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Avoid potential division by zero

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This commit is contained in:
Carles Fernandez 2025-01-27 14:31:46 +01:00
parent 8109588220
commit 8adc2b26c2
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GPG Key ID: 4C583C52B0C3877D
1 changed files with 24 additions and 13 deletions
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37
src/algorithms/PVT/libs/rtcm.cc
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@ -6006,32 +6006,37 @@ int32_t Rtcm::set_DF401(const Gnss_Synchro& gnss_synchro)
{ {
lambda = SPEED_OF_LIGHT_M_S / GPS_L1_FREQ_HZ; lambda = SPEED_OF_LIGHT_M_S / GPS_L1_FREQ_HZ;
} }
if ((sig == "2S") && (sys == "G")) else if ((sig == "2S") && (sys == "G"))
{ {
lambda = SPEED_OF_LIGHT_M_S / GPS_L2_FREQ_HZ; lambda = SPEED_OF_LIGHT_M_S / GPS_L2_FREQ_HZ;
} }
if ((sig == "5X") && (sys == "E")) else if ((sig == "5X") && (sys == "E"))
{ {
lambda = SPEED_OF_LIGHT_M_S / GALILEO_E5A_FREQ_HZ; lambda = SPEED_OF_LIGHT_M_S / GALILEO_E5A_FREQ_HZ;
} }
if ((sig == "1B") && (sys == "E")) else if ((sig == "1B") && (sys == "E"))
{ {
lambda = SPEED_OF_LIGHT_M_S / GALILEO_E1_FREQ_HZ; lambda = SPEED_OF_LIGHT_M_S / GALILEO_E1_FREQ_HZ;
} }
if ((sig == "7X") && (sys == "E")) else if ((sig == "7X") && (sys == "E"))
{ {
lambda = SPEED_OF_LIGHT_M_S / GALILEO_E5B_FREQ_HZ; lambda = SPEED_OF_LIGHT_M_S / GALILEO_E5B_FREQ_HZ;
} }
if ((sig == "1C") && (sys == "R")) else if ((sig == "1C") && (sys == "R"))
{ {
lambda = SPEED_OF_LIGHT_M_S / ((GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_DFREQ_HZ * GLONASS_PRN.at(gnss_synchro.PRN)))); lambda = SPEED_OF_LIGHT_M_S / ((GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_DFREQ_HZ * GLONASS_PRN.at(gnss_synchro.PRN))));
} }
if ((sig == "2C") && (sys == "R")) else if ((sig == "2C") && (sys == "R"))
{ {
// TODO Need to add slot number and freq number to gnss_syncro // TODO Need to add slot number and freq number to gnss_syncro
lambda = SPEED_OF_LIGHT_M_S / (GLONASS_L2_CA_FREQ_HZ); lambda = SPEED_OF_LIGHT_M_S / (GLONASS_L2_CA_FREQ_HZ);
} }
else
{
// should not happen
LOG(WARNING) << "Unknown signal in the generation of RTCM message DF401";
lambda = SPEED_OF_LIGHT_M_S / GPS_L1_FREQ_HZ;
}
double phrng_m = (gnss_synchro.Carrier_phase_rads / TWO_PI) * lambda - rough_range_m; double phrng_m = (gnss_synchro.Carrier_phase_rads / TWO_PI) * lambda - rough_range_m;
/* Subtract phase - pseudorange integer cycle offset */ /* Subtract phase - pseudorange integer cycle offset */
@ -6182,31 +6187,37 @@ int32_t Rtcm::set_DF406(const Gnss_Synchro& gnss_synchro)
{ {
lambda = SPEED_OF_LIGHT_M_S / GPS_L1_FREQ_HZ; lambda = SPEED_OF_LIGHT_M_S / GPS_L1_FREQ_HZ;
} }
if ((sig_ == "2S") && (sys_ == "G")) else if ((sig_ == "2S") && (sys_ == "G"))
{ {
lambda = SPEED_OF_LIGHT_M_S / GPS_L2_FREQ_HZ; lambda = SPEED_OF_LIGHT_M_S / GPS_L2_FREQ_HZ;
} }
if ((sig_ == "5X") && (sys_ == "E")) else if ((sig_ == "5X") && (sys_ == "E"))
{ {
lambda = SPEED_OF_LIGHT_M_S / GALILEO_E5A_FREQ_HZ; lambda = SPEED_OF_LIGHT_M_S / GALILEO_E5A_FREQ_HZ;
} }
if ((sig_ == "1B") && (sys_ == "E")) else if ((sig_ == "1B") && (sys_ == "E"))
{ {
lambda = SPEED_OF_LIGHT_M_S / GALILEO_E1_FREQ_HZ; lambda = SPEED_OF_LIGHT_M_S / GALILEO_E1_FREQ_HZ;
} }
if ((sig_ == "7X") && (sys_ == "E")) else if ((sig_ == "7X") && (sys_ == "E"))
{ {
lambda = SPEED_OF_LIGHT_M_S / GALILEO_E5B_FREQ_HZ; lambda = SPEED_OF_LIGHT_M_S / GALILEO_E5B_FREQ_HZ;
} }
if ((sig_ == "1C") && (sys_ == "R")) else if ((sig_ == "1C") && (sys_ == "R"))
{ {
lambda = SPEED_OF_LIGHT_M_S / (GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_DFREQ_HZ * GLONASS_PRN.at(gnss_synchro.PRN))); lambda = SPEED_OF_LIGHT_M_S / (GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_DFREQ_HZ * GLONASS_PRN.at(gnss_synchro.PRN)));
} }
if ((sig_ == "2C") && (sys_ == "R")) else if ((sig_ == "2C") && (sys_ == "R"))
{ {
// TODO Need to add slot number and freq number to gnss syncro // TODO Need to add slot number and freq number to gnss syncro
lambda = SPEED_OF_LIGHT_M_S / (GLONASS_L2_CA_FREQ_HZ); lambda = SPEED_OF_LIGHT_M_S / (GLONASS_L2_CA_FREQ_HZ);
} }
else
{
// should not happen
LOG(WARNING) << "Unknown signal in the generation of RTCM message DF406";
lambda = SPEED_OF_LIGHT_M_S / GPS_L1_FREQ_HZ;
}
phrng_m = (gnss_synchro.Carrier_phase_rads / TWO_PI) * lambda - rough_range_m; phrng_m = (gnss_synchro.Carrier_phase_rads / TWO_PI) * lambda - rough_range_m;
/* Subtract phase - pseudorange integer cycle offset */ /* Subtract phase - pseudorange integer cycle offset */