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Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into release_0010

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This commit is contained in:
Carles Fernandez
2018-12-13 13:02:44 +01:00
parent 22d5d3c98c 55572b55b4
commit 3e4728225e
1 changed files with 35 additions and 4 deletions
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35
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
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@@ -1963,18 +1963,49 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
} }
} }
if (flag_write_RTCM_MSM_output == true) if (flag_write_RTCM_MSM_output and d_rtcm_MSM_rate_ms != 0)
{ {
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin(); std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_eph_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin(); std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_eph_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin();
int gal_channel = 0;
int gps_channel = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
{
std::string system(&gnss_observables_iter->second.System, 1);
if (gps_channel == 0)
{
if (system == "G")
{
// This is a channel with valid GPS signal
gps_cnav_eph_iter = d_pvt_solver->gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_cnav_eph_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()) if (gps_cnav_eph_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend())
{ {
d_rtcm_printer->Print_Rtcm_MSM(7, {}, gps_cnav_eph_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); gps_channel = 1;
} }
}
}
if (gal_channel == 0)
{
if (system == "E")
{
gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend()) if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
{
gal_channel = 1;
}
}
}
}
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend() and (d_rtcm_MT1097_rate_ms != 0))
{ {
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
} }
if (gps_cnav_eph_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend() and (d_rtcm_MT1077_rate_ms != 0))
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, gps_cnav_eph_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
}
} }
break; break;
case 14: case 14: