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This commit is contained in:
Antonio Ramos 2018-02-22 12:42:09 +01:00
parent 58dd5428a8
commit 592d50af79
4 changed files with 15 additions and 11 deletions
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6
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
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@ -1713,9 +1713,11 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
// DEBUG MESSAGE: Display position in console output
if( (d_ls_pvt->is_valid_position() == true) && (flag_display_pvt == true) )
{
std::cout << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
std::string text_green = "\033[32m";
std::string text_reset = "\033[0m";
std::cout << text_green << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
<< " UTC using " << d_ls_pvt->get_num_valid_observations() << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude()
<< " [deg], Height= " << d_ls_pvt->get_height() << " [m]" << std::endl;
<< " [deg], Height= " << d_ls_pvt->get_height() << " [m]" << text_reset << std::endl;
LOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
<< " UTC using "<< d_ls_pvt->get_num_valid_observations() << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude()

5
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
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@ -63,7 +63,7 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in, unsigned
d_dump_filename_in = d_dump_filename;
T_rx_s = 0.0;
T_rx_step_s = 0.001; // 1 ms
max_delta = 0.1; // 100 ms
max_delta = 0.15; // 150 ms
valid_channels.resize(d_nchannels, false);
d_num_valid_channels = 0;
@ -399,7 +399,6 @@ std::pair<Gnss_Synchro, Gnss_Synchro> hybrid_observables_cc::find_closest(std::d
invalid_data.Flag_valid_pseudorange = false;
result.first = invalid_data;
result.second = invalid_data;
std::cout << text_red << data.at(index).Signal << text_reset << std::endl;
}
else if(delta_t < 0.0)
{
@ -407,7 +406,6 @@ std::pair<Gnss_Synchro, Gnss_Synchro> hybrid_observables_cc::find_closest(std::d
result.first.Flag_valid_pseudorange = true;
result.second = data.at(index - 1);
result.second.Flag_valid_pseudorange = true;
std::cout << text_green << data.at(index).Signal << text_reset << std::endl;
}
else
{
@ -415,7 +413,6 @@ std::pair<Gnss_Synchro, Gnss_Synchro> hybrid_observables_cc::find_closest(std::d
result.first.Flag_valid_pseudorange = true;
result.second = data.at(index);
result.second.Flag_valid_pseudorange = true;
std::cout << text_green << data.at(index).Signal << text_reset << std::endl;
}
return result;
}

5
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h
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@ -85,11 +85,6 @@ private:
std::ofstream d_dump_file;
std::ofstream d_dump_in;
std::string text_red = "\033[31m";
std::string text_green = "\033[32m";
std::string text_reset = "\033[0m";
int save_matfile();
};

10
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_cc.cc
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@ -156,8 +156,18 @@ int gps_l2c_telemetry_decoder_cc::general_work (int noutput_items __attribute__(
//* delay by the formulae:
//* \code
//* symbolTime_ms = msg->tow * 6000 + *pdelay * 20 + (12 * 20); 12 symbols of the encoder's transitory
double tmp_tow= d_TOW_at_current_symbol += GPS_L2_M_PERIOD;
d_TOW_at_current_symbol = static_cast<double>(msg.tow) * 6.0 + static_cast<double>(delay) * GPS_L2_M_PERIOD + 12 * GPS_L2_M_PERIOD;
d_TOW_at_current_symbol = floor(d_TOW_at_current_symbol * 1000.0) / 1000.0;
double tmp_diff = std::fabs(tmp_tow-d_TOW_at_current_symbol);
if ((tmp_tow != 0) or (tmp_diff > 0.0))
{
std::string text_red = "\033[31m";
std::string text_reset = "\033[0m";
std::cout << text_red <<
"GPS L2C. TOW incoherence on channel: "<< d_channel << ". TOW difference = " <<
tmp_diff * 1000.0 << " [ms]" << text_reset << std::endl;
}
d_flag_valid_word = true;
}
else