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Small fix

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This commit is contained in:
Carles Fernandez 2017-08-16 20:40:50 +02:00
parent dc4d3790ed
commit 4653a927c4
1 changed files with 2 additions and 1 deletions
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src/algorithms/PVT/libs/rtklib_solver.cc
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@ -312,7 +312,8 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
rx_position_and_time(2) = pvt_sol.rr[2]; rx_position_and_time(2) = pvt_sol.rr[2];
rx_position_and_time(3) = pvt_sol.dtr[0]; 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_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; 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; boost::posix_time::ptime p_time;