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Merge branch 'next' into e6-pvt

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Carles Fernandez 2022-06-04 11:52:48 +02:00
commit 757f95f3de
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1 changed files with 12 additions and 11 deletions
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23
src/algorithms/PVT/adapters/rtklib_pvt.cc
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@ -489,28 +489,29 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
int num_bands = 0; int num_bands = 0;
if ((gps_1C_count > 0) || (gal_1B_count > 0) || (gal_E6_count > 0) || (glo_1G_count > 0) || (bds_B1_count > 0)) if ((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0) || (bds_B1_count > 0))
{ {
num_bands = 1; num_bands += 1;
} }
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0) || (bds_B1_count > 0)) && ((gps_2S_count > 0) || (glo_2G_count > 0) || (bds_B3_count > 0))) if ((gps_2S_count > 0) || (glo_2G_count > 0) || (bds_B3_count > 0))
{ {
num_bands = 2; num_bands += 1;
} }
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0) || (bds_B1_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) if (gal_E6_count > 0)
{ {
num_bands = 2; num_bands += 1;
} }
if ((gal_1B_count > 0) && (gal_E6_count > 0)) if ((gal_E5a_count > 0) || (gps_L5_count > 0))
{ {
num_bands = 2; num_bands += 1;
} }
if ((gal_1B_count > 0) && (gal_E6_count > 0) && ((gal_E5a_count > 0) || (gal_E5b_count > 0))) if (gal_E5b_count > 0)
{ {
num_bands = 3; num_bands += 1;
} }
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0) || (bds_B1_count > 0)) && ((gps_2S_count > 0) || (glo_2G_count > 0) || (bds_B3_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) if (num_bands > 3)
{ {
LOG(WARNING) << "Too much bands: The PVT engine can only handle 3 bands, but " << num_bands << " were set";
num_bands = 3; num_bands = 3;
} }