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

src/algorithms/PVT/adapters/rtklib_pvt.cc

@@ -872,11 +872,13 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
     // Set maximum clock offset allowed if pvt_output_parameters.enable_rx_clock_correction = false
     pvt_output_parameters.max_obs_block_rx_clock_offset_ms = configuration->property(role + ".max_clock_offset_ms", pvt_output_parameters.max_obs_block_rx_clock_offset_ms);
 
-
     // Source timetag
     pvt_output_parameters.log_source_timetag = configuration->property(role + ".log_timetag", pvt_output_parameters.log_source_timetag);
     pvt_output_parameters.log_source_timetag_file = configuration->property(role + ".log_source_timetag_file", pvt_output_parameters.log_source_timetag_file);
 
+    // Use E6 for PVT
+    pvt_output_parameters.use_e6_for_pvt = configuration->property(role + ".use_e6_for_pvt", pvt_output_parameters.use_e6_for_pvt);
+
     // make PVT object
     pvt_ = rtklib_make_pvt_gs(in_streams_, pvt_output_parameters, rtk);
     DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc

@@ -175,7 +175,8 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
       d_show_local_time_zone(conf_.show_local_time_zone),
       d_enable_rx_clock_correction(conf_.enable_rx_clock_correction),
       d_an_printer_enabled(conf_.an_output_enabled),
-      d_log_timetag(conf_.log_source_timetag)
+      d_log_timetag(conf_.log_source_timetag),
+      d_use_e6_for_pvt(conf_.use_e6_for_pvt)
 {
     // Send feedback message to observables block with the receiver clock offset
     this->message_port_register_out(pmt::mp("pvt_to_observables"));
@@ -530,21 +531,21 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
         {
             // setup two PVT solvers: internal solver for rx clock and user solver
             // user PVT solver
-            d_user_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, dump_ls_pvt_filename, d_type_of_rx, d_dump, d_dump_mat);
+            d_user_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, dump_ls_pvt_filename, d_type_of_rx, d_dump, d_dump_mat, d_use_e6_for_pvt);
             d_user_pvt_solver->set_averaging_depth(1);
             d_user_pvt_solver->set_pre_2009_file(conf_.pre_2009_file);
 
             // internal PVT solver, mainly used to estimate the receiver clock
             rtk_t internal_rtk = rtk;
             internal_rtk.opt.mode = PMODE_SINGLE;  // use single positioning mode in internal PVT solver
-            d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(internal_rtk, dump_ls_pvt_filename, d_type_of_rx, false, false);
+            d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(internal_rtk, dump_ls_pvt_filename, d_type_of_rx, false, false, d_use_e6_for_pvt);
             d_internal_pvt_solver->set_averaging_depth(1);
             d_internal_pvt_solver->set_pre_2009_file(conf_.pre_2009_file);
         }
     else
         {
             // only one solver, customized by the user options
-            d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, dump_ls_pvt_filename, d_type_of_rx, d_dump, d_dump_mat);
+            d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, dump_ls_pvt_filename, d_type_of_rx, d_dump, d_dump_mat, d_use_e6_for_pvt);
             d_internal_pvt_solver->set_averaging_depth(1);
             d_internal_pvt_solver->set_pre_2009_file(conf_.pre_2009_file);
             d_user_pvt_solver = d_internal_pvt_solver;

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h

@@ -288,6 +288,7 @@ private:
     bool d_enable_has_messages;
     bool d_an_printer_enabled;
     bool d_log_timetag;
+    bool d_use_e6_for_pvt;
 };
 
 

src/algorithms/PVT/libs/pvt_conf.cc

@@ -59,6 +59,7 @@ Pvt_Conf::Pvt_Conf()
     kml_output_path = std::string(".");
     xml_output_path = std::string(".");
     rtcm_output_file_path = std::string(".");
+    log_source_timetag_file = "PVT_timetag.dat";
 
     enable_rx_clock_correction = true;
     monitor_enabled = false;
@@ -70,5 +71,4 @@ Pvt_Conf::Pvt_Conf()
     show_local_time_zone = false;
 
     log_source_timetag = false;
-    log_source_timetag_file = "PVT_timetag.dat";
 }

src/algorithms/PVT/libs/pvt_conf.h

@@ -48,6 +48,7 @@ public:
     std::string rtcm_output_file_path = std::string(".");
     std::string udp_addresses;
     std::string udp_eph_addresses;
+    std::string log_source_timetag_file;
 
     uint32_t type_of_receiver = 0;
     uint32_t observable_interval_ms = 20;
@@ -90,7 +91,7 @@ public:
     bool dump = false;
     bool dump_mat = true;
     bool log_source_timetag;
-    std::string log_source_timetag_file;
+    bool use_e6_for_pvt = true;
 };
 
 

src/algorithms/PVT/libs/rtklib_solver.cc

@@ -47,11 +47,13 @@ Rtklib_Solver::Rtklib_Solver(const rtk_t &rtk,
     const std::string &dump_filename,
     uint32_t type_of_rx,
     bool flag_dump_to_file,
-    bool flag_dump_to_mat) : d_dump_filename(dump_filename),
+    bool flag_dump_to_mat,
+    bool use_e6_for_pvt) : d_dump_filename(dump_filename),
                            d_rtk(rtk),
                            d_type_of_rx(type_of_rx),
                            d_flag_dump_enabled(flag_dump_to_file),
-                             d_flag_dump_mat_enabled(flag_dump_to_mat)
+                           d_flag_dump_mat_enabled(flag_dump_to_mat),
+                           d_use_e6_for_pvt(use_e6_for_pvt)
 {
     this->set_averaging_flag(false);
 
@@ -586,7 +588,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                                         DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
                                     }
                             }
-                        if (sig_ == "E6")
+                        if (sig_ == "E6" && d_use_e6_for_pvt)
                             {
                                 galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
                                 if (galileo_ephemeris_iter != galileo_ephemeris_map.cend())

src/algorithms/PVT/libs/rtklib_solver.h

@@ -80,7 +80,8 @@ public:
         const std::string& dump_filename,
         uint32_t type_of_rx,
         bool flag_dump_to_file,
-        bool flag_dump_to_mat);
+        bool flag_dump_to_mat,
+        bool use_e6_for_pvt = true);
     ~Rtklib_Solver();
 
     bool get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, bool flag_averaging);
@@ -133,6 +134,7 @@ private:
     uint32_t d_type_of_rx;
     bool d_flag_dump_enabled;
     bool d_flag_dump_mat_enabled;
+    bool d_use_e6_for_pvt;
 };