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Clean source code, update to new gnss_synchro parameter name

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This commit is contained in:
Carles Fernandez
2018-06-05 22:53:34 +02:00
parent a2a9fef7f7
commit 5fc1e018fd
7 changed files with 99 additions and 102 deletions
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28
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
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@@ -310,10 +310,10 @@ bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, const unsigned i
}
find_interp_elements(ch, ti);
//1st: copy the nearest gnss_synchro data for that channel
// 1st: copy the nearest gnss_synchro data for that channel
out = d_gnss_synchro_history->at(ch, 0);
//2nd: Linear interpolation: y(t) = y(t1) + (y(t2) - y(t1)) * (t - t1) / (t2 - t1)
// 2nd: Linear interpolation: y(t) = y(t1) + (y(t2) - y(t1)) * (t - t1) / (t2 - t1)
// CARRIER PHASE INTERPOLATION
out.Carrier_phase_rads = d_gnss_synchro_history->at(ch, 0).Carrier_phase_rads + (d_gnss_synchro_history->at(ch, 1).Carrier_phase_rads - d_gnss_synchro_history->at(ch, 0).Carrier_phase_rads) * (ti - d_gnss_synchro_history->at(ch, 0).RX_time) / (d_gnss_synchro_history->at(ch, 1).RX_time - d_gnss_synchro_history->at(ch, 0).RX_time);
@@ -324,11 +324,6 @@ bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, const unsigned i
// TOW INTERPOLATION
out.interp_TOW_ms = static_cast<double>(d_gnss_synchro_history->at(ch, 0).TOW_at_current_symbol_ms) + (static_cast<double>(d_gnss_synchro_history->at(ch, 1).TOW_at_current_symbol_ms) - static_cast<double>(d_gnss_synchro_history->at(ch, 0).TOW_at_current_symbol_ms)) * (ti - d_gnss_synchro_history->at(ch, 0).RX_time) / (d_gnss_synchro_history->at(ch, 1).RX_time - d_gnss_synchro_history->at(ch, 0).RX_time);
//std::cout.precision(17);
//std::cout << "Diff TOW_at_current_symbol_ms(1) - out.interp_TOW_ms: " << static_cast<double>(d_gnss_synchro_history->at(ch, 1).TOW_at_current_symbol_ms) - out.interp_TOW_ms << std::endl;
return true;
}
@@ -345,6 +340,7 @@ double hybrid_observables_cc::compute_T_rx_s(const Gnss_Synchro &a)
}
}
void hybrid_observables_cc::find_interp_elements(const unsigned int &ch, const double &ti)
{
unsigned int closest = 0;
@@ -412,10 +408,10 @@ void hybrid_observables_cc::correct_TOW_and_compute_prange(std::vector<Gnss_Sync
{
std::vector<Gnss_Synchro>::iterator it;
/////////////////////// DEBUG //////////////////////////
// Logs if there is a pseudorange difference between
// signals of the same satellite higher than a threshold
////////////////////////////////////////////////////////
/////////////////////// DEBUG //////////////////////////
// Logs if there is a pseudorange difference between
// signals of the same satellite higher than a threshold
////////////////////////////////////////////////////////
#ifndef NDEBUG
std::vector<Gnss_Synchro>::iterator it2;
double thr_ = 250.0 / SPEED_OF_LIGHT; // Maximum pseudorange difference = 250 meters
@@ -442,8 +438,6 @@ void hybrid_observables_cc::correct_TOW_and_compute_prange(std::vector<Gnss_Sync
}
#endif
///////////////////////////////////////////////////////////
if (!T_rx_TOW_set)
{
unsigned int TOW_ref = std::numeric_limits<unsigned int>::lowest();
@@ -532,6 +526,7 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
}
}
}
for (i = 0; i < d_nchannels; i++)
{
if (d_gnss_synchro_history->size(i) > 2)
@@ -544,6 +539,7 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
}
}
d_num_valid_channels = valid_channels.count();
// Check if there is any valid channel after reading the new incoming Gnss_Synchro data
if (d_num_valid_channels == 0)
{
@@ -551,7 +547,7 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
return returned_elements;
}
for (i = 0; i < d_nchannels; i++) //Discard observables with T_rx higher than the threshold
for (i = 0; i < d_nchannels; i++) // Discard observables with T_rx higher than the threshold
{
if (valid_channels[i])
{
@@ -589,11 +585,13 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
}
}
d_num_valid_channels = valid_channels.count();
if (d_num_valid_channels == 0)
{
consume(d_nchannels, epoch + 1);
return returned_elements;
}
correct_TOW_and_compute_prange(epoch_data);
std::vector<Gnss_Synchro>::iterator it = epoch_data.begin();
for (i = 0; i < d_nchannels; i++)
@@ -610,6 +608,7 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
out[i][epoch].Flag_valid_pseudorange = false;
}
}
if (d_dump)
{
// MULTIPLEXED FILE RECORDING - Record results to file
@@ -640,6 +639,7 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
d_dump = false;
}
}
returned_elements++;
}
consume(d_nchannels, ninput_items[d_nchannels]);