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MOD: vtl tracking

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This commit is contained in:
M.A. Gomez
2023-02-15 16:09:48 +01:00
parent 435fb44949
commit 704deb6184
2 changed files with 8 additions and 6 deletions
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2
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
View File

@@ -2324,7 +2324,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{
// VTP To.Do: Check why get_PVT is triggered twice. Leave only one get_PVT.
flag_pvt_valid = d_user_pvt_solver->get_PVT(d_gnss_observables_map, false, false, false);
//flag_pvt_valid = d_user_pvt_solver->get_PVT(d_gnss_observables_map, false, false, false);
}
if (flag_pvt_valid == true)

12
src/algorithms/tracking/gnuradio_blocks/kf_tracking.cc
View File

@@ -658,17 +658,19 @@ void kf_tracking::msg_handler_pvt_to_trk(const pmt::pmt_t &msg)
double old_code_phase_chips = d_x_old_old(0);
if(abs(d_x_old_old(2) - tmp_x(2))>50){
std::cout << " tracking_cmd TOO FAR: "
std::cout <<"channel: "<< this->d_channel
<< " tracking_cmd TOO FAR: "
<< abs(d_x_old_old(2) - tmp_x(2))<< "Hz"
<< " \n";
}else{
std::cout << " tracking_cmd NEAR: "
std::cout <<"channel: "<< this->d_channel
<< " tracking_cmd NEAR: "
<< abs(d_x_old_old(2) - tmp_x(2))<< "Hz"
<< " \n";
//d_x_old_old(2) = tmp_x(2); //replace the Code Phase state
//d_x_old_old(2) = tmp_x(2); //replace DOPPLER
//d_x_old_old(3) = tmp_x(3); //replace DOPPLER RATE
}
//d_x_old_old(0) = tmp_x(0); //replace the Code Phase state
// set vtl corrections flag to inform VTL from gnss_synchro object
d_vtl_cmd_applied_now = true;
@@ -698,7 +700,7 @@ void kf_tracking::msg_handler_pvt_to_trk(const pmt::pmt_t &msg)
else
{
dump_tracking_file << "doppler_corr"
<< ","<< this->d_channel << "," << x_tmp(2) << "," << old_doppler << "," << old_doppler_rate << "," << old_code_phase_chips << "\n";
<< ","<< this->d_channel << "," << tmp_x(2) << "," << old_doppler << "," << tmp_x(3)<< "," << old_doppler_rate << "\n";
dump_tracking_file.close();
}
}