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Fix logging of PVT fixes

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This commit is contained in:
Carles Fernandez 2018-09-01 16:53:27 +02:00
parent 8c7fb525a7
commit 5ffa5aba8e
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GPG Key ID: 4C583C52B0C3877D
1 changed files with 27 additions and 7 deletions
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34
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -571,10 +571,32 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// ECEF POS X,Y,X [m] + ECEF VEL X,Y,X [m/s] (6 x double)
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.rr[0]), sizeof(pvt_sol.rr));
tmp_double = pvt_sol.rr[0];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = pvt_sol.rr[1];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = pvt_sol.rr[2];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = pvt_sol.rr[3];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = pvt_sol.rr[4];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = pvt_sol.rr[5];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// position variance/covariance (m^2) {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} (6 x double)
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.qr[0]), sizeof(pvt_sol.qr));
// position variance/covariance (m^2) {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} (6 x double)
tmp_double = pvt_sol.qr[0];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = pvt_sol.qr[1];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = pvt_sol.qr[2];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = pvt_sol.qr[3];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = pvt_sol.qr[4];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = pvt_sol.qr[5];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// GEO user position Latitude [deg]
tmp_double = get_latitude();
@ -592,11 +614,9 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.stat), sizeof(uint8_t));
// RTKLIB solution type (0:xyz-ecef,1:enu-baseline)
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.type), sizeof(uint8_t));
//AR ratio factor for validation
tmp_double = pvt_sol.ratio;
// AR ratio factor for validation
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.ratio), sizeof(float));
//AR ratio threshold for validation
tmp_double = pvt_sol.thres;
// AR ratio threshold for validation
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.thres), sizeof(float));
// GDOP / PDOP/ HDOP/ VDOP