mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-15 20:50:33 +00:00
parent
19308ded3c
commit
97f4aefb6e
@ -274,7 +274,7 @@ const int MAXRCV = 64; //!< max receiver number (1 to MAXRCV)
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const int MAXOBSTYPE = 64; //!< max number of obs type in RINEX
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const int MAXOBSTYPE = 64; //!< max number of obs type in RINEX
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const double MAXDTOE = 7200.0; //!< max time difference to GPS Toe (s)
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const double MAXDTOE = 7200.0; //!< max time difference to GPS Toe (s)
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const double MAXDTOE_QZS = 7200.0; //!< max time difference to QZSS Toe (s)
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const double MAXDTOE_QZS = 7200.0; //!< max time difference to QZSS Toe (s)
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const double MAXDTOE_GAL = 14400.0; //!< max time difference to Galileo Toe (s)
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const double MAXDTOE_GAL = 10800.0; //!< max time difference to Galileo Toe (s)
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const double MAXDTOE_BDS = 21600.0; //!< max time difference to BeiDou Toe (s)
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const double MAXDTOE_BDS = 21600.0; //!< max time difference to BeiDou Toe (s)
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const double MAXDTOE_GLO = 1800.0; //!< max time difference to GLONASS Toe (s)
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const double MAXDTOE_GLO = 1800.0; //!< max time difference to GLONASS Toe (s)
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const double MAXDTOE_SBS = 360.0; //!< max time difference to SBAS Toe (s)
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const double MAXDTOE_SBS = 360.0; //!< max time difference to SBAS Toe (s)
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@ -299,9 +299,6 @@ const int IONOOPT_QZS = 6; //!< ionosphere option: QZSS broadcast model
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const int IONOOPT_LEX = 7; //!< ionosphere option: QZSS LEX ionospehre
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const int IONOOPT_LEX = 7; //!< ionosphere option: QZSS LEX ionospehre
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const int IONOOPT_STEC = 8; //!< ionosphere option: SLANT TEC model
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const int IONOOPT_STEC = 8; //!< ionosphere option: SLANT TEC model
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const int GALMESS_INAV = 0; //!< Galileo message type: FNAV */
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const int GALMESS_FNAV = 1; //!< Galileo message type: INAV */
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const int TROPOPT_OFF = 0; //!< troposphere option: correction off
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const int TROPOPT_OFF = 0; //!< troposphere option: correction off
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const int TROPOPT_SAAS = 1; //!< troposphere option: Saastamoinen model
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const int TROPOPT_SAAS = 1; //!< troposphere option: Saastamoinen model
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const int TROPOPT_SBAS = 2; //!< troposphere option: SBAS model
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const int TROPOPT_SBAS = 2; //!< troposphere option: SBAS model
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@ -84,7 +84,6 @@ const double STD_BRDCCLK = 30.0; /* error of broadcast clock (m)
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const int MAX_ITER_KEPLER = 30; /* max number of iteration of Kelpler */
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const int MAX_ITER_KEPLER = 30; /* max number of iteration of Kelpler */
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int galmessagetype;
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/* variance by ura ephemeris (ref [1] 20.3.3.3.1.1) --------------------------*/
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/* variance by ura ephemeris (ref [1] 20.3.3.3.1.1) --------------------------*/
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double var_uraeph(int ura)
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double var_uraeph(int ura)
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@ -95,15 +94,6 @@ double var_uraeph(int ura)
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return ura < 0 || 14 < ura ? std::pow(6144.0, 2.0) : std::pow(ura_value[ura], 2.0);
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return ura < 0 || 14 < ura ? std::pow(6144.0, 2.0) : std::pow(ura_value[ura], 2.0);
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}
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}
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/* variance by sisa ephemeris (ref [7] Issue 1.3 5.1.11) --------------------------*/
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double var_sisaeph(int ura)
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{
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if (ura < 50) return std::pow(ura * 0.01, 2.0);
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if (ura < 75) return std::pow(0.50 + (ura - 50) * 0.02, 2.0);
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if (ura < 100) return std::pow(1.0 + (ura - 75) * 0.04, 2.0);
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if (ura <= 125) return std::pow(2.0 + (ura - 100) * 0.16, 2.0);
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return -1.0;
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}
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/* variance by ura ssr (ref [4]) ---------------------------------------------*/
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/* variance by ura ssr (ref [4]) ---------------------------------------------*/
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double var_urassr(int ura)
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double var_urassr(int ura)
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@ -299,15 +289,8 @@ void eph2pos(gtime_t time, const eph_t *eph, double *rs, double *dts,
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*dts -= 2.0 * sqrt(mu * eph->A) * eph->e * sinE / std::pow(SPEED_OF_LIGHT, 2.0);
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*dts -= 2.0 * sqrt(mu * eph->A) * eph->e * sinE / std::pow(SPEED_OF_LIGHT, 2.0);
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/* position and clock error variance */
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/* position and clock error variance */
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if (sys == SYS_GAL)
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{
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*var = var_sisaeph(eph->sva);
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}
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else
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{
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*var = var_uraeph(eph->sva);
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*var = var_uraeph(eph->sva);
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}
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}
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}
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/* glonass orbit differential equations --------------------------------------*/
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/* glonass orbit differential equations --------------------------------------*/
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@ -471,18 +454,16 @@ eph_t *seleph(gtime_t time, int sat, int iode, const nav_t *nav)
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{
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{
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double t, tmax, tmin;
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double t, tmax, tmin;
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int i, j = -1;
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int i, j = -1;
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int sys;
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trace(4, "seleph : time=%s sat=%2d iode=%d\n", time_str(time, 3), sat, iode);
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trace(4, "seleph : time=%s sat=%2d iode=%d\n", time_str(time, 3), sat, iode);
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sys = satsys(sat, NULL);
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switch (satsys(sat, NULL))
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switch (sys)
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{
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{
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case SYS_QZS:
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case SYS_QZS:
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tmax = MAXDTOE_QZS + 1.0;
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tmax = MAXDTOE_QZS + 1.0;
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break;
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break;
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case SYS_GAL:
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case SYS_GAL:
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tmax = MAXDTOE_GAL;
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tmax = MAXDTOE_GAL + 1.0;
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break;
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break;
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case SYS_BDS:
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case SYS_BDS:
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tmax = MAXDTOE_BDS + 1.0;
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tmax = MAXDTOE_BDS + 1.0;
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@ -497,25 +478,7 @@ eph_t *seleph(gtime_t time, int sat, int iode, const nav_t *nav)
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{
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{
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if (nav->eph[i].sat != sat) continue;
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if (nav->eph[i].sat != sat) continue;
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if (iode >= 0 && nav->eph[i].iode != iode) continue;
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if (iode >= 0 && nav->eph[i].iode != iode) continue;
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if (sys == SYS_GAL)
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{
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if (galmessagetype == GALMESS_FNAV)
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{
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/* Check if F/NAV ephemeris */
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if (!(nav->eph[i].code & 0x02)) continue;
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}
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else
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{
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/* Check if I/NAV ephemeris */
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if (!(nav->eph[i].code & 0x05)) continue;
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}
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if ((t = timediff(time, nav->eph[i].toe)) > tmax) continue;
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if (t < 0) continue;
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}
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else
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{
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if ((t = fabs(timediff(nav->eph[i].toe, time))) > tmax) continue;
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if ((t = fabs(timediff(nav->eph[i].toe, time))) > tmax) continue;
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}
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if (iode >= 0) return nav->eph + i;
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if (iode >= 0) return nav->eph + i;
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if (t <= tmin)
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if (t <= tmin)
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{
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{
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@ -58,7 +58,6 @@
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double var_uraeph(int ura);
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double var_uraeph(int ura);
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double var_sisaeph(int ura);
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double var_urassr(int ura);
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double var_urassr(int ura);
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void alm2pos(gtime_t time, const alm_t *alm, double *rs, double *dts);
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void alm2pos(gtime_t time, const alm_t *alm, double *rs, double *dts);
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double eph2clk(gtime_t time, const eph_t *eph);
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double eph2clk(gtime_t time, const eph_t *eph);
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@ -402,8 +402,7 @@ int rescode(int iter, const obsd_t *obs, int n, const double *rs,
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double *resp, int *ns)
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double *resp, int *ns)
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{
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{
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double r, dion, dtrp, vmeas, vion, vtrp, rr[3], pos[3], dtr, e[3], P, lam_L1;
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double r, dion, dtrp, vmeas, vion, vtrp, rr[3], pos[3], dtr, e[3], P, lam_L1;
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int i, j, nv = 0, sys, mask[4] = {0}, sva = -1;
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int i, j, nv = 0, sys, mask[4] = {0};
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eph_t *eph;
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trace(3, "resprng : n=%d\n", n);
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trace(3, "resprng : n=%d\n", n);
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@ -439,20 +438,15 @@ int rescode(int iter, const obsd_t *obs, int n, const double *rs,
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trace(4, "satazel error. el = %lf , elmin = %lf\n", elaux, opt->elmin);
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trace(4, "satazel error. el = %lf , elmin = %lf\n", elaux, opt->elmin);
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continue;
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continue;
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}
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}
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/* pseudorange with code bias correction */
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/* psudorange with code bias correction */
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if ((P = prange(obs + i, nav, azel + i * 2, iter, opt, &vmeas)) == 0.0)
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if ((P = prange(obs + i, nav, azel + i * 2, iter, opt, &vmeas)) == 0.0)
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{
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{
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trace(4, "prange error\n");
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trace(4, "prange error\n");
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continue;
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continue;
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}
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}
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/* if Gal satellite, check SISA is not NAPA*/
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if (sys == SYS_GAL)
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{
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if (!(eph = seleph(obs[i].time, obs[i].sat, -1, nav))) continue;
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sva = eph->sva;
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}
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/* excluded satellite? */
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/* excluded satellite? */
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if (satexclude(obs[i].sat, svh[i], sva, opt))
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if (satexclude(obs[i].sat, svh[i], opt))
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{
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{
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trace(4, "satexclude error\n");
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trace(4, "satexclude error\n");
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continue;
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continue;
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@ -1251,8 +1251,7 @@ int res_ppp(int iter __attribute__((unused)), const obsd_t *obs, int n, const do
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prcopt_t *opt = &rtk->opt;
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prcopt_t *opt = &rtk->opt;
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double r, rr[3], disp[3], pos[3], e[3], meas[2], dtdx[3], dantr[NFREQ] = {0};
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double r, rr[3], disp[3], pos[3], e[3], meas[2], dtdx[3], dantr[NFREQ] = {0};
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double dants[NFREQ] = {0}, var[MAXOBS * 2], dtrp = 0.0, vart = 0.0, varm[2] = {0};
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double dants[NFREQ] = {0}, var[MAXOBS * 2], dtrp = 0.0, vart = 0.0, varm[2] = {0};
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int i, j, k, sat, sys, nv = 0, nx = rtk->nx, brk, tideopt, sva = -1;
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int i, j, k, sat, sys, nv = 0, nx = rtk->nx, brk, tideopt;
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eph_t *eph;
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trace(3, "res_ppp : n=%d nx=%d\n", n, nx);
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trace(3, "res_ppp : n=%d nx=%d\n", n, nx);
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@ -1280,14 +1279,8 @@ int res_ppp(int iter __attribute__((unused)), const obsd_t *obs, int n, const do
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if ((r = geodist(rs + i * 6, rr, e)) <= 0.0 ||
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if ((r = geodist(rs + i * 6, rr, e)) <= 0.0 ||
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satazel(pos, e, azel + i * 2) < opt->elmin) continue;
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satazel(pos, e, azel + i * 2) < opt->elmin) continue;
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/* if Gal satellite, check SISA is not NAPA*/
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if (sys == SYS_GAL)
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{
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if (!(eph = seleph(obs[i].time, obs[i].sat, -1, nav))) continue;
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sva = eph->sva;
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}
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/* excluded satellite? */
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/* excluded satellite? */
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if (satexclude(obs[i].sat, svh[i], sva, opt)) continue;
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if (satexclude(obs[i].sat, svh[i], opt)) continue;
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/* tropospheric delay correction */
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/* tropospheric delay correction */
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if (opt->tropopt == TROPOPT_SAAS)
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if (opt->tropopt == TROPOPT_SAAS)
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@ -464,11 +464,10 @@ void satno2id(int sat, char *id)
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* test excluded satellite
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* test excluded satellite
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* args : int sat I satellite number
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* args : int sat I satellite number
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* int svh I sv health flag
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* int svh I sv health flag
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* int sva I SV URA/SISA
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* prcopt_t *opt I processing options (NULL: not used)
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* prcopt_t *opt I processing options (NULL: not used)
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* return : status (1:excluded,0:not excluded)
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* return : status (1:excluded,0:not excluded)
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*-----------------------------------------------------------------------------*/
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*-----------------------------------------------------------------------------*/
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int satexclude(int sat, int svh, const int sva, const prcopt_t *opt)
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int satexclude(int sat, int svh, const prcopt_t *opt)
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{
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{
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int sys = satsys(sat, NULL);
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int sys = satsys(sat, NULL);
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@ -493,13 +492,6 @@ int satexclude(int sat, int svh, const int sva, const prcopt_t *opt)
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}
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}
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}
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}
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if (sys == SYS_QZS) svh &= 0xFE; /* mask QZSS LEX health */
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if (sys == SYS_QZS) svh &= 0xFE; /* mask QZSS LEX health */
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/* Exclude Galileo satellites with NAPA or invalid SISA */
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if ((sys == SYS_GAL) && (sva > 125))
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{
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trace(3, "Galileo satellite with NAPA or invalid SISA: sat=%3d", sat);
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return 1;
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}
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if (svh)
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if (svh)
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{
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{
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trace(3, "unhealthy satellite: sat=%3d svh=%02X\n", sat, svh);
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trace(3, "unhealthy satellite: sat=%3d svh=%02X\n", sat, svh);
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@ -2748,7 +2740,7 @@ int cmpeph(const void *p1, const void *p2)
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void uniqeph(nav_t *nav)
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void uniqeph(nav_t *nav)
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{
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{
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eph_t *nav_eph;
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eph_t *nav_eph;
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int i, j, sys;
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int i, j;
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trace(3, "uniqeph: n=%d\n", nav->n);
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trace(3, "uniqeph: n=%d\n", nav->n);
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@ -2758,11 +2750,8 @@ void uniqeph(nav_t *nav)
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for (i = 1, j = 0; i < nav->n; i++)
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for (i = 1, j = 0; i < nav->n; i++)
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{
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{
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sys = satsys(nav->eph[i].sat, NULL);
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if (nav->eph[i].sat != nav->eph[j].sat ||
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if (nav->eph[i].sat != nav->eph[j].sat ||
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nav->eph[i].iode != nav->eph[j].iode ||
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nav->eph[i].iode != nav->eph[j].iode)
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((sys == SYS_GAL) && (nav->eph[i].code != nav->eph[j].code)) ||
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(nav->eph[i].toe.sec != nav->eph[j].toe.sec))
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{
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{
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nav->eph[++j] = nav->eph[i];
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nav->eph[++j] = nav->eph[i];
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}
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}
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@ -121,7 +121,7 @@ int satno(int sys, int prn);
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int satsys(int sat, int *prn);
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int satsys(int sat, int *prn);
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int satid2no(const char *id);
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int satid2no(const char *id);
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void satno2id(int sat, char *id);
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void satno2id(int sat, char *id);
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int satexclude(int sat, int svh, const int sva, const prcopt_t *opt);
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int satexclude(int sat, int svh, const prcopt_t *opt);
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int testsnr(int base, int freq, double el, double snr, const snrmask_t *mask);
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int testsnr(int base, int freq, double el, double snr, const snrmask_t *mask);
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unsigned char obs2code(const char *obs, int *freq);
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unsigned char obs2code(const char *obs, int *freq);
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char *code2obs(unsigned char code, int *freq);
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char *code2obs(unsigned char code, int *freq);
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@ -1097,8 +1097,7 @@ int zdres(int base, const obsd_t *obs, int n, const double *rs,
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{
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{
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double r, rr_[3], pos[3], dant[NFREQ] = {0}, disp[3];
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double r, rr_[3], pos[3], dant[NFREQ] = {0}, disp[3];
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double zhd, zazel[] = {0.0, 90.0 * D2R};
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double zhd, zazel[] = {0.0, 90.0 * D2R};
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int i, nf = NF_RTK(opt), sys, sva = -1;
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int i, nf = NF_RTK(opt);
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eph_t *eph;
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trace(3, "zdres : n=%d\n", n);
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trace(3, "zdres : n=%d\n", n);
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@ -1123,16 +1122,8 @@ int zdres(int base, const obsd_t *obs, int n, const double *rs,
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if ((r = geodist(rs + i * 6, rr_, e + i * 3)) <= 0.0) continue;
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if ((r = geodist(rs + i * 6, rr_, e + i * 3)) <= 0.0) continue;
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if (satazel(pos, e + i * 3, azel + i * 2) < opt->elmin) continue;
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if (satazel(pos, e + i * 3, azel + i * 2) < opt->elmin) continue;
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/* if Gal satellite, check SISA is not NAPA*/
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if (!(sys = satsys(obs[i].sat, NULL))) continue;
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||||||
if (sys == SYS_GAL)
|
|
||||||
{
|
|
||||||
if (!(eph = seleph(obs[i].time, obs[i].sat, -1, nav))) continue;
|
|
||||||
sva = eph->sva;
|
|
||||||
}
|
|
||||||
|
|
||||||
/* excluded satellite? */
|
/* excluded satellite? */
|
||||||
if (satexclude(obs[i].sat, svh[i], sva, opt)) continue;
|
if (satexclude(obs[i].sat, svh[i], opt)) continue;
|
||||||
|
|
||||||
/* satellite clock-bias */
|
/* satellite clock-bias */
|
||||||
r += -SPEED_OF_LIGHT * dts[i * 2];
|
r += -SPEED_OF_LIGHT * dts[i * 2];
|
||||||
|
@ -96,7 +96,7 @@ serial_t *openserial(const char *path, int mode, char *msg)
|
|||||||
|
|
||||||
if (!(serial = (serial_t *)malloc(sizeof(serial_t)))) return NULL;
|
if (!(serial = (serial_t *)malloc(sizeof(serial_t)))) return NULL;
|
||||||
|
|
||||||
if ((p = const_cast<char *>(strchr((char *)path, ':'))))
|
if ((p = strchr((char *)path, ':')))
|
||||||
{
|
{
|
||||||
strncpy(port, path, p - path);
|
strncpy(port, path, p - path);
|
||||||
port[p - path] = '\0';
|
port[p - path] = '\0';
|
||||||
@ -1589,7 +1589,7 @@ void *ftpthread(void *arg)
|
|||||||
/* proxy settings for wget (ref [2]) */
|
/* proxy settings for wget (ref [2]) */
|
||||||
if (*proxyaddr)
|
if (*proxyaddr)
|
||||||
{
|
{
|
||||||
proto = const_cast<char *>(ftp->proto ? (char *)"http" : (char *)"ftp");
|
proto = ftp->proto ? (char *)"http" : (char *)"ftp";
|
||||||
sprintf(env, "set %s_proxy=http://%s & ", proto, proxyaddr);
|
sprintf(env, "set %s_proxy=http://%s & ", proto, proxyaddr);
|
||||||
proxyopt = (char *)"--proxy=on ";
|
proxyopt = (char *)"--proxy=on ";
|
||||||
}
|
}
|
||||||
|
Loading…
Reference in New Issue
Block a user