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ADD: increase sat_n for PVT.mat dump

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miguel
2023-01-05 14:06:29 +01:00
parent 9b2a282b5a
commit 69b15cadc4
1 changed files with 23 additions and 23 deletions
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46
src/algorithms/PVT/libs/rtklib_solver.cc
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@@ -210,7 +210,7 @@ bool Rtklib_Solver::save_matfile() const
const int32_t number_of_uint8_vars = 3;
const int32_t number_of_float_vars = 2;
const int32_t epoch_size_bytes = sizeof(double) * number_of_double_vars +
sizeof(double) * number_of_double_vars_sat*5+
sizeof(double) * number_of_double_vars_sat*6+
sizeof(uint32_t) * number_of_uint32_vars +
sizeof(uint8_t) * number_of_uint8_vars +
sizeof(float) * number_of_float_vars;
@@ -258,15 +258,15 @@ bool Rtklib_Solver::save_matfile() const
auto clk_bias = std::vector<double>(num_epoch);
auto clk_drift = std::vector<double>(num_epoch);
auto sat_posX_m = std::vector<std::vector<double>>(5, std::vector<double>(num_epoch));
auto sat_posY_m = std::vector<std::vector<double>>(5, std::vector<double>(num_epoch));
auto sat_posZ_m = std::vector<std::vector<double>>(5, std::vector<double>(num_epoch));
auto sat_velX = std::vector<std::vector<double>>(5, std::vector<double>(num_epoch));
auto sat_velY = std::vector<std::vector<double>>(5, std::vector<double>(num_epoch));
auto sat_velZ = std::vector<std::vector<double>>(5, std::vector<double>(num_epoch));
auto sat_prg_m = std::vector<std::vector<double>>(5, std::vector<double>(num_epoch));
auto sat_dopp_hz = std::vector<std::vector<double>>(5, std::vector<double>(num_epoch));
auto sat_CN0_dBhz = std::vector<std::vector<double>>(5, std::vector<double>(num_epoch));
auto sat_posX_m = std::vector<std::vector<double>>(6, std::vector<double>(num_epoch));
auto sat_posY_m = std::vector<std::vector<double>>(6, std::vector<double>(num_epoch));
auto sat_posZ_m = std::vector<std::vector<double>>(6, std::vector<double>(num_epoch));
auto sat_velX = std::vector<std::vector<double>>(6, std::vector<double>(num_epoch));
auto sat_velY = std::vector<std::vector<double>>(6, std::vector<double>(num_epoch));
auto sat_velZ = std::vector<std::vector<double>>(6, std::vector<double>(num_epoch));
auto sat_prg_m = std::vector<std::vector<double>>(6, std::vector<double>(num_epoch));
auto sat_dopp_hz = std::vector<std::vector<double>>(6, std::vector<double>(num_epoch));
auto sat_CN0_dBhz = std::vector<std::vector<double>>(6, std::vector<double>(num_epoch));
auto latitude = std::vector<double>(num_epoch);
auto longitude = std::vector<double>(num_epoch);
@@ -306,7 +306,7 @@ bool Rtklib_Solver::save_matfile() const
dump_file.read(reinterpret_cast<char *>(&clk_bias[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&clk_drift[i]), sizeof(double));
for (uint32_t chan = 0; chan < 5; chan++)
for (uint32_t chan = 0; chan < 6; chan++)
{
dump_file.read(reinterpret_cast<char *>(&sat_posX_m[chan][i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&sat_posY_m[chan][i]), sizeof(double));
@@ -340,20 +340,20 @@ bool Rtklib_Solver::save_matfile() const
return false;
}
auto sat_posX_m_aux = std::vector<double>(5 * num_epoch);
auto sat_posY_m_aux = std::vector<double>(5 * num_epoch);
auto sat_posZ_m_aux = std::vector<double>(5 * num_epoch);
auto sat_velX_aux = std::vector<double>(5 * num_epoch);
auto sat_velY_aux = std::vector<double>(5 * num_epoch);
auto sat_velZ_aux = std::vector<double>(5 * num_epoch);
auto sat_prg_m_aux = std::vector<double>(5 * num_epoch);
auto sat_dopp_hz_aux = std::vector<double>(5 * num_epoch);
auto sat_CN0_dBhz_aux = std::vector<double>(5 * num_epoch);
auto sat_posX_m_aux = std::vector<double>(6 * num_epoch);
auto sat_posY_m_aux = std::vector<double>(6 * num_epoch);
auto sat_posZ_m_aux = std::vector<double>(6 * num_epoch);
auto sat_velX_aux = std::vector<double>(6 * num_epoch);
auto sat_velY_aux = std::vector<double>(6 * num_epoch);
auto sat_velZ_aux = std::vector<double>(6 * num_epoch);
auto sat_prg_m_aux = std::vector<double>(6 * num_epoch);
auto sat_dopp_hz_aux = std::vector<double>(6 * num_epoch);
auto sat_CN0_dBhz_aux = std::vector<double>(6 * num_epoch);
uint32_t k = 0U;
for (int64_t j = 0; j < num_epoch; j++)
{
for (uint32_t i = 0; i < 5; i++)
for (uint32_t i = 0; i < 6; i++)
{
sat_posX_m_aux[k] = sat_posX_m[i][j];
sat_posY_m_aux[k] = sat_posY_m[i][j];
@@ -450,7 +450,7 @@ bool Rtklib_Solver::save_matfile() const
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
std::array<size_t, 2> dims_sat{static_cast<size_t>(5), static_cast<size_t>(num_epoch)};
std::array<size_t, 2> dims_sat{static_cast<size_t>(6), static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("sat_posX_m", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims_sat.data(), sat_posX_m_aux.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
@@ -1418,7 +1418,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = vtl_data.rx_dts(1);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
for (int n = 0; n<5; n++)
for (int n = 0; n<6; n++)
{
tmp_double = vtl_data.sat_p(n, 0);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));