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Adding velocity LS variance and covariance to sol_t structure, not filled
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@ -824,6 +824,7 @@ typedef struct
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float qr[6]; /* position variance/covariance (m^2) */
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/* {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} or */
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/* {c_ee,c_nn,c_uu,c_en,c_nu,c_ue} */
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float qvr[6]; /* velocity variance/covariance (ms^2) */
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double dtr[6]; /* receiver clock bias to time systems (s) */
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unsigned char type; /* type (0:xyz-ecef,1:enu-baseline) */
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unsigned char stat; /* solution status (SOLQ_???) */
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@ -827,7 +827,7 @@ int raim_fde(const obsd_t *obs, int n, const double *rs,
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double *azel, int *vsat, double *resp, char *msg)
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{
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obsd_t *obs_e;
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sol_t sol_e = {{0, 0}, {}, {}, {}, '0', '0', '0', 0.0, 0.0, 0.0};
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sol_t sol_e = {{0, 0}, {}, {}, {}, {}, '0', '0', '0', 0.0, 0.0, 0.0};
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char tstr[32];
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char msg_e[128];
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double *rs_e;
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@ -2650,7 +2650,7 @@ int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr,
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*-----------------------------------------------------------------------------*/
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void rtkinit(rtk_t *rtk, const prcopt_t *opt)
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{
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sol_t sol0 = {{0, 0}, {}, {}, {}, '0', '0', '0', 0.0, 0.0, 0.0};
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sol_t sol0 = {{0, 0}, {}, {}, {}, {}, '0', '0', '0', 0.0, 0.0, 0.0};
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ambc_t ambc0 = {{{0, 0}, {0, 0}, {0, 0}, {0, 0}}, {}, {}, {}, 0, {}};
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ssat_t ssat0 = {0, 0, {0.0}, {0.0}, {0.0}, {'0'}, {'0'}, {'0'}, {'0'}, {'0'}, {}, {}, {}, {}, 0.0, 0.0, 0.0, 0.0, {{{0, 0}}, {{0, 0}}}, {{}, {}}};
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int i;
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@ -2765,7 +2765,7 @@ void rtkfree(rtk_t *rtk)
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int rtkpos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav)
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{
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prcopt_t *opt = &rtk->opt;
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sol_t solb = {{0, 0}, {}, {}, {}, '0', '0', '0', 0.0, 0.0, 0.0};
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sol_t solb = {{0, 0}, {}, {}, {}, {}, '0', '0', '0', 0.0, 0.0, 0.0};
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gtime_t time;
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int i;
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int nu;
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@ -677,7 +677,7 @@ void *rtksvrthread(void *arg)
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int rtksvrinit(rtksvr_t *svr)
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{
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gtime_t time0 = {0, 0.0};
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sol_t sol0 = {{0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0},
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sol_t sol0 = {{0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0},
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'0', '0', '0', 0, 0, 0};
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eph_t eph0 = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0},
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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@ -719,7 +719,7 @@ int decode_solgsi(char *buff, const solopt_t *opt __attribute((unused)), sol_t *
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/* decode solution position --------------------------------------------------*/
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int decode_solpos(char *buff, const solopt_t *opt, sol_t *sol)
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{
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sol_t sol0 = {{0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, '0', '0', '0', 0, 0, 0};
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sol_t sol0 = {{0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, '0', '0', '0', 0, 0, 0};
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char *p = buff;
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trace(4, "decode_solpos: buff=%s\n", buff);
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@ -923,7 +923,7 @@ void readsolopt(FILE *fp, solopt_t *opt)
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int inputsol(unsigned char data, gtime_t ts, gtime_t te, double tint,
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int qflag, const solopt_t *opt, solbuf_t *solbuf)
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{
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sol_t sol = {{0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, '0', '0', '0', 0, 0, 0};
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sol_t sol = {{0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, '0', '0', '0', 0, 0, 0};
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int stat;
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trace(4, "inputsol: data=0x%02x\n", data);
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@ -2731,7 +2731,7 @@ gtime_t strgettime(stream_t *stream)
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*-----------------------------------------------------------------------------*/
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void strsendnmea(stream_t *stream, const double *pos)
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{
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sol_t sol = {{0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, '0', '0', '0', 0, 0, 0};
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sol_t sol = {{0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, '0', '0', '0', 0, 0, 0};
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unsigned char buff[1024];
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int i;
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int n;
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