From 2ebe3897d09f8ecaae1d510f29e9ab67761a2cd2 Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Wed, 29 Jul 2026 19:17:23 +0200 Subject: [PATCH] Fix BeiDou Klobuchar beta1/beta2 assignment in RTKLIB nav data ion_cmp[5] and ion_cmp[6] were both set to beta0 instead of beta1 and beta2. Currently harmless since ion_cmp has no readers yet, but the stored parameters were wrong. Spotted by @OuWenhao16 in #1039. --- src/algorithms/PVT/libs/rtklib_solver.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/algorithms/PVT/libs/rtklib_solver.cc b/src/algorithms/PVT/libs/rtklib_solver.cc index a83d9d1e7..1d1a44d3e 100644 --- a/src/algorithms/PVT/libs/rtklib_solver.cc +++ b/src/algorithms/PVT/libs/rtklib_solver.cc @@ -1890,8 +1890,8 @@ bool Rtklib_Solver::get_PVT(const std::map &gnss_observables_ d_nav_data.ion_cmp[2] = beidou_dnav_iono.alpha2; d_nav_data.ion_cmp[3] = beidou_dnav_iono.alpha3; d_nav_data.ion_cmp[4] = beidou_dnav_iono.beta0; - d_nav_data.ion_cmp[5] = beidou_dnav_iono.beta0; - d_nav_data.ion_cmp[6] = beidou_dnav_iono.beta0; + d_nav_data.ion_cmp[5] = beidou_dnav_iono.beta1; + d_nav_data.ion_cmp[6] = beidou_dnav_iono.beta2; d_nav_data.ion_cmp[7] = beidou_dnav_iono.beta3; } if (gps_utc_model.valid)