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Adding PVT flag to enable or disable the log INFO position geohash output

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This commit is contained in:
Javier Arribas 2023-10-03 12:41:22 +02:00
parent 3474c9d8ac
commit 99952f6275
5 changed files with 17 additions and 7 deletions
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3
docs/CHANGELOG.md
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@ -15,7 +15,8 @@ All notable changes to GNSS-SDR will be documented in this file.
## [Unreleased](https://github.com/gnss-sdr/gnss-sdr/tree/next)
### Improvements in Interoperability:
- Added a new PVT configuration boolean flag (`flag_geohash_log_out`) that enables or disables the
Position Geohash tag output in INFO log files. Set to `false` by default.
- New fields have been added to the custom output stream defined by
`monitor_pvt.proto`: `utc_time` (a
[RFC 3339](https://www.rfc-editor.org/rfc/rfc3339) datetime string), velocity

3
src/algorithms/PVT/adapters/rtklib_pvt.cc
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@ -74,6 +74,9 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
// display rate
pvt_output_parameters.display_rate_ms = bc::lcm(pvt_output_parameters.output_rate_ms, configuration->property(role + ".display_rate_ms", 500));
// log options
pvt_output_parameters.flag_geohash_log_out = configuration->property(role + ".flag_geohash_log_out", false);
// PVT KF settings
pvt_output_parameters.enable_pvt_kf = configuration->property(role + ".enable_pvt_kf", false);
pvt_output_parameters.measures_ecef_pos_sd_m = configuration->property(role + ".kf_measures_ecef_pos_sd_m", 1.0);

16
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@ -179,7 +179,8 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
d_an_printer_enabled(conf_.an_output_enabled),
d_log_timetag(conf_.log_source_timetag),
d_use_has_corrections(conf_.use_has_corrections),
d_use_unhealthy_sats(conf_.use_unhealthy_sats)
d_use_unhealthy_sats(conf_.use_unhealthy_sats),
d_flag_geohash_log_out(conf_.flag_geohash_log_out)
{
// Send feedback message to observables block with the receiver clock offset
this->message_port_register_out(pmt::mp("pvt_to_observables"));
@ -2427,14 +2428,17 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
// p_time += boost::posix_time::microseconds(round(rtklib_utc_time.sec * 1e6));
// std::cout << TEXT_MAGENTA << "Observable RX time (GPST) " << boost::posix_time::to_simple_string(p_time) << TEXT_RESET << '\n';
LOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_user_pvt_solver->get_position_UTC_time())
<< " UTC using " << d_user_pvt_solver->get_num_valid_observations() << " observations is Lat = " << d_user_pvt_solver->get_latitude() << " [deg], Long = " << d_user_pvt_solver->get_longitude()
<< " [deg], Height = " << d_user_pvt_solver->get_height() << " [m]";
LOG(INFO) << "geohash=" << d_geohash->encode(d_user_pvt_solver->get_latitude(), d_user_pvt_solver->get_longitude());
/* std::cout << "Dilution of Precision at " << boost::posix_time::to_simple_string(d_user_pvt_solver->get_position_UTC_time())
if (d_flag_geohash_log_out == true)
{
LOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_user_pvt_solver->get_position_UTC_time())
<< " UTC using " << d_user_pvt_solver->get_num_valid_observations() << " observations is Lat = " << d_user_pvt_solver->get_latitude() << " [deg], Long = " << d_user_pvt_solver->get_longitude()
<< " [deg], Height = " << d_user_pvt_solver->get_height() << " [m]";
LOG(INFO) << "geohash=" << d_geohash->encode(d_user_pvt_solver->get_latitude(), d_user_pvt_solver->get_longitude());
/* std::cout << "Dilution of Precision at " << boost::posix_time::to_simple_string(d_user_pvt_solver->get_position_UTC_time())
<< " UTC using "<< d_user_pvt_solver->get_num_valid_observations() <<" observations is HDOP = " << d_user_pvt_solver->get_hdop() << " VDOP = "
<< d_user_pvt_solver->get_vdop()
<< " GDOP = " << d_user_pvt_solver->get_gdop() << '\n'; */
}
}
// PVT MONITOR

1
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
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@ -278,6 +278,7 @@ private:
bool d_log_timetag;
bool d_use_has_corrections;
bool d_use_unhealthy_sats;
bool d_flag_geohash_log_out;
};

1
src/algorithms/PVT/libs/pvt_conf.h
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@ -70,6 +70,7 @@ public:
uint16_t rtcm_tcp_port = 0;
uint16_t rtcm_station_id = 0;
bool flag_geohash_log_out = false;
bool flag_nmea_tty_port = false;
bool flag_rtcm_server = false;
bool flag_rtcm_tty_port = false;