mirrors/gnss-sdr
1
0
Fork 0
mirror of https://github.com/gnss-sdr/gnss-sdr synced 2024-11-16 14:54:59 +00:00
Code Issues Releases Wiki Activity

Code cleaning

Browse Source
This commit is contained in:
Carles Fernandez 2017-05-08 21:30:41 +02:00
parent bb9346441c
commit 25bb7ae54d
2 changed files with 195 additions and 186 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -47,7 +47,9 @@
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.*/ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
* -----------------------------------------------------------------------*/
#include "rtklib_solver.h" #include "rtklib_solver.h"
#include <glog/logging.h> #include <glog/logging.h>
@ -68,8 +70,7 @@ rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag
d_flag_averaging = false; d_flag_averaging = false;
rtk_ = rtk; rtk_ = rtk;
pvt_sol = {{0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0}, pvt_sol = {{0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0}, '0', '0', '0', 0, 0, 0 };
'0', '0', '0', 0, 0, 0 };
// ############# ENABLE DATA FILE LOG ################# // ############# ENABLE DATA FILE LOG #################
if (d_flag_dump_enabled == true) if (d_flag_dump_enabled == true)
@ -96,6 +97,7 @@ rtklib_solver::~rtklib_solver()
d_dump_file.close(); d_dump_file.close();
} }
bool rtklib_solver::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, double Rx_time, bool flag_averaging) bool rtklib_solver::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, double Rx_time, bool flag_averaging)
{ {
std::map<int,Gnss_Synchro>::iterator gnss_observables_iter; std::map<int,Gnss_Synchro>::iterator gnss_observables_iter;
@ -188,7 +190,9 @@ bool rtklib_solver::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
break; break;
} }
} }
}else{ }
else
{
// 3. If not found, insert the GPS L2 ephemeris and the observation // 3. If not found, insert the GPS L2 ephemeris and the observation
//convert ephemeris from GNSS-SDR class to RTKLIB structure //convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second); eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
@ -238,7 +242,9 @@ bool rtklib_solver::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
LOG(INFO) << "RTKLIB rtkpos error message: " << rtk_.errbuf; LOG(INFO) << "RTKLIB rtkpos error message: " << rtk_.errbuf;
d_rx_dt_s = 0; //reset rx time estimation d_rx_dt_s = 0; //reset rx time estimation
d_valid_observations = 0; d_valid_observations = 0;
}else{ }
else
{
d_valid_observations = rtk_.sol.ns; //record the number of valid satellites used by the PVT solver d_valid_observations = rtk_.sol.ns; //record the number of valid satellites used by the PVT solver
pvt_sol = rtk_.sol; pvt_sol = rtk_.sol;
b_valid_position = true; b_valid_position = true;

5
src/algorithms/PVT/libs/rtklib_solver.h
View File

@ -47,7 +47,10 @@
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.*/ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
* -------------------------------------------------------------------------*/
#ifndef GNSS_SDR_RTKLIB_SOLVER_H_ #ifndef GNSS_SDR_RTKLIB_SOLVER_H_
#define GNSS_SDR_RTKLIB_SOLVER_H_ #define GNSS_SDR_RTKLIB_SOLVER_H_