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Merge branch 'joebre-fix-gps-l5-assistance-gating' into next

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Carles Fernandez
2026-09-28 23:49:41 +02:00
parent 9e35452d19 7050b48564
commit 90fd53a4a9
1 changed files with 24 additions and 4 deletions
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src/core/receiver/control_thread.cc
+24 -4
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@@ -534,7 +534,22 @@ bool ControlThread::read_assistance_from_XML()
std::cout << "Trying to read GNSS ephemeris from XML file(s)...\n";
if ((configuration_->property("Channels_1C.count", 0) > 0) || (configuration_->property("Channels_J1.count", 0) > 0))
// GPS/QZSS UTC, iono and almanac data are broadcast system-wide parameters, not
// specific to the L1 C/A signal -- L5/L2C/J5 channels rely on the exact same almanac
// (via the PRN-keyed map PVT and the visibility/Doppler-assist logic read from) for
// visibility classification and Doppler prediction just as much as L1 C/A does. QZSS
// LNAV ephemerides and almanacs are stored in these same maps under their QZSS PRNs,
// and the L5 CNAV decoder does not provide almanacs, so for a J5-only configuration
// these XML files are the only almanac source. Gating this whole block on
// Channels_1C/Channels_J1 alone meant an L5, L2C or J5-only configuration never even
// attempted to load its almanac, UTC or iono files -- not because those files were
// missing or invalid, but because the code never asked for them. The L1 C/A LNAV
// ephemeris load stays inside this same block (L5/L2C/J5 use their own
// separately-gated CNAV ephemeris below); requesting it is harmless when no L1 C/A
// channel exists to use it.
if ((configuration_->property("Channels_1C.count", 0) > 0) || (configuration_->property("Channels_J1.count", 0) > 0) ||
(configuration_->property("Channels_2S.count", 0) > 0) || (configuration_->property("Channels_L5.count", 0) > 0) ||
(configuration_->property("Channels_J5.count", 0) > 0))
{
if (supl_client_ephemeris_.load_ephemeris_xml(eph_xml_filename) == true)
{
@@ -574,7 +589,8 @@ bool ControlThread::read_assistance_from_XML()
gps_alm_iter != supl_client_ephemeris_.gps_almanac_map.cend();
gps_alm_iter++)
{
std::cout << "From XML file: Read GPS almanac for satellite " << Gnss_Satellite("GPS", gps_alm_iter->second.PRN) << '\n';
const std::string system = (gps_alm_iter->second.PRN >= MINPRNQZS && gps_alm_iter->second.PRN <= MAXPRNQZS) ? "QZSS" : "GPS";
std::cout << "From XML file: Read " << system << " almanac for satellite " << Gnss_Satellite(system, gps_alm_iter->second.PRN) << '\n';
const std::shared_ptr<Gps_Almanac> tmp_obj = std::make_shared<Gps_Almanac>(gps_alm_iter->second);
tmp_obj->from_startup_load = true;
flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
@@ -648,7 +664,10 @@ bool ControlThread::read_assistance_from_XML()
}
}
if ((configuration_->property("Channels_2S.count", 0) > 0) || (configuration_->property("Channels_L5.count", 0) > 0))
// QZSS L5 CNAV ephemerides are stored in the same PRN-keyed CNAV map (and saved to
// the same XML file) as the GPS ones, so J5 channels need this block too.
if ((configuration_->property("Channels_2S.count", 0) > 0) || (configuration_->property("Channels_L5.count", 0) > 0) ||
(configuration_->property("Channels_J5.count", 0) > 0))
{
if (supl_client_ephemeris_.load_cnav_ephemeris_xml(eph_cnav_xml_filename) == true)
{
@@ -657,7 +676,8 @@ bool ControlThread::read_assistance_from_XML()
gps_cnav_eph_iter != supl_client_ephemeris_.gps_cnav_ephemeris_map.cend();
gps_cnav_eph_iter++)
{
std::cout << "From XML file: Read CNAV ephemeris for satellite " << Gnss_Satellite("GPS", gps_cnav_eph_iter->second.PRN) << '\n';
const std::string system = (gps_cnav_eph_iter->second.PRN >= MINPRNQZS && gps_cnav_eph_iter->second.PRN <= MAXPRNQZS) ? "QZSS" : "GPS";
std::cout << "From XML file: Read CNAV ephemeris for satellite " << Gnss_Satellite(system, gps_cnav_eph_iter->second.PRN) << '\n';
const std::shared_ptr<Gps_CNAV_Ephemeris> tmp_obj = std::make_shared<Gps_CNAV_Ephemeris>(gps_cnav_eph_iter->second);
flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
}