From 4653a927c477a12877bea98a421f8ba8aff8dbec Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Wed, 16 Aug 2017 20:40:50 +0200 Subject: [PATCH] Small fix --- src/algorithms/PVT/libs/rtklib_solver.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/algorithms/PVT/libs/rtklib_solver.cc b/src/algorithms/PVT/libs/rtklib_solver.cc index 4232768ff..d2e9281fa 100644 --- a/src/algorithms/PVT/libs/rtklib_solver.cc +++ b/src/algorithms/PVT/libs/rtklib_solver.cc @@ -312,7 +312,8 @@ bool rtklib_solver::get_PVT(const std::map & gnss_observables_ rx_position_and_time(2) = pvt_sol.rr[2]; rx_position_and_time(3) = pvt_sol.dtr[0]; this->set_rx_pos(rx_position_and_time.rows(0, 2)); // save ECEF position for the next iteration - this->set_time_offset_s(this->get_time_offset_s() + (rx_position_and_time(3) / GPS_C_m_s)); // accumulate the rx time error for the next iteration [meters]->[seconds] + double offset_s = this->get_time_offset_s(); + this->set_time_offset_s(offset_s + (rx_position_and_time(3) / GPS_C_m_s)); // accumulate the rx time error for the next iteration [meters]->[seconds] DLOG(INFO) << "RTKLIB Position at TOW=" << Rx_time << " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time; boost::posix_time::ptime p_time;