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Fix size of covariance matrices

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This commit is contained in:
Carles Fernandez
2017-05-04 09:39:35 +02:00
parent 0a4f6cf499
commit 4c1f3f1de9
1 changed files with 2 additions and 4 deletions
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6
src/algorithms/PVT/adapters/rtklib_pvt.cc
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@@ -306,8 +306,6 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
double sigma_pos = configuration->property(role + ".sigma_pos", 0.0);
snrmask_t snrmask = { {}, {{},{}} };
sbssat_t sbssat;
sbsion_t sbsion[MAXBAND+1] = {};
prcopt_t rtklib_configuration_options = {positioning_mode, /* positioning mode (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
0, /* solution type (0:forward,1:backward,2:combined) */
@@ -398,9 +396,9 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
if(positioning_mode >= PMODE_PPP_KINEMA) nx = NX_PPP(&rtklib_configuration_options);
int na = NR_PPP(&rtklib_configuration_options);
double x[nx];
double Px[nx];
double Px[nx*nx];
double xa[na];
double Pa[na];
double Pa[na*na];
rtk = { sol_, /* RTK solution */
{}, /* base position/velocity (ecef) (m|m/s) */
nx, /* number of float states */