diff --git a/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc index 7a738810e..3aefd4996 100644 --- a/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc +++ b/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc @@ -344,7 +344,7 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), g if((d_sample_counter % 1000) == 0) { std::map::iterator gps_ephemeris_iter; - gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();std::cout << d_rx_time << std::endl; + gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) { d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_pseudoranges_map, 1234, 0, 0, 0, 0, 0); diff --git a/src/core/system_parameters/rtcm.cc b/src/core/system_parameters/rtcm.cc index f339c1dc6..eca9fa2e5 100644 --- a/src/core/system_parameters/rtcm.cc +++ b/src/core/system_parameters/rtcm.cc @@ -2338,7 +2338,7 @@ std::string Rtcm::print_MSM_7( const Gps_Ephemeris & gps_eph, if(gps_eph.i_satellite_PRN != 0) msg_number = 1077; if(gps_cnav_eph.i_satellite_PRN != 0) msg_number = 1077; if(gal_eph.i_satellite_PRN != 0) msg_number = 1097; - if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0)) + if(((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0)) { LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages? } @@ -3835,7 +3835,10 @@ int Rtcm::set_DF399(const Gnss_Synchro & gnss_synchro) lambda = GPS_C_m_s / 1.207140e9; // Galileo_E1b_FREQ_HZ; } - double rough_phase_range_ms = std::round(- gnss_synchro.Carrier_Doppler_hz / lambda); + double rough_phase_range_ms = std::round(- gnss_synchro.Carrier_Doppler_hz * lambda ); + //std::cout << rough_phase_range_ms << std::endl; + if(rough_phase_range_ms < - 8191) rough_phase_range_ms = -8191; + if(rough_phase_range_ms > 8191) rough_phase_range_ms = 8191; DF399 = std::bitset<14>(static_cast(rough_phase_range_ms)); return 0; } @@ -3980,7 +3983,7 @@ int Rtcm::set_DF404(const Gnss_Synchro & gnss_synchro) lambda = GPS_C_m_s / 1.207140e9; // Galileo_E1b_FREQ_HZ; } - double phrr = std::round(- gnss_synchro.Carrier_Doppler_hz / lambda); + double phrr = std::round(- gnss_synchro.Carrier_Doppler_hz * lambda); if(phrr == 0.0) {