From 69b15cadc4b5283259ff9f844ee098e646001014 Mon Sep 17 00:00:00 2001 From: miguel Date: Thu, 5 Jan 2023 14:06:29 +0100 Subject: [PATCH] ADD: increase sat_n for PVT.mat dump --- src/algorithms/PVT/libs/rtklib_solver.cc | 46 ++++++++++++------------ 1 file changed, 23 insertions(+), 23 deletions(-) diff --git a/src/algorithms/PVT/libs/rtklib_solver.cc b/src/algorithms/PVT/libs/rtklib_solver.cc index a551687bb..1694a7da2 100755 --- a/src/algorithms/PVT/libs/rtklib_solver.cc +++ b/src/algorithms/PVT/libs/rtklib_solver.cc @@ -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(num_epoch); auto clk_drift = std::vector(num_epoch); - auto sat_posX_m = std::vector>(5, std::vector(num_epoch)); - auto sat_posY_m = std::vector>(5, std::vector(num_epoch)); - auto sat_posZ_m = std::vector>(5, std::vector(num_epoch)); - auto sat_velX = std::vector>(5, std::vector(num_epoch)); - auto sat_velY = std::vector>(5, std::vector(num_epoch)); - auto sat_velZ = std::vector>(5, std::vector(num_epoch)); - auto sat_prg_m = std::vector>(5, std::vector(num_epoch)); - auto sat_dopp_hz = std::vector>(5, std::vector(num_epoch)); - auto sat_CN0_dBhz = std::vector>(5, std::vector(num_epoch)); + auto sat_posX_m = std::vector>(6, std::vector(num_epoch)); + auto sat_posY_m = std::vector>(6, std::vector(num_epoch)); + auto sat_posZ_m = std::vector>(6, std::vector(num_epoch)); + auto sat_velX = std::vector>(6, std::vector(num_epoch)); + auto sat_velY = std::vector>(6, std::vector(num_epoch)); + auto sat_velZ = std::vector>(6, std::vector(num_epoch)); + auto sat_prg_m = std::vector>(6, std::vector(num_epoch)); + auto sat_dopp_hz = std::vector>(6, std::vector(num_epoch)); + auto sat_CN0_dBhz = std::vector>(6, std::vector(num_epoch)); auto latitude = std::vector(num_epoch); auto longitude = std::vector(num_epoch); @@ -306,7 +306,7 @@ bool Rtklib_Solver::save_matfile() const dump_file.read(reinterpret_cast(&clk_bias[i]), sizeof(double)); dump_file.read(reinterpret_cast(&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(&sat_posX_m[chan][i]), sizeof(double)); dump_file.read(reinterpret_cast(&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(5 * num_epoch); - auto sat_posY_m_aux = std::vector(5 * num_epoch); - auto sat_posZ_m_aux = std::vector(5 * num_epoch); - auto sat_velX_aux = std::vector(5 * num_epoch); - auto sat_velY_aux = std::vector(5 * num_epoch); - auto sat_velZ_aux = std::vector(5 * num_epoch); - auto sat_prg_m_aux = std::vector(5 * num_epoch); - auto sat_dopp_hz_aux = std::vector(5 * num_epoch); - auto sat_CN0_dBhz_aux = std::vector(5 * num_epoch); + auto sat_posX_m_aux = std::vector(6 * num_epoch); + auto sat_posY_m_aux = std::vector(6 * num_epoch); + auto sat_posZ_m_aux = std::vector(6 * num_epoch); + auto sat_velX_aux = std::vector(6 * num_epoch); + auto sat_velY_aux = std::vector(6 * num_epoch); + auto sat_velZ_aux = std::vector(6 * num_epoch); + auto sat_prg_m_aux = std::vector(6 * num_epoch); + auto sat_dopp_hz_aux = std::vector(6 * num_epoch); + auto sat_CN0_dBhz_aux = std::vector(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 dims_sat{static_cast(5), static_cast(num_epoch)}; + std::array dims_sat{static_cast(6), static_cast(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 &gnss_observables_ d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); tmp_double = vtl_data.rx_dts(1); d_dump_file.write(reinterpret_cast(&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(&tmp_double), sizeof(double));