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

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Carles Fernandez 2019-02-28 09:42:33 +01:00
commit 2aeb61ba3a
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GPG Key ID: 4C583C52B0C3877D
2 changed files with 35 additions and 2 deletions
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36
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
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@ -570,9 +570,41 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
if (n_valid > 0)
{
update_TOW(epoch_data);
if (T_rx_TOW_ms % 20 != 0)
int tow_inc_loop_count = 0;
while (T_rx_TOW_ms % 20 != 0 and tow_inc_loop_count < 20)
{
T_rx_TOW_offset_ms = T_rx_TOW_ms % 20;
tow_inc_loop_count++;
T_rx_TOW_offset_ms++;
T_rx_TOW_offset_ms = T_rx_TOW_offset_ms % 20;
//check if effectively the receiver TOW is now multiple of 20 ms
n_valid = 0;
epoch_data.clear();
for (uint32_t n = 0; n < d_nchannels_out; n++)
{
Gnss_Synchro interpolated_gnss_synchro{};
if (!interp_trk_obs(interpolated_gnss_synchro, n, d_Rx_clock_buffer.front() + T_rx_TOW_offset_ms * T_rx_clock_step_samples))
{
// Produce an empty observation
interpolated_gnss_synchro = Gnss_Synchro();
interpolated_gnss_synchro.Flag_valid_pseudorange = false;
interpolated_gnss_synchro.Flag_valid_word = false;
interpolated_gnss_synchro.Flag_valid_acquisition = false;
interpolated_gnss_synchro.fs = 0;
interpolated_gnss_synchro.Channel_ID = n;
}
else
{
n_valid++;
}
epoch_data.push_back(interpolated_gnss_synchro);
}
update_TOW(epoch_data);
//debug code:
// if (T_rx_TOW_ms % 20 != 0)
// {
// std::cout << "Warning: RX TOW is not multiple of 20 ms\n";
// }
// std::cout << "T_rx_TOW_ms=" << T_rx_TOW_ms << " T_rx_TOW_offset_ms=" << T_rx_TOW_offset_ms << " ->" << T_rx_TOW_ms % 20 << std::endl;
}
}

1
src/core/receiver/control_thread.cc
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@ -294,6 +294,7 @@ int ControlThread::run()
stop_ = true;
flowgraph_->disconnect();
std::this_thread::sleep_for(std::chrono::milliseconds(500));
// Terminate keyboard thread
pthread_t id = keyboard_thread_.native_handle();
keyboard_thread_.detach();