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https://github.com/gnss-sdr/gnss-sdr
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Adding Galileo HAS status output to PVT monitor
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@ -49,4 +49,6 @@ double vel_n = 32; // Velocity North component in the local frame, in m/s
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double vel_u = 33; // Velocity Up component in the local frame, in m/s
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double vel_u = 33; // Velocity Up component in the local frame, in m/s
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double cog = 34; // Course Over Ground (cog) [deg]
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double cog = 34; // Course Over Ground (cog) [deg]
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uint32 galhas_status = 35; // Galileo HAS status: 1- HAS messages decoded and applied, 0 - HAS not avaliable
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}
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}
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@ -72,6 +72,9 @@ public:
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// Course Over Ground (COG) [deg]
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// Course Over Ground (COG) [deg]
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double cog;
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double cog;
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// Galileo HAS status: 1- HAS messages decoded and applied, 0 - HAS not avaliable
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uint32_t galhas_status;
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// NUMBER OF VALID SATS
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// NUMBER OF VALID SATS
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uint8_t valid_sats;
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uint8_t valid_sats;
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// RTKLIB solution status
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// RTKLIB solution status
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@ -1688,6 +1688,16 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
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// Course Over Ground (cog) [deg]
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// Course Over Ground (cog) [deg]
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d_monitor_pvt.cog = new_cog;
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d_monitor_pvt.cog = new_cog;
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// Galileo HAS status: 1- HAS messages decoded and applied, 0 - HAS not avaliable
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if (d_has_obs_corr_map.empty())
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{
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d_monitor_pvt.galhas_status = 0;
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}
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else
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{
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d_monitor_pvt.galhas_status = 1;
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}
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const double clock_drift_ppm = pvt_sol.dtr[5] / SPEED_OF_LIGHT_M_S * 1e6;
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const double clock_drift_ppm = pvt_sol.dtr[5] / SPEED_OF_LIGHT_M_S * 1e6;
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this->set_clock_drift_ppm(clock_drift_ppm);
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this->set_clock_drift_ppm(clock_drift_ppm);
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@ -117,6 +117,7 @@ public:
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monitor_.set_vel_n(monitor->vel_n);
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monitor_.set_vel_n(monitor->vel_n);
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monitor_.set_vel_u(monitor->vel_u);
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monitor_.set_vel_u(monitor->vel_u);
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monitor_.set_cog(monitor->cog);
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monitor_.set_cog(monitor->cog);
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monitor_.set_galhas_status(monitor->galhas_status);
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monitor_.SerializeToString(&data);
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monitor_.SerializeToString(&data);
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return data;
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return data;
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}
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}
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@ -159,6 +160,7 @@ public:
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monitor.vel_n = mon.vel_n();
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monitor.vel_n = mon.vel_n();
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monitor.vel_u = mon.vel_u();
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monitor.vel_u = mon.vel_u();
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monitor.cog = mon.cog();
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monitor.cog = mon.cog();
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monitor.galhas_status = mon.galhas_status();
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return monitor;
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return monitor;
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}
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}
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