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Observables propagate extra data tags from the reference channel only

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This commit is contained in:
Victor Castillo 2024-08-05 10:42:39 +02:00
parent b11838a5ec
commit 3387be636b
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GPG Key ID: 8EF1FC8B7182F608
2 changed files with 15 additions and 0 deletions
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14
src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc
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@ -70,6 +70,7 @@ hybrid_observables_gs::hybrid_observables_gs(const Obs_Conf &conf_)
d_smooth_filter_M(static_cast<double>(conf_.smoothing_factor)),
d_T_rx_step_s(static_cast<double>(conf_.observable_interval_ms) / 1000.0),
d_last_rx_clock_round20ms_error(0.0),
d_ref_channel(0U),
d_T_rx_TOW_ms(0U),
d_T_rx_step_ms(conf_.observable_interval_ms),
d_T_status_report_timer_ms(0),
@ -225,6 +226,7 @@ void hybrid_observables_gs::msg_handler_pvt_to_observables(const pmt::pmt_t &msg
{
case 1: // reset TOW
d_T_rx_TOW_ms = 0;
d_ref_channel = 0;
d_last_rx_clock_round20ms_error = 0;
d_T_rx_TOW_set = false;
for (uint32_t n = 0; n < d_nchannels_out; n++)
@ -508,17 +510,20 @@ void hybrid_observables_gs::update_TOW(const std::vector<Gnss_Synchro> &data)
{
// int32_t TOW_ref = std::numeric_limits<uint32_t>::max();
uint32_t TOW_ref = 0U;
uint32_t ref_ch = 0U;
for (it = data.cbegin(); it != data.cend(); it++)
{
if (it->Flag_valid_word)
{
if (it->TOW_at_current_symbol_ms > TOW_ref)
{
ref_ch = it->Channel_ID;
TOW_ref = it->TOW_at_current_symbol_ms;
d_T_rx_TOW_set = true;
}
}
}
d_ref_channel = ref_ch;
d_T_rx_TOW_ms = TOW_ref;
// align the receiver clock to integer multiple of d_T_rx_step_ms
if (d_T_rx_TOW_ms % d_T_rx_step_ms)
@ -756,6 +761,9 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
{
std::vector<Gnss_Synchro> epoch_data(d_nchannels_out);
int32_t n_valid = 0;
std::vector<gr::tag_t> tags{};
get_tags_in_range(tags, d_ref_channel, nitems_read(d_ref_channel) - ninput_items[d_ref_channel], nitems_read(d_ref_channel), pmt::mp("extra_data"));
for (uint32_t n = 0; n < d_nchannels_out; n++)
{
Gnss_Synchro interpolated_gnss_synchro{};
@ -802,6 +810,12 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
// output the observables set to the PVT block
for (uint32_t n = 0; n < d_nchannels_out; n++)
{
for (const auto &tag : tags)
{
add_item_tag(n, this->nitems_written(n) + 1, tag.key, tag.value);
// std::cout << "[ED TAG (TRK)] [" << std::to_string(tag.offset) << "] ";
// std::cout << std::endl;
}
out[n][0] = epoch_data[n];
}
// report channel status every second

1
src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.h
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@ -102,6 +102,7 @@ private:
double d_T_rx_step_s;
double d_last_rx_clock_round20ms_error;
uint32_t d_ref_channel;
uint32_t d_T_rx_TOW_ms;
uint32_t d_T_rx_step_ms;
uint32_t d_T_status_report_timer_ms;