mirrors/gnss-sdr
1
0
Fork 0
mirror of https://github.com/gnss-sdr/gnss-sdr synced 2026-07-11 05:32:43 +00:00
Code Issues Releases Wiki Activity

Merge branch 'qzss-nmea-fix' of https://github.com/vladisslav2011/gnss-sdr into vladisslav2011-qzss-nmea-fix

Browse Source
This commit is contained in:
Carles Fernandez
2026-07-04 17:15:16 +02:00
parent 0889a2030b 137f15c2aa
commit 6bc138fbed
2 changed files with 133 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/algorithms/libs/rtklib/rtklib_solution.cc
+85
View File
@@ -1763,6 +1763,46 @@ int outnmea_gsa(unsigned char *buff, const sol_t *sol,
}
p += std::snprintf(p, MSG_TAIL, "*%02X%c%c", sum, 0x0D, 0x0A);
}
/* QZGSA: QZSS */
for (sat = 1, nsat = 0; sat <= MAXSAT && nsat < 12; sat++)
{
if (!ssat[sat - 1].vs || ssat[sat - 1].azel[1] <= 0.0)
{
continue;
}
if (satsys(sat, &prn[nsat]) != SYS_QZS)
{
continue;
}
for (i = 0; i < 2; i++)
{
azel[i + nsat * 2] = ssat[sat - 1].azel[i];
}
nsat++;
}
if (nsat > 0)
{
s = p;
p += std::snprintf(p, MAXSOLBUF, "$QZGSA,A,%d", sol->stat <= 0 ? 1 : 3);
for (i = 0; i < 12; i++)
{
if (i < nsat)
{
p += std::snprintf(p, MAX_LENGTH_INT + 2, ",%02d", prn[i]);
}
else
{
p += std::snprintf(p, COMMA_LENGTH, ",");
}
}
dops(nsat, azel, 0.0, dop);
p += std::snprintf(p, MAXSOLBUF - (p - s), ",%3.1f,%3.1f,%3.1f,5", dop[1], dop[2], dop[3]);
for (q = s + 1, sum = 0; *q; q++)
{
sum ^= *q; /* check-sum */
}
p += std::snprintf(p, MSG_TAIL, "*%02X%c%c", sum, 0x0D, 0x0A);
}
/* GAGSA: galileo */
for (sat = 1, nsat = 0; sat <= MAXSAT && nsat < 12; sat++)
{
@@ -2021,6 +2061,51 @@ int outnmea_gsv(unsigned char *buff, const sol_t *sol,
}
p += std::snprintf(p, MSG_TAIL, "*%02X%c%c", sum, 0x0D, 0x0A);
}
/* QZGSV: QZSS */
for (sat = 1, n = 0; sat < MAXSAT && n < 12; sat++)
{
if (satsys(sat, &prn) != SYS_QZS)
{
continue;
}
if (ssat[sat - 1].vs && ssat[sat - 1].azel[1] > 0.0)
{
sats[n++] = sat;
}
}
nmsg = n <= 0 ? 0 : (n - 1) / 4 + 1;
for (i = k = 0; i < nmsg; i++)
{
s = p;
p += std::snprintf(p, MAXSOLBUF, "$QZGSV,%d,%d,%02d", nmsg, i + 1, n);
for (j = 0; j < 4; j++, k++)
{
if (k < n)
{
satsys(sats[k], &prn); /* 193-206 */
az = ssat[sats[k] - 1].azel[0] * R2D;
if (az < 0.0)
{
az += 360.0;
}
el = ssat[sats[k] - 1].azel[1] * R2D;
snr = ssat[sats[k] - 1].snr[0] * 0.25;
p += std::snprintf(p, MAXSOLBUF - (s - p), ",%02d,%02.0f,%03.0f,%02.0f", prn, el, az, snr);
}
else
{
p += std::snprintf(p, MAXSOLBUF - (s - p), ",,,,");
}
}
p += std::snprintf(p, MAXSOLBUF - (s - p), ",1"); /* L1C/A */
for (q = s + 1, sum = 0; *q; q++)
{
sum ^= *q; /* check-sum */
}
p += std::snprintf(p, MSG_TAIL, "*%02X%c%c", sum, 0x0D, 0x0A);
}
/* BDGSV: beidou */
for (sat = 1, n = 0; sat < MAXSAT && n < 12; sat++)
{
tests/unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc
+48 -1
View File
@@ -165,7 +165,30 @@ TEST_F(NmeaPrinterTest, PrintLine)
pvt_solution->pvt_sol.rr[5] = 0.0;
pvt_solution->pvt_sol.stat = 1; // SOLQ_FIX
pvt_solution->pvt_sol.time = gtime;
pvt_solution->pvt_ssat[0].vs = 1;
pvt_solution->pvt_ssat[0].azel[0] = 3.514475;
pvt_solution->pvt_ssat[0].azel[1] = 0.644151;
pvt_solution->pvt_ssat[0].vsat[0] = 48;
pvt_solution->pvt_ssat[0].snr[0] = 204;
pvt_solution->pvt_ssat[0].fix[0] = 48;
pvt_solution->pvt_ssat[0].slip[0] = 48;
pvt_solution->pvt_ssat[0].half[0] = 48;
pvt_solution->pvt_ssat[96].vs = 1;
pvt_solution->pvt_ssat[96].azel[0] = 0.808051;
pvt_solution->pvt_ssat[96].azel[1] = 1.489340;
pvt_solution->pvt_ssat[96].vsat[0] = 48;
pvt_solution->pvt_ssat[96].snr[0] = 203;
pvt_solution->pvt_ssat[96].fix[0] = 48;
pvt_solution->pvt_ssat[96].slip[0] = 48;
pvt_solution->pvt_ssat[96].half[0] = 48;
pvt_solution->pvt_ssat[97].vs = 1;
pvt_solution->pvt_ssat[97].azel[0] = 2.968734;
pvt_solution->pvt_ssat[97].azel[1] = 0.950019;
pvt_solution->pvt_ssat[97].vsat[0] = 48;
pvt_solution->pvt_ssat[97].snr[0] = 213;
pvt_solution->pvt_ssat[97].fix[0] = 48;
pvt_solution->pvt_ssat[97].slip[0] = 48;
pvt_solution->pvt_ssat[97].half[0] = 48;
bool flag_nmea_output_file = true;
ASSERT_NO_THROW({
std::shared_ptr<Nmea_Printer> nmea_printer = std::make_shared<Nmea_Printer>(filename, flag_nmea_output_file, false, "");
@@ -175,6 +198,10 @@ TEST_F(NmeaPrinterTest, PrintLine)
std::ifstream test_file(filename);
std::string line;
std::string GPRMC("$GPRMC");
std::string GPGSA("$GPGSA");
std::string GPGSV("$GPGSV");
std::string QZGSA("$QZGSA");
std::string QZGSV("$QZGSV");
if (test_file.is_open())
{
while (getline(test_file, line))
@@ -184,6 +211,26 @@ TEST_F(NmeaPrinterTest, PrintLine)
{
EXPECT_EQ(line, "$GPRMC,225436.00,A,4916.4497617,N,12311.1202744,W,0.00,0.00,191194,0.0,E,D*21\r");
}
found = line.find(GPGSA);
if (found != std::string::npos)
{
EXPECT_EQ(line, "$GPGSA,A,3,01,,,,,,,,,,,,0.0,0.0,0.0,1*2E\r");
}
found = line.find(GPGSV);
if (found != std::string::npos)
{
EXPECT_EQ(line, "$GPGSV,1,1,01,01,37,201,51,,,,,,,,,,,,,1*57\r");
}
found = line.find(QZGSA);
if (found != std::string::npos)
{
EXPECT_EQ(line, "$QZGSA,A,3,194,195,,,,,,,,,,,0.0,0.0,0.0,5*36\r");
}
found = line.find(QZGSV);
if (found != std::string::npos)
{
EXPECT_EQ(line, "$QZGSV,1,1,02,194,85,046,51,195,54,170,53,,,,,,,,,1*71\r");
}
}
test_file.close();
}