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

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Carles Fernandez 2022-09-14 21:15:50 +02:00
commit 30dd2e5048
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GPG Key ID: 4C583C52B0C3877D
7 changed files with 23 additions and 14 deletions
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4
src/algorithms/PVT/adapters/rtklib_pvt.cc
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@ -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() << ")";

9
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@ -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;

1
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
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@ -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;
};

2
src/algorithms/PVT/libs/pvt_conf.cc
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@ -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";
}

3
src/algorithms/PVT/libs/pvt_conf.h
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@ -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;
};

8
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -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())

4
src/algorithms/PVT/libs/rtklib_solver.h
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@ -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;
};