpcap.")
add_feature_info(ENABLE_FLEXIBAND ENABLE_FLEXIBAND "Enables Flexiband_Signal_Source for using Teleorbit's Flexiband RF front-end. Requires gr-teleorbit.")
add_feature_info(ENABLE_GN3S ENABLE_GN3S "Enables Gn3s_Signal_Source for using the GN3S v2 dongle. Requires gr-gn3s.")
add_feature_info(ENABLE_ARRAY ENABLE_ARRAY "Enables Raw_Array_Signal_Source and Array_Signal_Conditioner for using CTTC's antenna array. Requires gr-dbfcttc.")
add_feature_info(ENABLE_GPERFTOOLS ENABLE_GPERFTOOLS "Enables performance analysis. Requires Gperftools.")
add_feature_info(ENABLE_GPROF ENABLE_GPROF "Enables performance analysis with 'gprof'.")
add_feature_info(ENABLE_CLANG_TIDY ENABLE_CLANG_TIDY "Runs clang-tidy along with the compiler. Requires Clang.")
add_feature_info(ENABLE_PROFILING ENABLE_PROFILING "Runs volk_gnsssdr_profile at the end of the building.")
add_feature_info(ENABLE_OPENCL ENABLE_OPENCL "Enables GPS_L1_CA_PCPS_OpenCl_Acquisition (experimental). Requires OpenCL.")
add_feature_info(ENABLE_CUDA ENABLE_CUDA "Enables GPS_L1_CA_DLL_PLL_Tracking_GPU (experimental). Requires CUDA.")
add_feature_info(ENABLE_FPGA ENABLE_FPGA "Enables building of processing blocks for FPGA off-loading.")
add_feature_info(ENABLE_GENERIC_ARCH ENABLE_GENERIC_ARCH "When disabled, flags such as '-march=native' are passed to the compiler.")
add_feature_info(ENABLE_PACKAGING ENABLE_PACKAGING "Enables software packaging.")
add_feature_info(ENABLE_OWN_GLOG ENABLE_OWN_GLOG "Forces the downloading and building of Google glog.")
add_feature_info(ENABLE_OWN_ARMADILLO ENABLE_OWN_ARMADILLO "Forces the downloading and building of Armadillo.")
add_feature_info(ENABLE_LOG ENABLE_LOG "Enables runtime internal logging with Google glog.")
add_feature_info(ENABLE_UNIT_TESTING ENABLE_UNIT_TESTING "Enables building of Unit Tests.")
add_feature_info(ENABLE_UNIT_TESTING_MINIMAL ENABLE_UNIT_TESTING_MINIMAL "Enables building a minimal set of Unit Tests.")
add_feature_info(ENABLE_UNIT_TESTING_EXTRA ENABLE_UNIT_TESTING_EXTRA "Enables building of Extra Unit Tests and downloading of external data files.")
add_feature_info(ENABLE_SYSTEM_TESTING ENABLE_SYSTEM_TESTING "Enables building of System Tests.")
add_feature_info(ENABLE_SYSTEM_TESTING_EXTRA ENABLE_SYSTEM_TESTING_EXTRA "Enables building of Extra System Tests and downloading of external tools.")
add_feature_info(ENABLE_OWN_GPSTK ENABLE_OWN_GPSTK "Forces the downloading and building of GPSTk for system tests.")
add_feature_info(ENABLE_INSTALL_TESTS ENABLE_INSTALL_TESTS "Install test binaries when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME} install'.")
message(STATUS "") message(STATUS "")
message(STATUS "***************************************") message(STATUS "***************************************")
message(STATUS "* SUMMARY REPORT *") message(STATUS "* SUMMARY REPORT *")

9
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -961,22 +961,19 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
rx_position_and_time(0) = pvt_sol.rr[0]; // [m] rx_position_and_time(0) = pvt_sol.rr[0]; // [m]
rx_position_and_time(1) = pvt_sol.rr[1]; // [m] rx_position_and_time(1) = pvt_sol.rr[1]; // [m]
rx_position_and_time(2) = pvt_sol.rr[2]; // [m] rx_position_and_time(2) = pvt_sol.rr[2]; // [m]
//todo: fix this ambiguity in the RTKLIB units in receiver clock offset!
if (rtk_.opt.mode == PMODE_SINGLE) if (rtk_.opt.mode == PMODE_SINGLE)
{ {
// if the RTKLIB solver is set to SINGLE, the dtr is already expressed in [s] // if the RTKLIB solver is set to SINGLE, the dtr is already expressed in [s]
// add also the clock offset from gps to galileo (pvt_sol.dtr[2]) rx_position_and_time(3) = pvt_sol.dtr[0] + pvt_sol.dtr[1] + pvt_sol.dtr[2] + pvt_sol.dtr[3];
rx_position_and_time(3) = pvt_sol.dtr[0] + pvt_sol.dtr[2];
} }
else else
{ {
// the receiver clock offset is expressed in [meters], so we convert it into [s] // the receiver clock offset is expressed in [meters], so we convert it into [s]
// add also the clock offset from gps to galileo (pvt_sol.dtr[2]) rx_position_and_time(3) = (pvt_sol.dtr[0] + pvt_sol.dtr[1] + pvt_sol.dtr[2] + pvt_sol.dtr[3]) / GPS_C_M_S;
rx_position_and_time(3) = pvt_sol.dtr[2] + pvt_sol.dtr[0] / GPS_C_M_S;
} }
this->set_rx_pos(rx_position_and_time.rows(0, 2)); // save ECEF position for the next iteration this->set_rx_pos(rx_position_and_time.rows(0, 2)); // save ECEF position for the next iteration
//compute Ground speed and COG // compute Ground speed and COG
double ground_speed_ms = 0.0; double ground_speed_ms = 0.0;
double pos[3]; double pos[3];
double enuv[3]; double enuv[3];