From 93d2fdaf1436d6adef162d1e0fe6031582f2d1bc Mon Sep 17 00:00:00 2001
From: Antonio Ramos <antonio.ramosdet@gmail.com>
Date: Thu, 8 Mar 2018 18:05:22 +0100
Subject: [PATCH] debug 9

---
 src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc |  2 +-
 src/algorithms/PVT/libs/rtklib_solver.cc            |  6 +++---
 src/algorithms/libs/rtklib/rtklib_pntpos.cc         | 12 +++---------
 src/algorithms/libs/rtklib/rtklib_rtcm.cc           |  2 +-
 src/algorithms/libs/rtklib/rtklib_rtcm2.cc          |  2 +-
 src/algorithms/libs/rtklib/rtklib_rtcm3.cc          | 12 ++++++------
 src/algorithms/libs/rtklib/rtklib_rtksvr.cc         |  2 +-
 7 files changed, 16 insertions(+), 22 deletions(-)

diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
index e688ada7d..43da2f97f 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
@@ -385,7 +385,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
     msgctl(sysv_msqid, IPC_RMID, NULL);
 
     //save GPS L2CM ephemeris to XML file
-    std::string file_name = "eph_GPS_L2CM_L5.xml";
+    std::string file_name = "eph_GPS_CNAV.xml";
 
     if (d_ls_pvt->gps_cnav_ephemeris_map.size() > 0)
         {
diff --git a/src/algorithms/PVT/libs/rtklib_solver.cc b/src/algorithms/PVT/libs/rtklib_solver.cc
index 081f38bfd..f504ebfe0 100644
--- a/src/algorithms/PVT/libs/rtklib_solver.cc
+++ b/src/algorithms/PVT/libs/rtklib_solver.cc
@@ -127,7 +127,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
     int glo_valid_obs = 0;  //GLONASS L1/L2 valid observations counter
 
     obsd_t obs_data[MAXOBS];
-    eph_t eph_data[MAXOBS];
+    eph_t  eph_data[MAXOBS];
     geph_t geph_data[MAXOBS];
 
     for(gnss_observables_iter = gnss_observables_map.cbegin();
@@ -404,7 +404,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
     // **********************************************************************
 
     this->set_valid_position(false);
-    if (valid_obs > 0 || glo_valid_obs > 0)
+    if ((valid_obs + glo_valid_obs) > 3)
         {
             int result = 0;
             nav_t nav_data;
@@ -495,5 +495,5 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
                         }
                 }
         }
-    return this->is_valid_position();
+    return is_valid_position();
 }
diff --git a/src/algorithms/libs/rtklib/rtklib_pntpos.cc b/src/algorithms/libs/rtklib/rtklib_pntpos.cc
index b8795531c..aea3dd85f 100644
--- a/src/algorithms/libs/rtklib/rtklib_pntpos.cc
+++ b/src/algorithms/libs/rtklib/rtklib_pntpos.cc
@@ -205,15 +205,9 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
     d_file.write(reinterpret_cast<char*>(&P1_P2), sizeof(double));
     d_file.write(reinterpret_cast<char*>(&P1_C1), sizeof(double));
     d_file.write(reinterpret_cast<char*>(&P2_C2), sizeof(double));
+
     /* if no P1-P2 DCB, use TGD instead */
-    if(P1_P2 == 0.0 and sys == SYS_GPS)
-    {
-        P1_P2 = gettgd(obs->sat, nav);
-    }
-    else if(P1_P2 == 0.0 and sys == SYS_GAL)
-    {
-        //TODO
-    }
+    if(P1_P2 == 0.0) { P1_P2 = gettgd(obs->sat, nav); }
 
     if(sys == SYS_GPS)
     {
@@ -276,7 +270,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
         }
         else if(sys == SYS_GAL) /* E1 + E5a */
         {
-
+            //TODO
         }
     }
     d_file.write(reinterpret_cast<char*>(&PC), sizeof(double));
diff --git a/src/algorithms/libs/rtklib/rtklib_rtcm.cc b/src/algorithms/libs/rtklib/rtklib_rtcm.cc
index e3c0d15b9..3ffb4502d 100644
--- a/src/algorithms/libs/rtklib/rtklib_rtcm.cc
+++ b/src/algorithms/libs/rtklib/rtklib_rtcm.cc
@@ -69,7 +69,7 @@ int init_rtcm(rtcm_t *rtcm)
     obsd_t data0 = {{0, 0.0}, 0, 0, {0}, {0}, {0}, {0.0}, {0.0}, {0.0}};
     eph_t eph0 = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0},
         0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
-        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
+        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
     geph_t geph0 = {0, -1, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0.0}, {0.0}, {0.0},
         0.0, 0.0, 0.0};
     ssr_t ssr0 = {{{0, 0.0}}, {0.0}, {0}, 0, 0, 0, 0, {0.0}, {0.0}, {0.0}, 0.0, {0.0}, {0.0}, {0.0}, 0.0, 0.0, '0'};
diff --git a/src/algorithms/libs/rtklib/rtklib_rtcm2.cc b/src/algorithms/libs/rtklib/rtklib_rtcm2.cc
index a754db2e0..c7af88ccd 100644
--- a/src/algorithms/libs/rtklib/rtklib_rtcm2.cc
+++ b/src/algorithms/libs/rtklib/rtklib_rtcm2.cc
@@ -219,7 +219,7 @@ int decode_type17(rtcm_t *rtcm)
 {
     eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0},
         0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
-        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
+        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
     double toc, sqrtA;
     int i = 48, week, prn, sat;
 
diff --git a/src/algorithms/libs/rtklib/rtklib_rtcm3.cc b/src/algorithms/libs/rtklib/rtklib_rtcm3.cc
index 53e88739d..249953f64 100644
--- a/src/algorithms/libs/rtklib/rtklib_rtcm3.cc
+++ b/src/algorithms/libs/rtklib/rtklib_rtcm3.cc
@@ -846,7 +846,7 @@ int decode_type1019(rtcm_t *rtcm)
 {
     eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0},
         0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
-        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
+        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
     double toc, sqrtA;
     char *msg;
     int i = 24 + 12, prn, sat, week, sys = SYS_GPS;
@@ -1293,7 +1293,7 @@ int decode_type1044(rtcm_t *rtcm)
 {
     eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0},
         0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
-        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
+        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
     double toc, sqrtA;
     char *msg;
     int i = 24 + 12, prn, sat, week, sys = SYS_QZS;
@@ -1398,7 +1398,7 @@ int decode_type1045(rtcm_t *rtcm)
 {
     eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0},
         0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
-        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
+        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
     double toc, sqrtA;
     char *msg;
     int i = 24 + 12, prn, sat, week, e5a_hs, e5a_dvs, sys = SYS_GAL;
@@ -1502,7 +1502,7 @@ int decode_type1046(rtcm_t *rtcm)
 {
     eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0},
         0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
-        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
+        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
     double toc, sqrtA;
     char *msg;
     int i = 24 + 12, prn, sat, week, e5a_hs, e5a_dvs, sys = SYS_GAL;
@@ -1606,7 +1606,7 @@ int decode_type1047(rtcm_t *rtcm)
 {
     eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0},
         0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
-        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
+        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
     ;
     double toc, sqrtA;
     char *msg;
@@ -1716,7 +1716,7 @@ int decode_type63(rtcm_t *rtcm)
 {
     eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0},
         0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
-        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
+        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
     double toc, sqrtA;
     char *msg;
     int i = 24 + 12, prn, sat, week, sys = SYS_BDS;
diff --git a/src/algorithms/libs/rtklib/rtklib_rtksvr.cc b/src/algorithms/libs/rtklib/rtklib_rtksvr.cc
index 732d5cc28..0a2875f97 100644
--- a/src/algorithms/libs/rtklib/rtklib_rtksvr.cc
+++ b/src/algorithms/libs/rtklib/rtklib_rtksvr.cc
@@ -592,7 +592,7 @@ int rtksvrinit(rtksvr_t *svr)
         '0', '0', '0', 0, 0, 0};
     eph_t eph0 = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0},
         0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
-        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
+        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
     geph_t geph0 = {0, -1, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0.0}, {0.0}, {0.0},
         0.0, 0.0, 0.0};
     seph_t seph0 = {0, {0, 0.0}, {0, 0.0}, 0, 0, {0.0}, {0.0}, {0.0}, 0.0, 0.0};