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

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Carles Fernandez 2019-06-12 20:59:27 +02:00
commit 3f8dca5d98
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2 changed files with 16 additions and 6 deletions
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9
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -961,15 +961,18 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
rx_position_and_time(0) = pvt_sol.rr[0]; // [m] rx_position_and_time(0) = pvt_sol.rr[0]; // [m]
rx_position_and_time(1) = pvt_sol.rr[1]; // [m] rx_position_and_time(1) = pvt_sol.rr[1]; // [m]
rx_position_and_time(2) = pvt_sol.rr[2]; // [m] rx_position_and_time(2) = pvt_sol.rr[2]; // [m]
//todo: fix this ambiguity in the RTKLIB units in receiver clock offset! //todo: fix this ambiguity in the RTKLIB units in receiver clock offset!
if (rtk_.opt.mode == PMODE_SINGLE) if (rtk_.opt.mode == PMODE_SINGLE)
{ {
rx_position_and_time(3) = pvt_sol.dtr[0]; // if the RTKLIB solver is set to SINGLE, the dtr is already expressed in [s] // if the RTKLIB solver is set to SINGLE, the dtr is already expressed in [s]
// add also the clock offset from gps to galileo (pvt_sol.dtr[2])
rx_position_and_time(3) = pvt_sol.dtr[0] + pvt_sol.dtr[2];
} }
else else
{ {
rx_position_and_time(3) = pvt_sol.dtr[0] / GPS_C_M_S; // the receiver clock offset is expressed in [meters], so we convert it into [s] // the receiver clock offset is expressed in [meters], so we convert it into [s]
// add also the clock offset from gps to galileo (pvt_sol.dtr[2])
rx_position_and_time(3) = pvt_sol.dtr[2] + pvt_sol.dtr[0] / GPS_C_M_S;
} }
this->set_rx_pos(rx_position_and_time.rows(0, 2)); // save ECEF position for the next iteration this->set_rx_pos(rx_position_and_time.rows(0, 2)); // save ECEF position for the next iteration

13
src/tests/unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test_fpga.cc
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@ -47,7 +47,6 @@
#include "tracking_tests_flags.h" #include "tracking_tests_flags.h"
#include "tracking_true_obs_reader.h" #include "tracking_true_obs_reader.h"
#include <armadillo> #include <armadillo>
#include <boost/filesystem.hpp>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/head.h> #include <gnuradio/blocks/head.h>
#include <gnuradio/blocks/interleaved_char_to_complex.h> #include <gnuradio/blocks/interleaved_char_to_complex.h>
@ -60,6 +59,14 @@
#include <utility> #include <utility>
#include <vector> #include <vector>
#if HAS_STD_FILESYSTEM
#include <filesystem>
namespace fs = std::filesystem;
#else
#include <boost/filesystem.hpp>
namespace fs = boost::filesystem;
#endif
// threads // threads
#include <fcntl.h> // for open, O_RDWR, O_SYNC #include <fcntl.h> // for open, O_RDWR, O_SYNC
#include <iostream> // for cout, endl #include <iostream> // for cout, endl
@ -1131,8 +1138,8 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
{ {
try try
{ {
boost::filesystem::path p(gnuplot_executable); fs::path p(gnuplot_executable);
boost::filesystem::path dir = p.parent_path(); fs::path dir = p.parent_path();
const std::string& gnuplot_path = dir.native(); const std::string& gnuplot_path = dir.native();
Gnuplot::set_GNUPlotPath(gnuplot_path); Gnuplot::set_GNUPlotPath(gnuplot_path);
auto decimate = static_cast<unsigned int>(FLAGS_plot_decimate); auto decimate = static_cast<unsigned int>(FLAGS_plot_decimate);