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Better fix for bug fix that prevented PVT when disabled rx_clock_correction, issue #343

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This commit is contained in:
Javier 2020-01-22 12:16:48 +01:00
parent d387e1bf1a
commit 650d637ee2
2 changed files with 11 additions and 5 deletions
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15
src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc
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@ -195,8 +195,11 @@ void hybrid_observables_gs::msg_handler_pvt_to_observables(const pmt::pmt_t &msg
double new_rx_clock_offset_s; double new_rx_clock_offset_s;
new_rx_clock_offset_s = boost::any_cast<double>(pmt::any_ref(msg)); new_rx_clock_offset_s = boost::any_cast<double>(pmt::any_ref(msg));
T_rx_TOW_ms = T_rx_TOW_ms - static_cast<int>(round(new_rx_clock_offset_s * 1000.0)); T_rx_TOW_ms = T_rx_TOW_ms - static_cast<int>(round(new_rx_clock_offset_s * 1000.0));
//compute the required T_rx_TOW adjustment to match integer multiple of 20 ms //align the receiver clock to integer multiple of 20 ms
adjust_next_20ms = 20 - T_rx_TOW_ms % 20; if (T_rx_TOW_ms % 20)
{
T_rx_TOW_ms += 20 - T_rx_TOW_ms % 20;
}
// d_Rx_clock_buffer.clear(); // Clear all the elements in the buffer // d_Rx_clock_buffer.clear(); // Clear all the elements in the buffer
for (uint32_t n = 0; n < d_nchannels_out; n++) for (uint32_t n = 0; n < d_nchannels_out; n++)
{ {
@ -485,6 +488,11 @@ void hybrid_observables_gs::update_TOW(const std::vector<Gnss_Synchro> &data)
} }
} }
T_rx_TOW_ms = TOW_ref; T_rx_TOW_ms = TOW_ref;
//align the receiver clock to integer multiple of 20 ms
if (T_rx_TOW_ms % 20)
{
T_rx_TOW_ms += 20 - T_rx_TOW_ms % 20;
}
} }
else else
{ {
@ -576,8 +584,7 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
for (uint32_t n = 0; n < d_nchannels_out; n++) for (uint32_t n = 0; n < d_nchannels_out; n++)
{ {
Gnss_Synchro interpolated_gnss_synchro{}; Gnss_Synchro interpolated_gnss_synchro{};
//align the receiver clock to integer multiple of 20 ms and interpolate observables at current receiver clock if (!interp_trk_obs(interpolated_gnss_synchro, n, d_Rx_clock_buffer.front()))
if (!interp_trk_obs(interpolated_gnss_synchro, n, d_Rx_clock_buffer.front() + adjust_next_20ms))
{ {
// Produce an empty observation // Produce an empty observation
interpolated_gnss_synchro = Gnss_Synchro(); interpolated_gnss_synchro = Gnss_Synchro();

1
src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.h
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@ -89,7 +89,6 @@ private:
bool d_dump; bool d_dump;
bool d_dump_mat; bool d_dump_mat;
uint32_t T_rx_TOW_ms; uint32_t T_rx_TOW_ms;
uint32_t adjust_next_20ms;
uint32_t T_rx_step_ms; uint32_t T_rx_step_ms;
uint32_t T_status_report_timer_ms; uint32_t T_status_report_timer_ms;
uint32_t d_nchannels_in; uint32_t d_nchannels_in;