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Adding velocity LS variance and covariance to sol_t structure, not filled

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This commit is contained in:
Javier Arribas 2023-07-12 08:51:15 +02:00
parent aee1d7a25a
commit 643bf5516a
6 changed files with 8 additions and 7 deletions
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1
src/algorithms/libs/rtklib/rtklib.h
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@ -824,6 +824,7 @@ typedef struct
float qr[6]; /* position variance/covariance (m^2) */ float qr[6]; /* position variance/covariance (m^2) */
/* {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} or */ /* {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} or */
/* {c_ee,c_nn,c_uu,c_en,c_nu,c_ue} */ /* {c_ee,c_nn,c_uu,c_en,c_nu,c_ue} */
float qvr[6]; /* velocity variance/covariance (ms^2) */
double dtr[6]; /* receiver clock bias to time systems (s) */ double dtr[6]; /* receiver clock bias to time systems (s) */
unsigned char type; /* type (0:xyz-ecef,1:enu-baseline) */ unsigned char type; /* type (0:xyz-ecef,1:enu-baseline) */
unsigned char stat; /* solution status (SOLQ_???) */ unsigned char stat; /* solution status (SOLQ_???) */

2
src/algorithms/libs/rtklib/rtklib_pntpos.cc
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@ -827,7 +827,7 @@ int raim_fde(const obsd_t *obs, int n, const double *rs,
double *azel, int *vsat, double *resp, char *msg) double *azel, int *vsat, double *resp, char *msg)
{ {
obsd_t *obs_e; obsd_t *obs_e;
sol_t sol_e = {{0, 0}, {}, {}, {}, '0', '0', '0', 0.0, 0.0, 0.0}; sol_t sol_e = {{0, 0}, {}, {}, {}, {}, '0', '0', '0', 0.0, 0.0, 0.0};
char tstr[32]; char tstr[32];
char msg_e[128]; char msg_e[128];
double *rs_e; double *rs_e;

4
src/algorithms/libs/rtklib/rtklib_rtkpos.cc
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@ -2650,7 +2650,7 @@ int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr,
*-----------------------------------------------------------------------------*/ *-----------------------------------------------------------------------------*/
void rtkinit(rtk_t *rtk, const prcopt_t *opt) void rtkinit(rtk_t *rtk, const prcopt_t *opt)
{ {
sol_t sol0 = {{0, 0}, {}, {}, {}, '0', '0', '0', 0.0, 0.0, 0.0}; sol_t sol0 = {{0, 0}, {}, {}, {}, {}, '0', '0', '0', 0.0, 0.0, 0.0};
ambc_t ambc0 = {{{0, 0}, {0, 0}, {0, 0}, {0, 0}}, {}, {}, {}, 0, {}}; ambc_t ambc0 = {{{0, 0}, {0, 0}, {0, 0}, {0, 0}}, {}, {}, {}, 0, {}};
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}}}, {{}, {}}}; 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}}}, {{}, {}}};
int i; int i;
@ -2765,7 +2765,7 @@ void rtkfree(rtk_t *rtk)
int rtkpos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav) int rtkpos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav)
{ {
prcopt_t *opt = &rtk->opt; prcopt_t *opt = &rtk->opt;
sol_t solb = {{0, 0}, {}, {}, {}, '0', '0', '0', 0.0, 0.0, 0.0}; sol_t solb = {{0, 0}, {}, {}, {}, {}, '0', '0', '0', 0.0, 0.0, 0.0};
gtime_t time; gtime_t time;
int i; int i;
int nu; int nu;

2
src/algorithms/libs/rtklib/rtklib_rtksvr.cc
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@ -677,7 +677,7 @@ void *rtksvrthread(void *arg)
int rtksvrinit(rtksvr_t *svr) int rtksvrinit(rtksvr_t *svr)
{ {
gtime_t time0 = {0, 0.0}; gtime_t time0 = {0, 0.0};
sol_t sol0 = {{0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, 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}; '0', '0', '0', 0, 0, 0};
eph_t eph0 = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0}, eph_t eph0 = {0, -1, -1, 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, 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, 0.0,

4
src/algorithms/libs/rtklib/rtklib_solution.cc
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@ -719,7 +719,7 @@ int decode_solgsi(char *buff, const solopt_t *opt __attribute((unused)), sol_t *
/* decode solution position --------------------------------------------------*/ /* decode solution position --------------------------------------------------*/
int decode_solpos(char *buff, const solopt_t *opt, sol_t *sol) int decode_solpos(char *buff, const solopt_t *opt, sol_t *sol)
{ {
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}; 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};
char *p = buff; char *p = buff;
trace(4, "decode_solpos: buff=%s\n", buff); trace(4, "decode_solpos: buff=%s\n", buff);
@ -923,7 +923,7 @@ void readsolopt(FILE *fp, solopt_t *opt)
int inputsol(unsigned char data, gtime_t ts, gtime_t te, double tint, int inputsol(unsigned char data, gtime_t ts, gtime_t te, double tint,
int qflag, const solopt_t *opt, solbuf_t *solbuf) int qflag, const solopt_t *opt, solbuf_t *solbuf)
{ {
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}; 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};
int stat; int stat;
trace(4, "inputsol: data=0x%02x\n", data); trace(4, "inputsol: data=0x%02x\n", data);

2
src/algorithms/libs/rtklib/rtklib_stream.cc
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@ -2731,7 +2731,7 @@ gtime_t strgettime(stream_t *stream)
*-----------------------------------------------------------------------------*/ *-----------------------------------------------------------------------------*/
void strsendnmea(stream_t *stream, const double *pos) void strsendnmea(stream_t *stream, const double *pos)
{ {
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}; 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};
unsigned char buff[1024]; unsigned char buff[1024];
int i; int i;
int n; int n;