From 35c2b0248a166ad6f4f3710350c772df623193ac Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Tue, 23 May 2017 09:44:48 +0200 Subject: [PATCH] Expose more RTKLIB configuration parameters --- src/algorithms/PVT/adapters/rtklib_pvt.cc | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/src/algorithms/PVT/adapters/rtklib_pvt.cc b/src/algorithms/PVT/adapters/rtklib_pvt.cc index 3582b2600..30aabfb16 100644 --- a/src/algorithms/PVT/adapters/rtklib_pvt.cc +++ b/src/algorithms/PVT/adapters/rtklib_pvt.cc @@ -350,6 +350,12 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration, double sigma_pos = configuration->property(role + ".sigma_pos", 0.0); + double code_phase_error_ratio_l1 = configuration->property(role + ".code_phase_error_ratio_l1", 100.0); + double code_phase_error_ratio_l2 = configuration->property(role + ".code_phase_error_ratio_l2", 100.0); + double code_phase_error_ratio_l5 = configuration->property(role + ".code_phase_error_ratio_l5", 100.0); + double carrier_phase_error_factor_a = configuration->property(role + ".carrier_phase_error_factor_a", 0.003); + double carrier_phase_error_factor_b = configuration->property(role + ".carrier_phase_error_factor_b", 0.003); + snrmask_t snrmask = { {}, {{},{}} }; prcopt_t rtklib_configuration_options = {positioning_mode, /* positioning mode (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */ @@ -379,8 +385,8 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration, 0, /* base position for relative mode */ /* 0:pos in prcopt, 1:average of single pos, */ /* 2:read from file, 3:rinex header, 4:rtcm pos */ - {100.0,100.0,100.0}, /* eratio[NFREQ] code/phase error ratio */ - {100.0,0.003,0.003,0.0,1.0}, /* err[5]: measurement error factor [0]:reserved, [1-3]:error factor a/b/c of phase (m) , [4]:doppler frequency (hz) */ + {code_phase_error_ratio_l1,code_phase_error_ratio_l2,code_phase_error_ratio_l5}, /* eratio[NFREQ] code/phase error ratio */ + {100.0,carrier_phase_error_factor_a,carrier_phase_error_factor_b,0.0,1.0}, /* err[5]: measurement error factor [0]:reserved, [1-3]:error factor a/b/c of phase (m) , [4]:doppler frequency (hz) */ {bias_0,iono_0,trop_0}, /* std[3]: initial-state std [0]bias,[1]iono [2]trop*/ {sigma_bias,sigma_iono,sigma_trop,sigma_acch,sigma_accv,sigma_pos}, /* prn[6] process-noise std */ 5e-12, /* sclkstab: satellite clock stability (sec/sec) */