diff --git a/src/algorithms/PVT/libs/rtklib_solver.cc b/src/algorithms/PVT/libs/rtklib_solver.cc index 0f6e84b06..ffc190d46 100644 --- a/src/algorithms/PVT/libs/rtklib_solver.cc +++ b/src/algorithms/PVT/libs/rtklib_solver.cc @@ -798,25 +798,104 @@ bool Rtklib_Solver::get_PVT(const std::map &gnss_observables_ { int result = 0; int sat = 0; - nav_t nav_data; + nav_t nav_data{}; nav_data.eph = eph_data.data(); nav_data.geph = geph_data.data(); nav_data.n = valid_obs; nav_data.ng = glo_valid_obs; - - for (auto &i : nav_data.lam) + if (gps_iono.valid) { - i[0] = SPEED_OF_LIGHT / FREQ1; // L1/E1 - i[1] = SPEED_OF_LIGHT / FREQ2; // L2 - i[2] = SPEED_OF_LIGHT / FREQ5; // L5/E5 + nav_data.ion_gps[0] = gps_iono.d_alpha0; + nav_data.ion_gps[1] = gps_iono.d_alpha1; + nav_data.ion_gps[2] = gps_iono.d_alpha2; + nav_data.ion_gps[3] = gps_iono.d_alpha3; + nav_data.ion_gps[4] = gps_iono.d_beta0; + nav_data.ion_gps[5] = gps_iono.d_beta1; + nav_data.ion_gps[6] = gps_iono.d_beta2; + nav_data.ion_gps[7] = gps_iono.d_beta3; + } + if (!(gps_iono.valid) and gps_cnav_iono.valid) + { + nav_data.ion_gps[0] = gps_cnav_iono.d_alpha0; + nav_data.ion_gps[1] = gps_cnav_iono.d_alpha1; + nav_data.ion_gps[2] = gps_cnav_iono.d_alpha2; + nav_data.ion_gps[3] = gps_cnav_iono.d_alpha3; + nav_data.ion_gps[4] = gps_cnav_iono.d_beta0; + nav_data.ion_gps[5] = gps_cnav_iono.d_beta1; + nav_data.ion_gps[6] = gps_cnav_iono.d_beta2; + nav_data.ion_gps[7] = gps_cnav_iono.d_beta3; + } + if (galileo_iono.ai0_5 != 0.0) + { + nav_data.ion_gal[0] = galileo_iono.ai0_5; + nav_data.ion_gal[1] = galileo_iono.ai1_5; + nav_data.ion_gal[2] = galileo_iono.ai2_5; + nav_data.ion_gal[3] = 0.0; + } + if (beidou_dnav_iono.valid) + { + nav_data.ion_cmp[0] = beidou_dnav_iono.d_alpha0; + nav_data.ion_cmp[1] = beidou_dnav_iono.d_alpha1; + nav_data.ion_cmp[2] = beidou_dnav_iono.d_alpha2; + nav_data.ion_cmp[3] = beidou_dnav_iono.d_alpha3; + nav_data.ion_cmp[4] = beidou_dnav_iono.d_beta0; + nav_data.ion_cmp[5] = beidou_dnav_iono.d_beta0; + nav_data.ion_cmp[6] = beidou_dnav_iono.d_beta0; + nav_data.ion_cmp[7] = beidou_dnav_iono.d_beta3; + } + if (gps_utc_model.valid) + { + nav_data.utc_gps[0] = gps_utc_model.d_A0; + nav_data.utc_gps[1] = gps_utc_model.d_A1; + nav_data.utc_gps[2] = gps_utc_model.d_t_OT; + nav_data.utc_gps[3] = gps_utc_model.i_WN_T; + nav_data.leaps = gps_utc_model.d_DeltaT_LS; + } + if (!(gps_utc_model.valid) and gps_cnav_utc_model.valid) + { + nav_data.utc_gps[0] = gps_cnav_utc_model.d_A0; + nav_data.utc_gps[1] = gps_cnav_utc_model.d_A1; + nav_data.utc_gps[2] = gps_cnav_utc_model.d_t_OT; + nav_data.utc_gps[3] = gps_cnav_utc_model.i_WN_T; + nav_data.leaps = gps_cnav_utc_model.d_DeltaT_LS; + } + if (glonass_gnav_utc_model.valid) + { + nav_data.utc_glo[0] = glonass_gnav_utc_model.d_tau_c; // ?? + nav_data.utc_glo[1] = 0.0; // ?? + nav_data.utc_glo[2] = 0.0; // ?? + nav_data.utc_glo[3] = 0.0; // ?? + } + if (galileo_utc_model.A0_6 != 0.0) + { + nav_data.utc_gal[0] = galileo_utc_model.A0_6; + nav_data.utc_gal[1] = galileo_utc_model.A1_6; + nav_data.utc_gal[2] = galileo_utc_model.t0t_6; + nav_data.utc_gal[3] = galileo_utc_model.WNot_6; + nav_data.leaps = galileo_utc_model.Delta_tLS_6; + } + if (beidou_dnav_utc_model.valid) + { + nav_data.utc_cmp[0] = beidou_dnav_utc_model.d_A0_UTC; + nav_data.utc_cmp[1] = beidou_dnav_utc_model.d_A1_UTC; + nav_data.utc_cmp[2] = 0.0; // ?? + nav_data.utc_cmp[3] = 0.0; // ?? + nav_data.leaps = beidou_dnav_utc_model.d_DeltaT_LS; + } + + for (auto &lambda_ : nav_data.lam) + { + lambda_[0] = SPEED_OF_LIGHT / FREQ1; // L1/E1 + lambda_[1] = SPEED_OF_LIGHT / FREQ2; // L2 + lambda_[2] = SPEED_OF_LIGHT / FREQ5; // L5/E5 // Keep update on sat number sat++; if (sat > NSYSGPS + NSYSGLO + NSYSGAL + NSYSQZS and sat < NSYSGPS + NSYSGLO + NSYSGAL + NSYSQZS + NSYSBDS) { - i[0] = SPEED_OF_LIGHT / FREQ1_BDS; // B1I - i[1] = SPEED_OF_LIGHT / FREQ3_BDS; // B3I - i[2] = SPEED_OF_LIGHT / FREQ5; // L5/E5 + lambda_[0] = SPEED_OF_LIGHT / FREQ1_BDS; // B1I + lambda_[1] = SPEED_OF_LIGHT / FREQ3_BDS; // B3I + lambda_[2] = SPEED_OF_LIGHT / FREQ5; // L5/E5 } } diff --git a/src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.cc b/src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.cc index 9a3462407..1c7d7c231 100644 --- a/src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.cc +++ b/src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.cc @@ -76,7 +76,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcqui This may be a bug, but acquisition also work by variying the folding factor at va- lues different that the expressed in the paper. In adition, it is important to point out that by making the folding factor smaller we were able to get QuickSync work with - Galileo. Future work should be directed to test this asumption statistically.*/ + Galileo. Future work should be directed to test this assumption statistically.*/ //folding_factor_ = static_cast(ceil(sqrt(log2(code_length_)))); folding_factor_ = configuration_->property(role + ".folding_factor", 2); diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.cc index 44f262388..71d527a81 100644 --- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.cc +++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.cc @@ -512,7 +512,7 @@ int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items, { /*! * TODO: High sensitivity acquisition algorithm: - * State Mechine: + * State Machine: * S0. StandBy. If d_active==1 -> S1 * S1. ComputeGrid. Perform the FFT acqusition doppler and delay grid. * Accumulate the search grid matrix (#doppler_bins x #fft_size) diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.h index 81f75766d..ad9d66af1 100644 --- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.h +++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.h @@ -182,7 +182,7 @@ public: } /*! - * \brief This funciton triggers a HW reset of the FPGA PL. + * \brief This function triggers a HW reset of the FPGA PL. */ void reset_acquisition(void); diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.cc index a713357b2..25997df63 100644 --- a/src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.cc +++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.cc @@ -353,7 +353,7 @@ int pcps_assisted_acquisition_cc::general_work(int noutput_items, { /*! * TODO: High sensitivity acquisition algorithm: - * State Mechine: + * State Machine: * S0. StandBy. If d_active==1 -> S1 * S1. GetAssist. Define search grid with assistance information. Reset grid matrix -> S2 * S2. ComputeGrid. Perform the FFT acqusition doppler and delay grid. diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.cc index fe14f7aa6..dce164412 100644 --- a/src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.cc +++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.cc @@ -463,7 +463,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items, complex_acumulator[i] += (corr_output[j]); } } - /*Obtain maximun value of correlation given the possible delay selected */ + /*Obtain maximum value of correlation given the possible delay selected */ volk_32fc_magnitude_squared_32f(d_corr_output_f, complex_acumulator, d_folding_factor); volk_gnsssdr_32f_index_max_32u(&indext, d_corr_output_f, d_folding_factor); diff --git a/src/algorithms/acquisition/libs/acq_conf.cc b/src/algorithms/acquisition/libs/acq_conf.cc index 8e8d48d5e..d7e007e1c 100644 --- a/src/algorithms/acquisition/libs/acq_conf.cc +++ b/src/algorithms/acquisition/libs/acq_conf.cc @@ -1,7 +1,7 @@ /*! * \file acq_conf.cc * \brief Class that contains all the configuration parameters for generic - * acquisition block based on the PCPS algoritm. + * acquisition block based on the PCPS algorithm. * \author Carles Fernandez, 2018. cfernandez(at)cttc.es * * ------------------------------------------------------------------------- diff --git a/src/algorithms/acquisition/libs/acq_conf.h b/src/algorithms/acquisition/libs/acq_conf.h index 70d7a8a72..01ff13b75 100644 --- a/src/algorithms/acquisition/libs/acq_conf.h +++ b/src/algorithms/acquisition/libs/acq_conf.h @@ -1,7 +1,7 @@ /*! * \file acq_conf.h * \brief Class that contains all the configuration parameters for generic - * acquisition block based on the PCPS algoritm. + * acquisition block based on the PCPS algorithm. * \author Carles Fernandez, 2018. cfernandez(at)cttc.es * * ------------------------------------------------------------------------- diff --git a/src/algorithms/acquisition/libs/fpga_acquisition.h b/src/algorithms/acquisition/libs/fpga_acquisition.h index 823400290..dd28f4314 100644 --- a/src/algorithms/acquisition/libs/fpga_acquisition.h +++ b/src/algorithms/acquisition/libs/fpga_acquisition.h @@ -121,7 +121,7 @@ private: int32_t d_fd; // driver descriptor volatile uint32_t *d_map_base; // driver memory map uint32_t *d_all_fft_codes; // memory that contains all the code ffts - uint32_t d_vector_length; // number of samples incluing padding and number of ms + uint32_t d_vector_length; // number of samples including padding and number of ms uint32_t d_excludelimit; uint32_t d_nsamples_total; // number of samples including padding uint32_t d_nsamples; // number of samples not including padding diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkBuildTypes.cmake b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkBuildTypes.cmake index 6f45f1683..227e60f32 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkBuildTypes.cmake +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkBuildTypes.cmake @@ -50,7 +50,7 @@ list(APPEND AVAIL_BUILDTYPES # known build types in AVAIL_BUILDTYPES. If the build type is found, # the function exits immediately. If nothing is found by the end of # checking all available build types, we exit with an error and list -# the avialable build types. +# the available build types. ######################################################################## function(VOLK_CHECK_BUILD_TYPE settype) string(TOUPPER ${settype} _settype) diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/lib/CMakeLists.txt b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/lib/CMakeLists.txt index 095028f60..8a77ed18f 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/lib/CMakeLists.txt +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/lib/CMakeLists.txt @@ -183,7 +183,7 @@ if(CPU_IS_x86) # eliminate AVX if cvtpi32_ps intrinsic fails like some versions of clang ######################################################################### - # check to see if the compiler/linker works with cvtpi32_ps instrinsic when using AVX + # check to see if the compiler/linker works with cvtpi32_ps intrinsic when using AVX if(CMAKE_SIZEOF_VOID_P EQUAL 4) file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/test_cvtpi32_ps.c "#include \nint main (void) {__m128 __a; __m64 __b; __m128 foo = _mm_cvtpi32_ps(__a, __b); return (0); }") execute_process(COMMAND ${CMAKE_C_COMPILER} -mavx -o @@ -192,7 +192,7 @@ if(CPU_IS_x86) OUTPUT_QUIET ERROR_QUIET RESULT_VARIABLE avx_compile_result) if(NOT ${avx_compile_result} EQUAL 0) - overrule_arch(avx "Compiler missing cvtpi32_ps instrinsic") + overrule_arch(avx "Compiler missing cvtpi32_ps intrinsic") elseif(NOT CROSSCOMPILE_MULTILIB) execute_process(COMMAND ${CMAKE_CURRENT_BINARY_DIR}/test_cvtpi32_ps OUTPUT_QUIET ERROR_QUIET @@ -216,7 +216,7 @@ if(CPU_IS_x86) if("${CMAKE_C_COMPILER_ID}" MATCHES "Clang") # Figure out the version of Clang if(CMAKE_VERSION VERSION_LESS "2.8.10") - # Exctract the Clang version from the --version string. + # Extract the Clang version from the --version string. # In cmake 2.8.10, we can just use CMAKE_C_COMPILER_VERSION # without having to go through these string manipulations execute_process(COMMAND ${CMAKE_C_COMPILER} --version diff --git a/src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.h b/src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.h index 4e8196fcb..2200050b3 100644 --- a/src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.h +++ b/src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.h @@ -102,7 +102,7 @@ private: static void static_pcap_callback(u_char *args, const struct pcap_pkthdr *pkthdr, const u_char *packet); /* * Opens the ethernet device using libpcap raw capture mode - * If any of these fail, the fuction retuns the error and exits. + * If any of these fail, the function returns the error and exits. */ bool open(); }; diff --git a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc index 940b43284..c57266ee8 100644 --- a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc +++ b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc @@ -1655,7 +1655,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused) d_P_accu = *d_Prompt; d_L_accu = *d_Late; - //fail-safe: check if the secondary code or bit synchronization has not succedded in a limited time period + //fail-safe: check if the secondary code or bit synchronization has not succeeded in a limited time period if (trk_parameters.bit_synchronization_time_limit_s < (d_sample_counter - d_acq_sample_stamp) / static_cast(trk_parameters.fs_in)) { d_carrier_lock_fail_counter = 300000; //force loss-of-lock condition diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc index 51e805957..4d11c4193 100644 --- a/src/core/receiver/gnss_flowgraph.cc +++ b/src/core/receiver/gnss_flowgraph.cc @@ -1065,7 +1065,7 @@ bool GNSSFlowgraph::send_telemetry_msg(const pmt::pmt_t& msg) * \param[in] what What is the action: * --- actions from channels --- * -> 0 acquisition failed - * -> 1 acquisition succesfull + * -> 1 acquisition successful * -> 2 tracking lost * --- actions from TC receiver control --- * -> 10 TC request standby mode diff --git a/src/core/system_parameters/Beidou_B1I.h b/src/core/system_parameters/Beidou_B1I.h index a341d9a2c..eebba1de5 100644 --- a/src/core/system_parameters/Beidou_B1I.h +++ b/src/core/system_parameters/Beidou_B1I.h @@ -73,7 +73,7 @@ const int BEIDOU_WORD_LENGTH = 4; const int BEIDOU_SUBFRAME_LENGTH = 40; //**************!< BEIDOU_WORD_LENGTH x 10 = 40 bytes const int BEIDOU_DNAV_SUBFRAME_DATA_BITS = 300; //!< Number of bits per subframe in the NAV message [bits] const int BEIDOU_SUBFRAME_SECONDS = 6; //!< Subframe duration [seconds] -const int BEIDOU_SUBFRAME_MS = 6000; //!< Subframe duration [miliseconds] +const int BEIDOU_SUBFRAME_MS = 6000; //!< Subframe duration [milliseconds] const int BEIDOU_WORD_BITS = 30; //!< Number of bits per word in the NAV message [bits] diff --git a/src/core/system_parameters/GPS_L1_CA.h b/src/core/system_parameters/GPS_L1_CA.h index 2c6c7465f..573eb28ca 100644 --- a/src/core/system_parameters/GPS_L1_CA.h +++ b/src/core/system_parameters/GPS_L1_CA.h @@ -59,7 +59,7 @@ const uint32_t GPS_L1_CA_BIT_PERIOD_MS = 20U; //!< GPS L1 C/A bit period [ const double GPS_L1_CA_CHIP_PERIOD = 9.7752e-07; //!< GPS L1 C/A chip period [seconds] //optimum parameters -const uint32_t GPS_L1_CA_OPT_ACQ_FS_HZ = 2000000; //!< Sampling frequncy that maximizes the acquisition SNR while using a non-multiple of chip rate +const uint32_t GPS_L1_CA_OPT_ACQ_FS_HZ = 2000000; //!< Sampling frequency that maximizes the acquisition SNR while using a non-multiple of chip rate /*! * \brief Maximum Time-Of-Arrival (TOA) difference between satellites for a receiver operated on Earth surface is 20 ms diff --git a/src/core/system_parameters/GPS_L2C.h b/src/core/system_parameters/GPS_L2C.h index 367534441..ab586dd97 100644 --- a/src/core/system_parameters/GPS_L2C.h +++ b/src/core/system_parameters/GPS_L2C.h @@ -64,7 +64,7 @@ const double GPS_L2_L_PERIOD = 1.5; //!< GPS L2 L code period [s const int32_t GPS_L2C_HISTORY_DEEP = 5; //optimum parameters -const uint32_t GPS_L2C_OPT_ACQ_FS_HZ = 2000000; //!< Sampling frequncy that maximizes the acquisition SNR while using a non-multiple of chip rate +const uint32_t GPS_L2C_OPT_ACQ_FS_HZ = 2000000; //!< Sampling frequency that maximizes the acquisition SNR while using a non-multiple of chip rate const int32_t GPS_L2C_M_INIT_REG[115] = diff --git a/src/core/system_parameters/GPS_L5.h b/src/core/system_parameters/GPS_L5.h index d2fa25db3..693c619c1 100644 --- a/src/core/system_parameters/GPS_L5.h +++ b/src/core/system_parameters/GPS_L5.h @@ -65,7 +65,7 @@ const double GPS_L5Q_PERIOD = 0.001; //!< GPS L5 code period [secon const int32_t GPS_L5_HISTORY_DEEP = 5; //optimum parameters -const uint32_t GPS_L5_OPT_ACQ_FS_HZ = 10000000; //!< Sampling frequncy that maximizes the acquisition SNR while using a non-multiple of chip rate +const uint32_t GPS_L5_OPT_ACQ_FS_HZ = 10000000; //!< Sampling frequency that maximizes the acquisition SNR while using a non-multiple of chip rate const int32_t GPS_L5I_INIT_REG[210] = {266, 365, 804, 1138, diff --git a/src/core/system_parameters/Galileo_E1.h b/src/core/system_parameters/Galileo_E1.h index ee5fc3896..b1d45235c 100644 --- a/src/core/system_parameters/Galileo_E1.h +++ b/src/core/system_parameters/Galileo_E1.h @@ -65,7 +65,7 @@ const int32_t GALILEO_E1_NUMBER_OF_CODES = 50; //optimum parameters -const uint32_t GALILEO_E1_OPT_ACQ_FS_HZ = 2000000; //!< Sampling frequncy that maximizes the acquisition SNR while using a non-multiple of chip rate +const uint32_t GALILEO_E1_OPT_ACQ_FS_HZ = 2000000; //!< Sampling frequency that maximizes the acquisition SNR while using a non-multiple of chip rate const double GALILEO_STARTOFFSET_MS = 68.802; //[ms] Initial sign. travel time (this cannot go here) diff --git a/src/core/system_parameters/Galileo_E5a.h b/src/core/system_parameters/Galileo_E5a.h index 5c7e5c350..9871c63df 100644 --- a/src/core/system_parameters/Galileo_E5a.h +++ b/src/core/system_parameters/Galileo_E5a.h @@ -58,7 +58,7 @@ const int32_t GALILEO_E5A_HISTORY_DEEP = 20; const int32_t GALILEO_E5A_CRC_ERROR_LIMIT = 6; //optimum parameters -const uint32_t GALILEO_E5A_OPT_ACQ_FS_HZ = 10000000; //!< Sampling frequncy that maximizes the acquisition SNR while using a non-multiple of chip rate +const uint32_t GALILEO_E5A_OPT_ACQ_FS_HZ = 10000000; //!< Sampling frequency that maximizes the acquisition SNR while using a non-multiple of chip rate // F/NAV message structure diff --git a/src/core/system_parameters/beidou_dnav_navigation_message.cc b/src/core/system_parameters/beidou_dnav_navigation_message.cc index 77ffae6ef..3f1a8bd17 100644 --- a/src/core/system_parameters/beidou_dnav_navigation_message.cc +++ b/src/core/system_parameters/beidou_dnav_navigation_message.cc @@ -458,7 +458,7 @@ int32_t Beidou_Dnav_Navigation_Message::d1_subframe_decoder(std::string const& s subframe_ID = static_cast(read_navigation_unsigned(subframe_bits, D1_FRAID)); - // Perform crc computtaion (tbd) + // Perform crc computation (tbd) flag_crc_test = true; // Decode all 5 sub-frames @@ -753,7 +753,7 @@ int32_t Beidou_Dnav_Navigation_Message::d2_subframe_decoder(std::string const& s subframe_ID = static_cast(read_navigation_unsigned(subframe_bits, D2_FRAID)); page_ID = static_cast(read_navigation_unsigned(subframe_bits, D2_PNUM)); - // Perform crc computtaion (tbd) + // Perform crc computation (tbd) flag_crc_test = true; // Decode all 5 sub-frames