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Small fixes

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This commit is contained in:
Carles Fernandez 2017-04-21 13:31:29 +02:00
parent a2d2aa016e
commit 9c6ff1df9b
2 changed files with 74 additions and 74 deletions
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2
src/algorithms/libs/rtklib/rtklib.h
View File

@ -193,6 +193,7 @@ const unsigned int MAXPRNIRN = 0;
const unsigned int NSATIRN = 0;
const unsigned int NSYSIRN = 0;
#endif
#ifdef ENALEO
const unsigned int MINPRNLEO = 1; //!< min satellite sat number of LEO
const unsigned int NSATLEO = 10; //!< max satellite sat number of LEO
@ -270,7 +271,6 @@ const double EFACT_BDS = 1.0; //!< error factor: BeiDou
const double EFACT_IRN = 1.5; //!< error factor: IRNSS
const double EFACT_SBS = 3.0; //!< error factor: SBAS
const unsigned int MAXEXFILE = 1024; //!< max number of expanded files
const double MAXSBSAGEF = 30.0; //!< max age of SBAS fast correction (s)
const double MAXSBSAGEL = 1800.0; //!< max age of SBAS long term corr (s)

146
src/algorithms/libs/rtklib/rtklib_sbas.cc
View File

@ -78,7 +78,7 @@ double varfcorr(int udre)
0.052, 0.0924, 0.1444, 0.283, 0.4678, 0.8315, 1.2992, 1.8709, 2.5465, 3.326,
5.1968, 20.7870, 230.9661, 2078.695
};
return 0<udre && udre<=14?var[udre-1]:0.0;
return 0 < udre && udre <= 14 ? var[udre-1] : 0.0;
}
@ -89,7 +89,7 @@ double varicorr(int give)
0.0084, 0.0333, 0.0749, 0.1331, 0.2079, 0.2994, 0.4075, 0.5322, 0.6735, 0.8315,
1.1974, 1.8709, 3.326, 20.787, 187.0826
};
return 0<give && give<=15?var[give-1]:0.0;
return 0 < give && give <= 15 ? var[give-1] : 0.0;
}
@ -100,7 +100,7 @@ double degfcorr(int ai)
0.00000, 0.00005, 0.00009, 0.00012, 0.00015, 0.00020, 0.00030, 0.00045,
0.00060, 0.00090, 0.00150, 0.00210, 0.00270, 0.00330, 0.00460, 0.00580
};
return 0<ai && ai<=15?degf[ai]:0.0058;
return 0 < ai && ai <= 15 ? degf[ai] : 0.0058;
}
@ -148,24 +148,24 @@ int decode_sbstype2(const sbsmsg_t *msg, sbssat_t *sbssat)
type = getbitu(msg->msg, 8, 6);
iodf = getbitu(msg->msg, 14, 2);
for (i = 0;i<13;i++)
for (i = 0; i < 13; i++)
{
if ((j = 13*((type==0?2:type)-2)+i)>=sbssat->nsat) break;
if ((j = 13 * ((type == 0 ? 2 : type) - 2) + i) >= sbssat->nsat) break;
udre = getbitu(msg->msg, 174+4*i, 4);
t0 = sbssat->sat[j].fcorr.t0;
prc = sbssat->sat[j].fcorr.prc;
sbssat->sat[j].fcorr.t0 = gpst2time(msg->week, msg->tow);
sbssat->sat[j].fcorr.prc = getbits(msg->msg, 18+i*12, 12)*0.125f;
sbssat->sat[j].fcorr.udre = udre+1;
sbssat->sat[j].fcorr.prc = getbits(msg->msg, 18 + i * 12, 12) * 0.125f;
sbssat->sat[j].fcorr.udre = udre + 1;
dt = timediff(sbssat->sat[j].fcorr.t0, t0);
if (t0.time==0||dt<=0.0||18.0<dt||sbssat->sat[j].fcorr.ai==0)
if (t0.time == 0||dt <= 0.0 || 18.0 < dt || sbssat->sat[j].fcorr.ai == 0)
{
sbssat->sat[j].fcorr.rrc = 0.0;
sbssat->sat[j].fcorr.dt = 0.0;
}
else
{
sbssat->sat[j].fcorr.rrc = (sbssat->sat[j].fcorr.prc-prc)/dt;
sbssat->sat[j].fcorr.rrc = (sbssat->sat[j].fcorr.prc-prc) / dt;
sbssat->sat[j].fcorr.dt = dt;
}
sbssat->sat[j].fcorr.iodf = iodf;
@ -188,7 +188,7 @@ int decode_sbstype6(const sbsmsg_t *msg, sbssat_t *sbssat)
}
for (i = 0;i<sbssat->nsat && i<MAXSAT;i++)
{
if (sbssat->sat[i].fcorr.iodf!=iodf[i/13]) continue;
if (sbssat->sat[i].fcorr.iodf != iodf[i/13]) continue;
udre = getbitu(msg->msg, 22+i*4, 4);
sbssat->sat[i].fcorr.udre = udre+1;
}
@ -303,7 +303,7 @@ int decode_longcorr0(const sbsmsg_t *msg, int p, sbssat_t *sbssat)
trace(4, "decode_longcorr0:\n");
if (n==0||n>MAXSAT) return 0;
if (n == 0||n>MAXSAT) return 0;
sbssat->sat[n-1].lcorr.iode = getbitu(msg->msg, p+6, 8);
@ -328,7 +328,7 @@ int decode_longcorr1(const sbsmsg_t *msg, int p, sbssat_t *sbssat)
trace(4, "decode_longcorr1:\n");
if (n==0||n>MAXSAT) return 0;
if (n == 0||n>MAXSAT) return 0;
sbssat->sat[n-1].lcorr.iode = getbitu(msg->msg, p+6, 8);
@ -354,14 +354,14 @@ int decode_longcorrh(const sbsmsg_t *msg, int p, sbssat_t *sbssat)
{
trace(4, "decode_longcorrh:\n");
if (getbitu(msg->msg, p, 1)==0) { /* vel code=0 */
if (sbssat->iodp==(int)getbitu(msg->msg, p+103, 2))
if (getbitu(msg->msg, p, 1) == 0) { /* vel code=0 */
if (sbssat->iodp == (int)getbitu(msg->msg, p+103, 2))
{
return decode_longcorr0(msg, p+ 1, sbssat) &&
decode_longcorr0(msg, p+52, sbssat);
}
}
else if (sbssat->iodp==(int)getbitu(msg->msg, p+104, 2))
else if (sbssat->iodp == (int)getbitu(msg->msg, p+104, 2))
{
return decode_longcorr1(msg, p+1, sbssat);
}
@ -496,7 +496,7 @@ void readmsgs(const char *file, int sel, gtime_t ts, gtime_t te,
}
while (fgets(buff, sizeof(buff), fp))
{
if (sscanf(buff, "%d %lf %d", &week, &tow, &prn)==3 && (p = strstr(buff, ": ")))
if (sscanf(buff, "%d %lf %d", &week, &tow, &prn) == 3 && (p = strstr(buff, ": ")))
{
p+=2; /* rtklib form */
}
@ -534,9 +534,9 @@ void readmsgs(const char *file, int sel, gtime_t ts, gtime_t te,
if (sbs->n>=sbs->nmax)
{
sbs->nmax = sbs->nmax == 0 ? 1024 : sbs->nmax * 2;
if (!(sbs_msgs = (sbsmsg_t *)realloc(sbs->msgs,sbs->nmax*sizeof(sbsmsg_t))))
if (!(sbs_msgs = (sbsmsg_t *)realloc(sbs->msgs, sbs->nmax * sizeof(sbsmsg_t))))
{
trace(1,"readsbsmsg malloc error: nmax=%d\n",sbs->nmax);
trace(1, "readsbsmsg malloc error: nmax=%d\n", sbs->nmax);
free(sbs->msgs); sbs->msgs = NULL; sbs->n = sbs->nmax = 0;
return;
}
@ -545,10 +545,10 @@ void readmsgs(const char *file, int sel, gtime_t ts, gtime_t te,
sbs->msgs[sbs->n].week = week;
sbs->msgs[sbs->n].tow = (int)(tow + 0.5);
sbs->msgs[sbs->n].prn = prn;
for (i = 0;i<29;i++) sbs->msgs[sbs->n].msg[i] = 0;
for (i = 0; *(p-1) && *p && i < 29; p += 2,i++)
for (i = 0; i < 29; i++) sbs->msgs[sbs->n].msg[i] = 0;
for (i = 0; *(p-1) && *p && i < 29; p += 2, i++)
{
if (sscanf(p,"%2X",&b) == 1) sbs->msgs[sbs->n].msg[i] = (unsigned char)b;
if (sscanf(p, "%2X", &b) == 1) sbs->msgs[sbs->n].msg[i] = (unsigned char)b;
}
sbs->msgs[sbs->n++].msg[28] &= 0xC0;
}
@ -560,8 +560,8 @@ void readmsgs(const char *file, int sel, gtime_t ts, gtime_t te,
int cmpmsgs(const void *p1, const void *p2)
{
sbsmsg_t *q1 = (sbsmsg_t *)p1,*q2 = (sbsmsg_t *)p2;
return q1->week!=q2->week?q1->week-q2->week:
(q1->tow<q2->tow?-1:(q1->tow>q2->tow?1:q1->prn-q2->prn));
return q1->week != q2->week ? q1->week-q2->week :
(q1->tow < q2->tow ? -1 : (q1->tow > q2->tow ? 1 : q1->prn - q2->prn));
}
@ -588,31 +588,31 @@ int sbsreadmsgt(const char *file, int sel, gtime_t ts, gtime_t te,
trace(3,"sbsreadmsgt: file=%s sel=%d\n",file,sel);
for (i = 0;i<MAXEXFILE;i++)
for (i = 0; i < MAXEXFILE ; i++)
{
if (!(efiles[i] = (char *)malloc(1024)))
{
for (i--;i>=0;i--) free(efiles[i]);
for (i--; i >= 0; i--) free(efiles[i]);
return 0;
}
}
/* expand wild card in file path */
n = expath(file,efiles,MAXEXFILE);
for (i = 0;i<n;i++)
for (i = 0; i < n; i++)
{
if (!(ext = strrchr(efiles[i],'.'))) continue;
if (strcmp(ext,".sbs") && strcmp(ext,".SBS") &&
strcmp(ext,".ems") && strcmp(ext,".EMS")) continue;
if (strcmp(ext, ".sbs") && strcmp(ext, ".SBS") &&
strcmp(ext, ".ems") && strcmp(ext, ".EMS")) continue;
readmsgs(efiles[i],sel,ts,te,sbs);
readmsgs(efiles[i], sel, ts, te, sbs);
}
for (i = 0;i<MAXEXFILE;i++) free(efiles[i]);
for (i = 0; i < MAXEXFILE; i++) free(efiles[i]);
/* sort messages */
if (sbs->n>0)
if (sbs->n >0)
{
qsort(sbs->msgs,sbs->n,sizeof(sbsmsg_t),cmpmsgs);
qsort(sbs->msgs, sbs->n, sizeof(sbsmsg_t), cmpmsgs);
}
return sbs->n;
}
@ -620,11 +620,11 @@ int sbsreadmsgt(const char *file, int sel, gtime_t ts, gtime_t te,
int sbsreadmsg(const char *file, int sel, sbs_t *sbs)
{
gtime_t ts = {},te = {};
gtime_t ts = {}, te = {};
trace(3,"sbsreadmsg: file=%s sel=%d\n",file,sel);
trace(3, "sbsreadmsg: file=%s sel=%d\n", file, sel);
return sbsreadmsgt(file,sel,ts,te,sbs);
return sbsreadmsgt(file, sel, ts, te, sbs);
}
@ -636,12 +636,12 @@ int sbsreadmsg(const char *file, int sel, sbs_t *sbs)
*-----------------------------------------------------------------------------*/
void sbsoutmsg(FILE *fp, sbsmsg_t *sbsmsg)
{
int i,type = sbsmsg->msg[1]>>2;
int i, type = sbsmsg->msg[1] >> 2;
trace(4,"sbsoutmsg:\n");
fprintf(fp,"%4d %6d %3d %2d : ",sbsmsg->week,sbsmsg->tow,sbsmsg->prn,type);
for (i = 0;i<29;i++) fprintf(fp,"%02X",sbsmsg->msg[i]);
fprintf(fp, "%4d %6d %3d %2d : ", sbsmsg->week, sbsmsg->tow, sbsmsg->prn, type);
for (i = 0; i < 29; i++) fprintf(fp, "%02X", sbsmsg->msg[i]);
fprintf(fp,"\n");
}
@ -651,58 +651,58 @@ void searchigp(gtime_t time, const double *pos, const sbsion_t *ion,
const sbsigp_t **igp, double *x, double *y)
{
int i,latp[2],lonp[4];
double lat = pos[0]*R2D,lon = pos[1]*R2D;
double lat = pos[0] * R2D,lon = pos[1] * R2D;
const sbsigp_t *p;
trace(4,"searchigp: pos=%.3f %.3f\n",pos[0]*R2D,pos[1]*R2D);
trace(4,"searchigp: pos=%.3f %.3f\n",pos[0] * R2D, pos[1] * R2D);
if (lon>=180.0) lon-=360.0;
if (-55.0<=lat && lat<55.0)
if (lon >= 180.0) lon -= 360.0;
if (-55.0 <= lat && lat < 55.0)
{
latp[0] = (int)floor(lat/5.0)*5;
latp[1] = latp[0]+5;
lonp[0] = lonp[1] = (int)floor(lon/5.0)*5;
lonp[2] = lonp[3] = lonp[0]+5;
*x = (lon-lonp[0])/5.0;
*y = (lat-latp[0])/5.0;
latp[0] = (int)floor(lat / 5.0) * 5;
latp[1] = latp[0] + 5;
lonp[0] = lonp[1] = (int)floor(lon / 5.0) * 5;
lonp[2] = lonp[3] = lonp[0] + 5;
*x = (lon - lonp[0]) / 5.0;
*y = (lat - latp[0]) / 5.0;
}
else
{
latp[0] = (int)floor((lat-5.0)/10.0)*10+5;
latp[1] = latp[0]+10;
lonp[0] = lonp[1] = (int)floor(lon/10.0)*10;
lonp[2] = lonp[3] = lonp[0]+10;
*x = (lon-lonp[0])/10.0;
*y = (lat-latp[0])/10.0;
if (75.0<=lat && lat<85.0)
latp[0] = (int)floor((lat-5.0) / 10.0) * 10 + 5;
latp[1] = latp[0] + 10;
lonp[0] = lonp[1] = (int)floor(lon / 10.0) * 10;
lonp[2] = lonp[3] = lonp[0] + 10;
*x = (lon - lonp[0]) / 10.0;
*y = (lat - latp[0]) / 10.0;
if (75.0 <= lat && lat < 85.0)
{
lonp[1] = (int)floor(lon/90.0)*90;
lonp[3] = lonp[1]+90;
lonp[1] = (int)floor(lon / 90.0) * 90;
lonp[3] = lonp[1] + 90;
}
else if (-85.0<=lat && lat<-75.0)
else if (-85.0 <= lat && lat < -75.0)
{
lonp[0] = (int)floor((lon-50.0)/90.0)*90+40;
lonp[2] = lonp[0]+90;
lonp[0] = (int)floor((lon - 50.0) / 90.0) * 90 + 40;
lonp[2] = lonp[0] + 90;
}
else if (lat>=85.0)
else if (lat >= 85.0)
{
for (i = 0;i<4;i++) lonp[i] = (int)floor(lon/90.0)*90;
for (i = 0; i < 4; i++) lonp[i] = (int)floor(lon / 90.0) * 90;
}
else if (lat<-85.0)
else if (lat < -85.0)
{
for (i = 0;i<4;i++) lonp[i] = (int)floor((lon-50.0)/90.0)*90+40;
for (i = 0; i < 4; i++) lonp[i] = (int)floor((lon - 50.0) / 90.0) * 90 + 40;
}
}
for (i = 0;i<4;i++) if (lonp[i]==180) lonp[i]=-180;
for (i = 0;i<=MAXBAND;i++)
for (i = 0; i < 4; i++) if (lonp[i] == 180) lonp[i] = -180;
for (i = 0; i <= MAXBAND; i++)
{
for (p = ion[i].igp;p<ion[i].igp+ion[i].nigp;p++)
for (p = ion[i].igp; p < ion[i].igp + ion[i].nigp; p++)
{
if (p->t0.time==0) continue;
if (p->lat==latp[0] && p->lon==lonp[0] && p->give>0) igp[0] = p;
else if (p->lat==latp[1] && p->lon==lonp[1] && p->give>0) igp[1] = p;
else if (p->lat==latp[0] && p->lon==lonp[2] && p->give>0) igp[2] = p;
else if (p->lat==latp[1] && p->lon==lonp[3] && p->give>0) igp[3] = p;
if (p->t0.time == 0) continue;
if (p->lat == latp[0] && p->lon == lonp[0] && p->give > 0) igp[0] = p;
else if (p->lat == latp[1] && p->lon == lonp[1] && p->give > 0) igp[1] = p;
else if (p->lat == latp[0] && p->lon == lonp[2] && p->give > 0) igp[2] = p;
else if (p->lat == latp[1] && p->lon == lonp[3] && p->give > 0) igp[3] = p;
if (igp[0] && igp[1] && igp[2] && igp[3]) return;
}
}
@ -886,7 +886,7 @@ int sbslongcorr(gtime_t time, int sat, const sbssat_t *sbssat,
return 1;
}
/* if sbas satellite without correction, no correction applied */
if (satsys(sat,NULL)==SYS_SBS) return 1;
if (satsys(sat,NULL) == SYS_SBS) return 1;
trace(2,"no sbas long-term correction: %s sat=%2d\n",time_str(time,0),sat);
return 0;