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mod: enable_vtl 'else' added

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This commit is contained in:
M.A.Gomez 2022-11-23 14:42:25 +01:00
parent 0ddc3626e9
commit 25362551e6
1 changed files with 11 additions and 1 deletions
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12
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -1154,7 +1154,6 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
//new_vtl_data.debug_print();
double PVT[6]={0};
vtl_engine.vtl_loop(new_vtl_data, PVT);
pvt_sol.rr[0]=PVT[0];
pvt_sol.rr[1]=PVT[1];
pvt_sol.rr[2]=PVT[2];
@ -1162,6 +1161,17 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
pvt_sol.rr[4]=PVT[4];
pvt_sol.rr[5]=PVT[5];
}
else{
//MAGL: the code should not enter here once the vtl has started
// .. but it does!
//and not only that but pvt_sol.rr seems to have NOT reasonable values
pvt_sol.rr[0]=rx_position_and_time[0]; // [m]
pvt_sol.rr[1]=rx_position_and_time[1]; // [m]
pvt_sol.rr[2]=rx_position_and_time[2]; // [m]
pvt_sol.rr[3]=4.2e6;
pvt_sol.rr[4]=4.2e6;
pvt_sol.rr[5]=4.2e6;
}
// compute Ground speed and COG
double ground_speed_ms = 0.0;
std::array<double, 3> pos{};