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https://github.com/gnss-sdr/gnss-sdr
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Fix NMEA GPGSV message for GPS L1
This commit is contained in:
Carles Fernandez
parent
40efd08b56
commit
99989d472c
@ -34,6 +34,7 @@
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*/
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#include "nmea_printer.h"
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#include "rtklib_solution.h"
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#include <boost/date_time/posix_time/posix_time.hpp>
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#include <boost/filesystem/operations.hpp> // for create_directories, exists
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#include <boost/filesystem/path.hpp> // for path, operator<<
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@ -560,88 +561,13 @@ std::string Nmea_Printer::get_GPGSA()
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std::string Nmea_Printer::get_GPGSV()
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{
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// GSV-GNSS Satellites in View
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// Notice that NMEA 2.1 only supports 12 channels
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int n_sats_used = d_PVT_data->get_num_valid_observations();
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std::stringstream sentence_str;
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std::stringstream frame_str;
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std::string sentence_header;
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sentence_header = "$GPGSV,";
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char checksum;
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std::string tmpstr;
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// 1st step: How many GPGSV frames we need? (up to 3)
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// Each frame contains up to 4 satellites
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int n_frames;
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n_frames = std::ceil((static_cast<double>(n_sats_used)) / 4.0);
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// generate the frames
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int current_satellite = 0;
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for (int i = 1; i < (n_frames + 1); i++)
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{
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frame_str.str("");
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frame_str << sentence_header;
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// number of messages
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frame_str << n_frames;
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// message number
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frame_str << ",";
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frame_str << i;
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// total number of satellites in view
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frame_str << ",";
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frame_str.width(2);
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frame_str.fill('0');
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frame_str << std::dec << n_sats_used;
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// satellites info
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for (int j = 0; j < 4; j++)
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{
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// write satellite info
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frame_str << ",";
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frame_str.width(2);
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frame_str.fill('0');
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frame_str << std::dec << d_PVT_data->get_visible_satellites_ID(current_satellite);
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frame_str << ",";
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frame_str.width(2);
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frame_str.fill('0');
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frame_str << std::dec << static_cast<int>(d_PVT_data->get_visible_satellites_El(current_satellite));
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frame_str << ",";
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frame_str.width(3);
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frame_str.fill('0');
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frame_str << std::dec << static_cast<int>(d_PVT_data->get_visible_satellites_Az(current_satellite));
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frame_str << ",";
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frame_str.width(2);
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frame_str.fill('0');
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frame_str << std::dec << static_cast<int>(d_PVT_data->get_visible_satellites_CN0_dB(current_satellite));
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current_satellite++;
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if (current_satellite == n_sats_used)
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{
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break;
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}
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}
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// frame checksum
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tmpstr = frame_str.str();
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checksum = checkSum(tmpstr.substr(1));
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frame_str << "*";
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frame_str.width(2);
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frame_str.fill('0');
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frame_str << std::hex << static_cast<int>(checksum);
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// end NMEA sentence
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frame_str << "\r\n";
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//add frame to sentence
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sentence_str << frame_str.str();
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}
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return sentence_str.str();
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// $GPGSV,2,1,07,07,79,048,42,02,51,062,43,26,36,256,42,27,27,138,42*71
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// Notice that NMEA 2.1 only supports 12 channels
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std::stringstream sentence_str;
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unsigned char buff[200];
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outnmea_gsv(buff, &d_PVT_data->pvt_sol, *d_PVT_data->pvt_ssat);
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sentence_str << buff;
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return sentence_str.str();
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}
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@ -53,6 +53,7 @@
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#include "rtklib_solver.h"
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#include "rtklib_conversions.h"
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#include "rtklib_solution.h"
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#include "GPS_L1_CA.h"
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#include "Galileo_E1.h"
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#include "GLONASS_L1_L2_CA.h"
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@ -809,8 +810,55 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
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index_aux++;
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}
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}
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if (index_aux > 0) dops(index_aux, azel.data(), 0.0, dop_);
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for (gnss_observables_iter = gnss_observables_map.cbegin();
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gnss_observables_iter != gnss_observables_map.cend();
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++gnss_observables_iter) // CHECK INCONSISTENCY when combining GLONASS + other system
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{
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switch (gnss_observables_iter->second.System)
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{
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case 'E':
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break;
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case 'G':
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{
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// GPS L1
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std::string sig_(gnss_observables_iter->second.Signal);
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if (sig_.compare("1C") == 0)
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{
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unsigned int snr = static_cast<unsigned int>(std::round(gnss_observables_iter->second.CN0_dB_hz / 0.25));
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rtk_.ssat[gnss_observables_iter->second.PRN - 1].snr[0] = snr; //newobs.SNR[0];
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pvt_ssat[gnss_observables_iter->second.PRN - 1] = &rtk_.ssat[gnss_observables_iter->second.PRN - 1];
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}
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// GPS L2
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if (sig_.compare("2S") == 0)
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{
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}
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// GPS L5
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if (sig_.compare("L5") == 0)
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{
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}
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break;
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}
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case 'R':
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{
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std::string sig_(gnss_observables_iter->second.Signal);
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// GLONASS GNAV L1
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if (sig_.compare("1G") == 0)
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{
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}
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// GLONASS GNAV L2
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if (sig_.compare("2G") == 0)
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{
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}
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break;
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}
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default:
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break;
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}
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}
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if (index_aux > 0) dops(index_aux, azel.data(), 0.0, dop_);
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this->set_valid_position(true);
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arma::vec rx_position_and_time(4);
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rx_position_and_time(0) = pvt_sol.rr[0]; // [m]
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@ -86,6 +86,7 @@ private:
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public:
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sol_t pvt_sol;
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ssat_t* pvt_ssat[MAXSAT];
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rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat, rtk_t& rtk);
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~rtklib_solver();
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