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Merge branch 'bdgsv' of https://github.com/liu000888/gnss-sdr into liu000888-bdgsv

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This commit is contained in:
Carles Fernandez
2020-12-07 19:01:43 +01:00
parent 399c559865 777e8aa0e1
commit 711de48d7f
1 changed files with 85 additions and 0 deletions
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85
src/algorithms/libs/rtklib/rtklib_solution.cc
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@@ -1802,6 +1802,46 @@ int outnmea_gsa(unsigned char *buff, const sol_t *sol,
}
p += std::snprintf(p, MSG_TAIL, "*%02X%c%c", sum, 0x0D, 0x0A);
}
/* BDGSA: beidou */
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_BDS)
{
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, "$BDGSA,A,%d", sol->stat <= 0 ? 1 : 3);
for (i = 0; i < 12; i++)
{
if (i < nsat)
{
p += std::snprintf(p, MAX_LENGTH_INT + 2, ",%02d", prn[i]);
}
else
{
p += std::snprintf(p, COMMA_LENGTH, ",");
}
}
dops(nsat, azel, 0.0, dop);
p += std::snprintf(p, MAXSOLBUF - (p - s), ",%3.1f,%3.1f,%3.1f,3", dop[1], dop[2], dop[3]);
for (q = s + 1, sum = 0; *q; q++)
{
sum ^= *q; /* check-sum */
}
p += std::snprintf(p, MSG_TAIL, "*%02X%c%c", sum, 0x0D, 0x0A);
}
return p - reinterpret_cast<char *>(buff);
}
@@ -1980,6 +2020,51 @@ int outnmea_gsv(unsigned char *buff, const sol_t *sol,
}
p += std::snprintf(p, MSG_TAIL, "*%02X%c%c", sum, 0x0D, 0x0A);
}
/* BDGSV: beidou */
for (sat = 1, n = 0; sat < MAXSAT && n < 12; sat++)
{
if (satsys(sat, &prn) != SYS_BDS)
{
continue;
}
if (ssat[sat - 1].vs && ssat[sat - 1].azel[1] > 0.0)
{
sats[n++] = sat;
}
}
nmsg = n <= 0 ? 0 : (n - 1) / 4 + 1;
for (i = k = 0; i < nmsg; i++)
{
s = p;
p += std::snprintf(p, MAXSOLBUF, "$BDGSV,%d,%d,%02d", nmsg, i + 1, n);
for (j = 0; j < 4; j++, k++)
{
if (k < n)
{
satsys(sats[k], &prn); /* 1-63 */
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");
for (q = s + 1, sum = 0; *q; q++)
{
sum ^= *q; /* check-sum */
}
p += std::snprintf(p, MSG_TAIL, "*%02X%c%c", sum, 0x0D, 0x0A);
}
return p - reinterpret_cast<char *>(buff);
}