From 756a4b5a2ef0d0742531f01e169d15c1b09d6393 Mon Sep 17 00:00:00 2001 From: Damian Miralles Date: Mon, 13 Nov 2017 22:41:12 -0700 Subject: [PATCH] bugfixes: Add RTCM header creation for GLONASS satellites Added code to enable RTCM header generation when in GLONASS. Also fixes bug to allow combined observations from GPS and GLONASS. Fix some code compilation warnings and unit tests. --- conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf | 5 +- conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf | 22 ++- conf/gnss-sdr_GPS_L1_CA_ibyte.conf | 93 ++++++++++ .../PVT/gnuradio_blocks/rtklib_pvt_cc.cc | 169 ++++++++++++++++-- src/algorithms/libs/gnss_sdr_valve.cc | 2 + .../glonass_l1_ca_telemetry_decoder_cc.cc | 1 + .../glonass_l1_ca_telemetry_decoder_cc.h | 1 - .../glonass_gnav_ephemeris_test.cc | 29 +-- 8 files changed, 286 insertions(+), 36 deletions(-) create mode 100644 conf/gnss-sdr_GPS_L1_CA_ibyte.conf diff --git a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf index 4f1610ef3..d6cbbf891 100644 --- a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf +++ b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf @@ -27,7 +27,7 @@ Resampler.item_type=gr_complex ;######### CHANNELS GLOBAL CONFIG ############ Channel.signal=1G Channels.in_acquisition=1 -Channels_1G.count=5 +Channels_1G.count=8 Channel0.satellite=24 ; k= Channel1.satellite=1 ; k=1 @@ -45,7 +45,8 @@ Acquisition_1G.doppler_max=10000 Acquisition_1G.doppler_step=250 Acquisition_1G.dump=true; Acquisition_1G.dump_filename=/archive/glo_acquisition.dat -;Acquisition_1G.coherent_integration_time_ms=10 +Acquisition_1G.coherent_integration_time_ms=1 +;Acquisition_1G.max_dwells = 5 ;######### TRACKING GLOBAL CONFIG ############ Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_Tracking diff --git a/conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf index 156f52741..0435d6ff2 100644 --- a/conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf +++ b/conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf @@ -7,7 +7,7 @@ SignalSource.repeat=false ;######### SIGNAL_SOURCE CONFIG ############ SignalSource0.implementation=File_Signal_Source -SignalSource0.filename=/archive/NT1065_L1_20160923_fs6625e6_if0e3_schar.bin ; <- PUT YOUR FILE HERE +SignalSource0.filename=/archive/NT1065_L1_20160923_fs6625e6_if60e3_schar.bin ; <- PUT YOUR FILE HERE SignalSource0.item_type=ibyte SignalSource0.sampling_frequency=6625000 SignalSource0.samples=0 @@ -25,8 +25,26 @@ SignalSource1.dump_filename=/archive/signal_glonass.bin ;######### SIGNAL_CONDITIONER CONFIG ############ SignalConditioner0.implementation=Signal_Conditioner DataTypeAdapter0.implementation=Ibyte_To_Complex -InputFilter0.implementation=Pass_Through +InputFilter0.implementation=Freq_Xlating_Fir_Filter InputFilter0.item_type=gr_complex +InputFilter0.output_item_type=gr_complex +InputFilter0.taps_item_type=float +InputFilter0.number_of_taps=5 +InputFilter0.number_of_bands=2 +InputFilter0.band1_begin=0.0 +InputFilter0.band1_end=0.70 +InputFilter0.band2_begin=0.80 +InputFilter0.band2_end=1.0 +InputFilter0.ampl1_begin=1.0 +InputFilter0.ampl1_end=1.0 +InputFilter0.ampl2_begin=0.0 +InputFilter0.ampl2_end=0.0 +InputFilter0.band1_error=1.0 +InputFilter0.band2_error=1.0 +InputFilter0.filter_type=bandpass +InputFilter0.grid_density=16 +InputFilter0.sampling_frequency=6625000 +InputFilter0.IF=60000 Resampler0.implementation=Direct_Resampler Resampler0.sample_freq_in=6625000 Resampler0.sample_freq_out=6625000 diff --git a/conf/gnss-sdr_GPS_L1_CA_ibyte.conf b/conf/gnss-sdr_GPS_L1_CA_ibyte.conf new file mode 100644 index 000000000..ecb652dca --- /dev/null +++ b/conf/gnss-sdr_GPS_L1_CA_ibyte.conf @@ -0,0 +1,93 @@ +[GNSS-SDR] + +;######### GLOBAL OPTIONS ################## +GNSS-SDR.internal_fs_hz=6625000 + +;######### SIGNAL_SOURCE CONFIG ############ +SignalSource.implementation=File_Signal_Source +SignalSource.filename=/archive/NT1065_L1_20160923_fs6625e6_if60e3_schar.bin ; <- PUT YOUR FILE HERE +SignalSource.item_type=ibyte +SignalSource.sampling_frequency=6625000 +;SignalSource.freq=0 +;SignalSource.samples=66250000 +SignalSource.samples=0 +SignalSource.dump=false; + +;######### SIGNAL_CONDITIONER CONFIG ############ +SignalConditioner.implementation=Signal_Conditioner +DataTypeAdapter.implementation=Ibyte_To_Complex +InputFilter.implementation=Freq_Xlating_Fir_Filter +InputFilter.item_type=gr_complex +InputFilter.output_item_type=gr_complex +InputFilter.taps_item_type=float +InputFilter.number_of_taps=5 +InputFilter.number_of_bands=2 +InputFilter.band1_begin=0.0 +InputFilter.band1_end=0.70 +InputFilter.band2_begin=0.80 +InputFilter.band2_end=1.0 +InputFilter.ampl1_begin=1.0 +InputFilter.ampl1_end=1.0 +InputFilter.ampl2_begin=0.0 +InputFilter.ampl2_end=0.0 +InputFilter.band1_error=1.0 +InputFilter.band2_error=1.0 +InputFilter.filter_type=bandpass +InputFilter.grid_density=16 +InputFilter.sampling_frequency=6625000 +InputFilter.IF=60000 +Resampler.implementation=Direct_Resampler +Resampler.sample_freq_in=6625000 +Resampler.sample_freq_out=6625000 +Resampler.item_type=gr_complex + +;######### CHANNELS GLOBAL CONFIG ############ +Channel.signal=1C +Channels.in_acquisition=1 +Channels_1C.count=6 + +;######### ACQUISITION GLOBAL CONFIG ############ +Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition +Acquisition_1C.item_type=gr_complex +Acquisition_1C.threshold=0.01 +;Acquisition_1C.pfa=0.00001 +Acquisition_1C.if=0 +Acquisition_1C.doppler_max=10000 +Acquisition_1C.doppler_step=250 +Acquisition_1C.dump=false; +Acquisition_1C.dump_filename=/archive/gps_acquisition.dat +;Acquisition_1C.coherent_integration_time_ms=10 + +;######### TRACKING GLOBAL CONFIG ############ +Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking +Tracking_1C.item_type=gr_complex +Tracking_1C.if=60000 +Tracking_1C.early_late_space_chips=0.5 +Tracking_1C.pll_bw_hz=25.0; +Tracking_1C.dll_bw_hz=3.0; +Tracking_1C.dump=false; +Tracking_1C.dump_filename=/archive/gps_tracking_ch_ + +;######### TELEMETRY DECODER GPS CONFIG ############ +TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder + +;######### OBSERVABLES CONFIG ############ +Observables.implementation=Hybrid_Observables +Observables.dump=true; +Observables.dump_filename=/archive/gps_observables.dat + +;######### PVT CONFIG ############ +PVT.implementation=RTKLIB_PVT +PVT.positioning_mode=Single +PVT.output_rate_ms=100 +PVT.display_rate_ms=500 +PVT.trop_model=Saastamoinen +PVT.flag_rtcm_server=true +PVT.flag_rtcm_tty_port=false +PVT.rtcm_dump_devname=/dev/pts/1 +PVT.rtcm_tcp_port=2101 +PVT.rtcm_MT1019_rate_ms=5000 +PVT.rtcm_MT1045_rate_ms=5000 +PVT.rtcm_MT1097_rate_ms=1000 +PVT.rtcm_MT1077_rate_ms=1000 +PVT.rinex_version=2 diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc index b0c0c5666..b4a312895 100644 --- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc +++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc @@ -1258,15 +1258,15 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite { if(flag_write_RTCM_1020_output == true) { - for(std::map::iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end(); glonass_gnav_ephemeris_iter++ ) + for(std::map::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ ) { d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model); } } - std::map::iterator glo_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin(); + std::map::const_iterator glo_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); - if (glo_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) + if (glo_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) { d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } @@ -1276,14 +1276,14 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite { if(flag_write_RTCM_1019_output == true) { - for(gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ ) + for(gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_ephemeris_iter++ ) { d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second); } } if(flag_write_RTCM_1020_output == true) { - for(std::map::iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end(); glonass_gnav_ephemeris_iter++ ) + for(std::map::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ ) { d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model); } @@ -1302,7 +1302,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite { // This is a channel with valid GPS signal gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN); - if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) + if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) { gps_channel = i; } @@ -1313,7 +1313,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite if(system.compare("R") == 0) { glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); - if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) + if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) { glo_channel = i; } @@ -1324,14 +1324,14 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite if(flag_write_RTCM_MSM_output == true) { - if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) + if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) { d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } } if(flag_write_RTCM_MSM_output == true) { - if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) + if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) { d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } @@ -1342,14 +1342,14 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite { if(flag_write_RTCM_1020_output == true) { - for(std::map::iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end(); glonass_gnav_ephemeris_iter++ ) + for(std::map::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ ) { d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model); } } if(flag_write_RTCM_1045_output == true) { - for(galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); galileo_ephemeris_iter++ ) + for(galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); galileo_ephemeris_iter++ ) { d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second); } @@ -1359,18 +1359,18 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite //gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end(); //galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end(); unsigned int i = 0; - for (gnss_observables_iter = gnss_observables_map.begin(); gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter++) + for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++) { std::string system(&gnss_observables_iter->second.System, 1); - if(gps_channel == 0) + if(gal_channel == 0) { - if(system.compare("G") == 0) + if(system.compare("E") == 0) { // This is a channel with valid GPS signal - gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN); - if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) + galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) { - gps_channel = i; + gal_channel = i; } } } @@ -1424,7 +1424,6 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite } b_rtcm_writing_started = true; } - if((type_of_rx == 4) || (type_of_rx == 5) || (type_of_rx == 6) || (type_of_rx == 14) || (type_of_rx == 15)) // Galileo { for(std::map::const_iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); gal_ephemeris_iter++ ) @@ -1514,6 +1513,140 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite } b_rtcm_writing_started = true; } + if((type_of_rx == 23) || (type_of_rx == 24) || (type_of_rx == 25)) // GLONASS + { + for(std::map::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ ) + { + d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model); + } + + std::map::const_iterator glo_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); + + if (glo_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) + { + d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + } + b_rtcm_writing_started = true; + } + if(type_of_rx == 26) // GPS L1 C/A + GLONASS L1 C/A + { + if(d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0 + { + for(gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_ephemeris_iter++ ) + { + d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second); + } + } + if(d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0 + { + for(std::map::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ ) + { + d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model); + } + } + + //gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end(); + //galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end(); + unsigned int i = 0; + for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++) + { + std::string system(&gnss_observables_iter->second.System, 1); + if(gps_channel == 0) + { + if(system.compare("G") == 0) + { + // This is a channel with valid GPS signal + gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) + { + gps_channel = i; + } + } + } + if(glo_channel == 0) + { + if(system.compare("R") == 0) + { + glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) + { + glo_channel = i; + } + } + } + i++; + } + if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) + { + d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + } + + if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) + { + d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + } + + b_rtcm_writing_started = true; + + } + if(type_of_rx == 27) // GLONASS L1 C/A + Galileo E1B + { + if(d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0 + { + for(std::map::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ ) + { + d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model); + } + } + if(d_rtcm_MT1045_rate_ms != 0) // allows deactivating messages by setting rate = 0 + { + for(galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); galileo_ephemeris_iter++ ) + { + d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second); + } + } + + unsigned int i = 0; + for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++) + { + std::string system(&gnss_observables_iter->second.System, 1); + if(gal_channel == 0) + { + if(system.compare("E") == 0) + { + // This is a channel with valid GPS signal + galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) + { + gal_channel = i; + } + } + } + if(glo_channel == 0) + { + if(system.compare("R") == 0) + { + glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) + { + glo_channel = i; + } + } + } + i++; + } + if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) + { + d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + } + if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) + { + d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + } + + + } + } } } diff --git a/src/algorithms/libs/gnss_sdr_valve.cc b/src/algorithms/libs/gnss_sdr_valve.cc index 152bdbe84..0170d6cdc 100644 --- a/src/algorithms/libs/gnss_sdr_valve.cc +++ b/src/algorithms/libs/gnss_sdr_valve.cc @@ -35,6 +35,7 @@ #include // for memcpy #include #include "control_message_factory.h" +#include gnss_sdr_valve::gnss_sdr_valve (size_t sizeof_stream_item, unsigned long long nitems, @@ -61,6 +62,7 @@ int gnss_sdr_valve::work (int noutput_items, { ControlMessageFactory* cmf = new ControlMessageFactory(); d_queue->handle(cmf->GetQueueMessage(200,0)); + LOG(INFO) << "Stoping reciver, "<< d_ncopied_items << " samples processed"; delete cmf; return -1; // Done! } diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc index 24917ef4b..2edfba8bf 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc @@ -106,6 +106,7 @@ glonass_l1_ca_telemetry_decoder_cc::glonass_l1_ca_telemetry_decoder_cc( d_flag_parity = false; d_TOW_at_current_symbol = 0; + Flag_valid_word = false; delta_t = 0; d_CRC_error_counter = 0; d_flag_preamble = false; diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h index 2dfeca167..34bcec2b0 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h @@ -83,7 +83,6 @@ private: unsigned short int d_preambles_bits[GLONASS_GNAV_PREAMBLE_LENGTH_BITS]; int *d_preambles_symbols; unsigned int d_samples_per_symbol; - unsigned int d_samples_per_preamble_symbol; int d_symbols_per_preamble; //!< Storage for incoming data diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc index 2a4917357..da5571399 100644 --- a/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc +++ b/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc @@ -74,18 +74,19 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT1) gnav_eph.d_yr = 2004; gnav_eph.d_N_T = 366+28; - double tod = 70200; + double glo2utc = 3600*3; + double tod = 48600; double week = 0.0; double tow = 0.0; double true_leap_sec = 13; double true_week = 1307; double true_tow = 480600+true_leap_sec; - gnav_eph.glot_to_gpst(tod, 0.0, 0.0, &week, &tow); + gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow); // Perform assertions of decoded fields ASSERT_TRUE(week - true_week < FLT_EPSILON ); - ASSERT_TRUE(tow - true_week < FLT_EPSILON ); + ASSERT_TRUE(tow - true_tow < FLT_EPSILON ); } /*! @@ -98,18 +99,19 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT2) gnav_eph.d_yr = 2016; gnav_eph.d_N_T = 268; + double glo2utc = 3600*3; double tod = 7560; double week = 0.0; double tow = 0.0; - double true_leap_sec = 13; + double true_leap_sec = 17; double true_week = 1915; - double true_tow = 480600+true_leap_sec; + double true_tow = 518400+true_leap_sec+tod; - gnav_eph.glot_to_gpst(tod, 0.0, 0.0, &week, &tow); + gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow); // Perform assertions of decoded fields ASSERT_TRUE(week - true_week < FLT_EPSILON ); - ASSERT_TRUE(tow - true_week < FLT_EPSILON ); + ASSERT_TRUE(tow - true_tow < FLT_EPSILON ); } /*! @@ -122,16 +124,17 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT3) gnav_eph.d_yr = 2016; gnav_eph.d_N_T = 62; - double tod = 7560 + 6*3600; + double glo2utc = 3600*3; + double tod = 7560; double week = 0.0; double tow = 0.0; - double true_leap_sec = 13; - double true_week = 1307; - double true_tow = 480600+true_leap_sec; + double true_leap_sec = 17; + double true_week = 1886; + double true_tow = 259200+true_leap_sec; - gnav_eph.glot_to_gpst(tod, 0.0, 0.0, &week, &tow); + gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow); // Perform assertions of decoded fields ASSERT_TRUE(week - true_week < FLT_EPSILON ); - ASSERT_TRUE(tow - true_week < FLT_EPSILON ); + ASSERT_TRUE(tow - true_tow < FLT_EPSILON ); }