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Code Issues Releases Wiki Activity

Adding Galileo HAS status output to PVT monitor

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This commit is contained in:
Javier Arribas
2023-10-02 10:23:58 +02:00
parent d487e4ce2c
commit 8019f067e6
4 changed files with 17 additions and 0 deletions
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2
docs/protobuf/monitor_pvt.proto
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@@ -49,4 +49,6 @@ double vel_n = 32; // Velocity North component in the local frame, in m/s
double vel_u = 33; // Velocity Up component in the local frame, in m/s double vel_u = 33; // Velocity Up component in the local frame, in m/s
double cog = 34; // Course Over Ground (cog) [deg] double cog = 34; // Course Over Ground (cog) [deg]
uint32 galhas_status = 35; // Galileo HAS status: 1- HAS messages decoded and applied, 0 - HAS not avaliable
} }

3
src/algorithms/PVT/libs/monitor_pvt.h
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@@ -72,6 +72,9 @@ public:
// Course Over Ground (COG) [deg] // Course Over Ground (COG) [deg]
double cog; double cog;
// Galileo HAS status: 1- HAS messages decoded and applied, 0 - HAS not avaliable
uint32_t galhas_status;
// NUMBER OF VALID SATS // NUMBER OF VALID SATS
uint8_t valid_sats; uint8_t valid_sats;
// RTKLIB solution status // RTKLIB solution status

10
src/algorithms/PVT/libs/rtklib_solver.cc
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@@ -1688,6 +1688,16 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
// Course Over Ground (cog) [deg] // Course Over Ground (cog) [deg]
d_monitor_pvt.cog = new_cog; d_monitor_pvt.cog = new_cog;
// Galileo HAS status: 1- HAS messages decoded and applied, 0 - HAS not avaliable
if (d_has_obs_corr_map.empty())
{
d_monitor_pvt.galhas_status = 0;
}
else
{
d_monitor_pvt.galhas_status = 1;
}
const double clock_drift_ppm = pvt_sol.dtr[5] / SPEED_OF_LIGHT_M_S * 1e6; const double clock_drift_ppm = pvt_sol.dtr[5] / SPEED_OF_LIGHT_M_S * 1e6;
this->set_clock_drift_ppm(clock_drift_ppm); this->set_clock_drift_ppm(clock_drift_ppm);

2
src/algorithms/PVT/libs/serdes_monitor_pvt.h
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@@ -117,6 +117,7 @@ public:
monitor_.set_vel_n(monitor->vel_n); monitor_.set_vel_n(monitor->vel_n);
monitor_.set_vel_u(monitor->vel_u); monitor_.set_vel_u(monitor->vel_u);
monitor_.set_cog(monitor->cog); monitor_.set_cog(monitor->cog);
monitor_.set_galhas_status(monitor->galhas_status);
monitor_.SerializeToString(&data); monitor_.SerializeToString(&data);
return data; return data;
} }
@@ -159,6 +160,7 @@ public:
monitor.vel_n = mon.vel_n(); monitor.vel_n = mon.vel_n();
monitor.vel_u = mon.vel_u(); monitor.vel_u = mon.vel_u();
monitor.cog = mon.cog(); monitor.cog = mon.cog();
monitor.galhas_status = mon.galhas_status();
return monitor; return monitor;
} }