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https://github.com/gnss-sdr/gnss-sdr
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[TAS-135] Tag verification: L_T should exist when out of scope
* Aditionally documentation was written for some important methods and compilation warnings were eliminated.
This commit is contained in:
cesaaargm
parent
a688ad984d
commit
aa45386cdf
@ -164,6 +164,14 @@ void osnma_msg_receiver::process_osnma_message(const std::shared_ptr<OSNMA_msg>&
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}
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/**
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* @brief Reads the NMA header from the given input and stores the values in the d_osnma_data structure.
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*
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* The NMA header consists of several fields: d_nma_header.nmas, d_nma_header.cid, d_nma_header.cpks, and d_nma_header.reserved.
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* Each field is retrieved using the corresponding getter functions from the d_dsm_reader auxiliary object.
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*
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* @param nma_header The input containing the NMA header.
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*/
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void osnma_msg_receiver::read_nma_header(uint8_t nma_header)
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{
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d_osnma_data.d_nma_header.nmas = d_dsm_reader->get_nmas(nma_header);
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@ -173,6 +181,11 @@ void osnma_msg_receiver::read_nma_header(uint8_t nma_header)
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}
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/**
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* @brief Read the DSM header from the given dsm_header and populate the d_osnma_data structure.
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*
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* @param dsm_header The DSM header.
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*/
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void osnma_msg_receiver::read_dsm_header(uint8_t dsm_header)
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{
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d_osnma_data.d_dsm_header.dsm_id = d_dsm_reader->get_dsm_id(dsm_header);
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@ -189,15 +202,17 @@ void osnma_msg_receiver::read_dsm_header(uint8_t dsm_header)
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* */
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void osnma_msg_receiver::read_dsm_block(const std::shared_ptr<OSNMA_msg>& osnma_msg)
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{
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// Fill d_dsm_message
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size_t index = 0;
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for (const auto* it = osnma_msg->hkroot.cbegin() + 2; it != osnma_msg->hkroot.cend(); ++it)
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{
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d_dsm_message[d_osnma_data.d_dsm_header.dsm_id][SIZE_DSM_BLOCKS_BYTES * d_osnma_data.d_dsm_header.dsm_block_id + index] = *it;
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index++;
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}
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// First block indicates number of blocks in DSM message
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if (d_osnma_data.d_dsm_header.dsm_block_id == 0)
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{
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// Get number of blocks in message
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uint8_t nb = d_dsm_reader->get_number_blocks_index(d_dsm_message[d_osnma_data.d_dsm_header.dsm_id][0]);
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uint16_t number_of_blocks = 0;
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if (d_osnma_data.d_dsm_header.dsm_id < 12)
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@ -263,7 +278,7 @@ void osnma_msg_receiver::read_dsm_block(const std::shared_ptr<OSNMA_msg>& osnma_
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}
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std::cout << "]" << std::endl;
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// is message complete? -> Process DSM message
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// if all inner blocks available -> Process DSM message
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if ((d_number_of_blocks[d_osnma_data.d_dsm_header.dsm_id] != 0) &&
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(d_number_of_blocks[d_osnma_data.d_dsm_header.dsm_id] == std::accumulate(d_dsm_id_received[d_osnma_data.d_dsm_header.dsm_id].cbegin(), d_dsm_id_received[d_osnma_data.d_dsm_header.dsm_id].cend(), 0)))
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{
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@ -479,9 +494,15 @@ void osnma_msg_receiver::process_dsm_message(const std::vector<uint8_t>& dsm_msg
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d_number_of_blocks[d_osnma_data.d_dsm_header.dsm_id] = 0;
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}
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// reads Mack message
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/**
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* @brief Reads the Mack message from the given OSNMA_msg object.
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*
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* @param osnma_msg The OSNMA_msg object containing the Mack message.
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*/
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void osnma_msg_receiver::read_mack_block(const std::shared_ptr<OSNMA_msg>& osnma_msg)
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{
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// Retrieve Mack message
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uint32_t index = 0;
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for (uint32_t value : osnma_msg->mack)
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{
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@ -491,6 +512,7 @@ void osnma_msg_receiver::read_mack_block(const std::shared_ptr<OSNMA_msg>& osnma
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d_mack_message[index + 3] = static_cast<uint8_t>(value & 0x000000FF);
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index = index + 4;
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}
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// compute time of subrame and kroot time of applicability, used in read_mack_body and process_mack_message
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// TODO - find a better placement
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d_GST_SIS = osnma_msg->TOW_sf0 + osnma_msg->WN_sf0 * 604800; // TODO - unsure about this operation and of the -24 seconds,...
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@ -501,10 +523,22 @@ void osnma_msg_receiver::read_mack_block(const std::shared_ptr<OSNMA_msg>& osnma
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read_mack_header();
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read_mack_body();
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process_mack_message(osnma_msg);
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// TODO - shorten the MACK processing for the cases where no TK verified or no Kroot verified (warm and cold start)
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// still, for instance the NAvData and Mack storage (within process_mack_message) makes sense.
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}
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}
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/**
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* \brief Reads the MACk header from the d_mack_message array and updates the d_osnma_data structure.
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* \details This function reads the message ACK header from the d_mack_message array and updates the d_osnma_data structure with the parsed data. The header consists of three fields
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*: tag0, macseq, and cop. The size of the fields is determined by the number of tag length (lt) bits specified in OSNMA_TABLE_11 for the corresponding tag size in d_osnma_data.d_dsm_k
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*root_message.ts. The lt_bits value is used to calculate the values of tag0, macseq, and cop based on the lt_bits value and the values of the elements of d_mack_message array.
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* \pre The d_mack_message array and d_osnma_data.d_dsm_kroot_message.ts field must be properly populated.
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* \post The d_osnma_data.d_mack_message.header.tag0, d_osnma_data.d_mack_message.header.macseq, and d_osnma_data.d_mack_message.header.cop fields are updated with the parsed values
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*.
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* \returns None.
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*/
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void osnma_msg_receiver::read_mack_header()
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{ // C: TODO - still to review computations.
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uint8_t lt_bits = 0;
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@ -566,8 +600,19 @@ void osnma_msg_receiver::read_mack_header()
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}
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/**
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* @brief Reads the message body and verify Tesla key
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*
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* \details It retrieves all the tags and tag-info associated. Then it attempts to verify the Tesla Key by computing the
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* number of hashes of distance between the key-to-verify and the Kroot and iteratively hashing the result, until the required number of hashes
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* is achieved. The result is then compared with the Kroot. If the two values match, the Tesla key is verified.
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*
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* @return None
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*/
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// TODO - function's name not representative of logic,..., take the TK verification out?
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void osnma_msg_receiver::read_mack_body()
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{
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// retrieve tag length
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uint8_t lt_bits = 0;
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const auto it = OSNMA_TABLE_11.find(d_osnma_data.d_dsm_kroot_message.ts);
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if (it != OSNMA_TABLE_11.cend())
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@ -578,6 +623,7 @@ void osnma_msg_receiver::read_mack_body()
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{
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return;
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}
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// retrieve key length
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uint16_t lk_bits = 0;
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const auto it2 = OSNMA_TABLE_10.find(d_osnma_data.d_dsm_kroot_message.ks);
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if (it2 != OSNMA_TABLE_10.cend())
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@ -588,9 +634,11 @@ void osnma_msg_receiver::read_mack_body()
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{
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return;
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}
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uint16_t nt = std::floor((480.0 - float(lk_bits)) / (float(lt_bits) + 16.0)); // C: compute number of tags
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// compute number of tags in the given Mack message as per Eq. 8 ICD
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uint16_t nt = std::floor((480.0 - float(lk_bits)) / (float(lt_bits) + 16.0));
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d_osnma_data.d_mack_message.tag_and_info = std::vector<MACK_tag_and_info>(nt - 1);
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for (uint16_t k = 0; k < (nt - 1); k++) // C: retrieve Tag&Info
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// retrieve tags and tag-info associated with the tags
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for (uint16_t k = 0; k < (nt - 1); k++)
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{
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uint64_t tag = 0;
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uint8_t PRN_d = 0;
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@ -745,13 +793,15 @@ void osnma_msg_receiver::read_mack_body()
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d_osnma_data.d_mack_message.key[key_index_bytes] = d_mack_message[i];
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}
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// compute number of hashes required
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// compute I: number of hashes required - Eq. 19 ICD
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// TODO - this assumes that the baseline is Kroot, but there is the following possibility:
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// - available K verified from another iteration, hence is nonsense to go back to the Kroot, when I could perform only, say, two hashes.
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uint8_t num_of_hashes_needed = (d_GST_Sf - d_GST_0) / 30 + 1;
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uint32_t GST_SFi = d_GST_Sf;
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std::vector<uint8_t> K_II = d_osnma_data.d_mack_message.key;
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std::vector<uint8_t> K_I; // result of the recursive hash operations
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uint8_t size_hash_f = d_osnma_data.d_dsm_kroot_message.ks / 8;
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// compute the current tesla key , GST_SFi and K_II change in each iteration
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// compute the tesla key for current SF (GST_SFi and K_II change in each iteration)
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for (uint8_t i = 1; i < num_of_hashes_needed ; i++)
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{
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// build message digest m = (K_I+1 || GST_SFi || alpha)
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@ -762,13 +812,12 @@ void osnma_msg_receiver::read_mack_body()
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msg.push_back((d_GST_Sf & 0x00FF0000) >> 16);
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msg.push_back((d_GST_Sf & 0x0000FF00) >> 8);
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msg.push_back(d_GST_Sf & 0x000000FF);
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for (uint8_t k = 5; k >= 0;k--)
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// extract alpha
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for (int k = 5; k >= 0;k--)
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{
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// TODO: static extracts the MSB in case from larger to shorter int?
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msg.push_back(static_cast<uint8_t>((d_osnma_data.d_dsm_kroot_message.alpha >> (i * 8)) & 0xFF)); // extract first 6 bytes of alpha.
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}
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// compute hash
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std::vector<uint8_t> hash;
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if (d_osnma_data.d_dsm_kroot_message.hf == 0) // Table 8.
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@ -790,58 +839,61 @@ void osnma_msg_receiver::read_mack_body()
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K_I.push_back(hash[i]);
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}
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// set parameters
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// set parameters for next iteration
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GST_SFi -= 30; // next SF time is the actual minus 30 seconds
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K_II = K_I; // next key is the actual one
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K_I.clear(); // empty the actual one for a new computation
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}
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// compare computed current key against received key
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bool result_comparison; // TODO - not needed?
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if(K_I.size() != d_osnma_data.d_mack_message.key.size())
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{
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std::cout << "Galileo OSNMA: Error during tesla key verification. " << std::endl;
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}
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if (K_II == d_osnma_data.d_mack_message.key)
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{
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result_comparison = true;
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std::cout << "Galileo OSNMA: tesla key verified successfully " << std::endl;
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// TODO - propagate result
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// TODO - save current tesla key as latest one?
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// TODO - Tags Sequence Verification: check ADKD[i] follows MACLT sequence
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}
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else
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{
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result_comparison = false;
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std::cout << "Galileo OSNMA: Error during tesla key verification. " << std::endl;
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}
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}
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/**
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* @brief Verifies the tags.
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*
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* \details This function is responsible for processing the MACK message received (480 bits). It stores the last 10 MACK
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* messages and last 10 NavData messages. It also performs MACSEQ validation and compares
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* the ADKD of Mack tags with MACLT defined ADKDs. Finally, it verifies the tags.
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*
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* @param osnma_msg A reference to OSNMA_msg containing the MACK message to be processed.
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*/
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void osnma_msg_receiver::process_mack_message(const std::shared_ptr<OSNMA_msg>& osnma_msg)
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{
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d_old_mack_message.push_back(d_osnma_data.d_mack_message); // last 10 MACKs are needed to be stored as per ICD
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// populate d_nav_data with three classes of osnma_msg
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// populate d_nav_data with three classes of osnma_msg - needed for the tag verification
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d_osnma_data.d_nav_data.EphemerisData = osnma_msg->EphemerisData;
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d_osnma_data.d_nav_data.IonoData = osnma_msg->IonoData;
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d_osnma_data.d_nav_data.UtcData = osnma_msg->UtcModelData;
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d_osnma_data.d_nav_data.generate_eph_iono_vector2();
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d_osnma_data.d_nav_data.generate_utc_vector();
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d_old_navdata_buffer.push_back(d_osnma_data.d_nav_data); // last 10 NavData messages are needed to be stored as per ICD
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// MACSEQ validation - case no FLX Tags
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// retrieve data to verify MACK tags
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uint8_t msg {0};
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uint8_t nt {0};
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// uint8_t nt {0};
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std::vector<std::string> sq1{};
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std::vector<std::string> sq2{};
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const auto it = OSNMA_TABLE_16.find(d_osnma_data.d_dsm_kroot_message.maclt);
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if (it != OSNMA_TABLE_16.cend())
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{
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uint8_t msg = it->second.msg;
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uint8_t nt = it->second.nt;
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// uint8_t msg = it->second.msg;
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// uint8_t nt = it->second.nt;
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std::vector<std::string> sq1 = it->second.sequence1;
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std::vector<std::string> sq2 = it->second.sequence2;
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}
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@ -850,6 +902,7 @@ void osnma_msg_receiver::process_mack_message(const std::shared_ptr<OSNMA_msg>&
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return;
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}
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std::vector<std::string> sequence;
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// Assign relevant sequence based on subframe time
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if (d_GST_Sf % 60 == 0)
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{
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sequence = sq1;
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@ -885,15 +938,15 @@ void osnma_msg_receiver::process_mack_message(const std::shared_ptr<OSNMA_msg>&
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// MACSEQ verification
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// Case no tags defined as FLX in the MACLT
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std::vector<uint8_t> m(5 + flxTags.size()); // C: ICD - Eq. 22
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// Fixed as well as FLX Tags share first part - Eq. 22 ICD
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std::vector<uint8_t> m(5 + flxTags.size());
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m[0] = static_cast<uint8_t>(osnma_msg->PRN); // PRN_A
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m[1] = static_cast<uint8_t>((d_GST_Sf & 0xFF000000) >> 24);
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m[2] = static_cast<uint8_t>((d_GST_Sf & 0x00FF0000) >> 16);
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m[3] = static_cast<uint8_t>((d_GST_Sf & 0x0000FF00) >> 8);
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m[4] = static_cast<uint8_t>(d_GST_Sf & 0x000000FF);
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// Case tags flexible
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// Case tags flexible - Eq. 21 ICD
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for (uint8_t i = 0; i < flxTags.size() ; i++)
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{
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m[i+5] = d_osnma_data.d_mack_message.tag_and_info[flxTags[i]].tag_info.PRN_d;
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@ -902,6 +955,7 @@ void osnma_msg_receiver::process_mack_message(const std::shared_ptr<OSNMA_msg>&
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std::vector<uint8_t> applicable_key;
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// if ADKD=12, pick d_old_mack_message.front() if d_old_mack_message[10] is full
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// otherwise pick d_old_mack_message.back()
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// compute mac
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applicable_key = d_old_mack_message.back().key;
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std::vector<uint8_t> mac;
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if (d_osnma_data.d_dsm_kroot_message.mf == 0) // C: HMAC-SHA-256
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@ -919,7 +973,10 @@ void osnma_msg_receiver::process_mack_message(const std::shared_ptr<OSNMA_msg>&
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mac_msb = (mac[0] << 8) + mac[1];
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}
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uint16_t computed_macseq = (mac_msb & 0xFFF0) >> 4; // TODO - double check, it was 0x0FFF which presuposes little endian...
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int num_tags_added = 0;
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// int num_tags_added = 0;
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// Verify tags if MACSEQ is authenticated
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if (computed_macseq == d_osnma_data.d_mack_message.header.macseq)
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{
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std::cout << "OSNMA: MACSEQ authenticated for PRN_A "
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@ -928,13 +985,15 @@ void osnma_msg_receiver::process_mack_message(const std::shared_ptr<OSNMA_msg>&
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<< osnma_msg->TOW_sf0 << ". Verifying tags. "
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<< std::endl;
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uint8_t l_t_verified = 0; // tag bits verified
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uint8_t i = 0;
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// TODO - configuration file must define which tags shall be verified
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// e.g. NavDataVerification: A == ALL, T == Timing Parameters, ECS == Ephemeris,Clock and Status.
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std::string navDataToVerify = "EphemerisClockAndStatus"; // ADKD 0
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// Timing Parameters ADKD 4
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// EphemerisClockAndStatus ADKD 12 10+ Delay
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// e.g. NavDataVerification: A{0,12,4} == ALL, T == Timing Parameters {4}, ECS == Ephemeris,Clock and Status{0,12}.
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std::string navDataToVerify = "EphemerisIonoAndClock"; // ADKD 0 +1 delay ADKD 12 +10 delay
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// std::string navDataToVerify = "TimingParameters"; ADKD 4 +1 delay
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// std::string navDataToVerify = "ALL";
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std::vector<uint8_t> adkd;
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// uint8_t adkd;
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adkd = {0,12,4};
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m.clear();
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uint8_t lt_bits = 0;
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const auto it2 = OSNMA_TABLE_11.find(d_osnma_data.d_dsm_kroot_message.ts);
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@ -946,21 +1005,73 @@ void osnma_msg_receiver::process_mack_message(const std::shared_ptr<OSNMA_msg>&
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{
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return; // C: TODO if Tag length is 0, what is the action? no verification possible of NavData for sure.
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}
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while (i < d_osnma_data.d_mack_message.tag_and_info.size() && l_t_verified < d_Lt_min)
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// Verify each tag
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// std::string tagsToVerify = "all"; // Ephemeris, UTC, SlowEphemeris, all
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// all -> process ADKD 0, 12 and 4
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// Ephemeris -> process ADKD 0 and 12 only (and if 12, then the applicable key has 10 subframes delay)
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// UTC -> process ADKD 4 only
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uint8_t i = 0;
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while (i < d_osnma_data.d_mack_message.tag_and_info.size() &&
|
||||
std::find(adkd.begin(),adkd.end(),d_osnma_data.d_mack_message.tag_and_info[i].tag_info.ADKD) != adkd.end())
|
||||
{
|
||||
// select applicable tesla key
|
||||
if (d_osnma_data.d_mack_message.tag_and_info[i].tag_info.ADKD == 0)
|
||||
{
|
||||
applicable_key = d_old_mack_message.back().key; // SF - 1
|
||||
}
|
||||
else if (d_osnma_data.d_mack_message.tag_and_info[i].tag_info.ADKD == 12)
|
||||
{
|
||||
// check is the buffer is full or not
|
||||
if (d_old_mack_message.size() == d_old_mack_message.capacity())
|
||||
{
|
||||
applicable_key = d_old_mack_message.front().key; // SF - 10
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cout << "Galileo OSNMA: Old MACK message buffer is not full. Cannot verify slow mac. " << std::endl;
|
||||
}
|
||||
}
|
||||
else if (d_osnma_data.d_mack_message.tag_and_info[i].tag_info.ADKD == 4)
|
||||
{
|
||||
applicable_key = d_old_mack_message.back().key; // SF - 1
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cout << "Galileo OSNMA: Unknown ADKD. " << std::endl;
|
||||
}
|
||||
|
||||
// compute m
|
||||
m.push_back(d_osnma_data.d_mack_message.tag_and_info[i].tag_info.PRN_d);
|
||||
m.push_back(osnma_msg->PRN);
|
||||
for(int i = 24; i >= 0; i -= 8)
|
||||
{
|
||||
m.push_back((osnma_msg->PRN >> i) & 0xFF);
|
||||
}
|
||||
m.push_back(static_cast<uint8_t>((d_GST_Sf & 0xFF000000) >> 24));
|
||||
m.push_back(static_cast<uint8_t>((d_GST_Sf & 0x00FF0000) >> 16));
|
||||
m.push_back(static_cast<uint8_t>((d_GST_Sf & 0x0000FF00) >> 8));
|
||||
m.push_back(static_cast<uint8_t>(d_GST_Sf & 0x000000FF));
|
||||
m.push_back(i+1); // CTRauto
|
||||
m.push_back(i+1); // CTR
|
||||
m.push_back(d_osnma_data.d_nma_header.nmas);
|
||||
// TODO - other ADKD need different data.
|
||||
// TODO - store buffer the NavData of 11 last subframes, ADKD 0 and 12 => NavData belongs to SF-1
|
||||
m.insert(m.end(),osnma_msg->EphemerisClockAndStatusData.begin(),osnma_msg->EphemerisClockAndStatusData.end()) ;
|
||||
if(d_osnma_data.d_mack_message.tag_and_info[i].tag_info.ADKD == 0 ||
|
||||
d_osnma_data.d_mack_message.tag_and_info[i].tag_info.ADKD == 12)
|
||||
{
|
||||
m.insert(m.end(),osnma_msg->EphemerisClockAndStatusData.begin(),osnma_msg->EphemerisClockAndStatusData.end()) ;
|
||||
}
|
||||
else if(d_osnma_data.d_mack_message.tag_and_info[i].tag_info.ADKD == 4)
|
||||
{
|
||||
m.insert(m.end(),osnma_msg->TimingData.begin(),osnma_msg->TimingData.end()) ;
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cout << "Galileo OSNMA: Unknown ADKD. " << std::endl;
|
||||
}
|
||||
i = 0;
|
||||
// check that m has an integer number of bytes, if not, add padding zeroes
|
||||
|
||||
while (i<10/*TODO - number of padding zeroes to be computed*/)
|
||||
{
|
||||
m.push_back(0);
|
||||
@ -977,7 +1088,7 @@ void osnma_msg_receiver::process_mack_message(const std::shared_ptr<OSNMA_msg>&
|
||||
mac = d_crypto->computeCMAC_AES(applicable_key, m);
|
||||
}
|
||||
|
||||
// compute tag = trunc(l_t, mac(K,m)) Eq. 23 ICD
|
||||
// truncate the computed mac: trunc(l_t, mac(K,m)) Eq. 23 ICD
|
||||
uint64_t computed_mac = static_cast<uint64_t>(mac[0]) << (lt_bits - 8);
|
||||
computed_mac += (static_cast<uint64_t>(mac[1]) << (lt_bits - 16));
|
||||
if (lt_bits == 20)
|
||||
@ -1008,15 +1119,34 @@ void osnma_msg_receiver::process_mack_message(const std::shared_ptr<OSNMA_msg>&
|
||||
// Compare computed tag with received one truncated
|
||||
if (d_osnma_data.d_mack_message.tag_and_info[i].tag == computed_mac)
|
||||
{
|
||||
std::cout << "Galileo OSNMA: Tag verification successful " << std::endl;
|
||||
l_t_verified += lt_bits;
|
||||
if(d_osnma_data.d_mack_message.tag_and_info[i].tag_info.ADKD == 0 || d_osnma_data.d_mack_message.tag_and_info[i].tag_info.ADKD == 12)
|
||||
{
|
||||
std::cout << "Galileo OSNMA: Tag verification successful - Ephemeris, Clock and Ionospheric data " << std::endl;
|
||||
d_Lt_verified_eph += lt_bits;
|
||||
}
|
||||
else if(d_osnma_data.d_mack_message.tag_and_info[i].tag_info.ADKD == 4)
|
||||
{
|
||||
std::cout << "Galileo OSNMA: Tag verification successful - Timing data " << std::endl;
|
||||
d_Lt_verified_utc += lt_bits;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cout << "Galileo OSNMA: Tag verification failed " << std::endl;
|
||||
}
|
||||
|
||||
if (d_Lt_verified_eph >= d_Lt_min)
|
||||
{
|
||||
std::cout << "Galileo OSNMA: Ephemeris, Clock and Ionospheric data verified successfully " << std::endl;
|
||||
d_Lt_verified_eph = 0;
|
||||
}
|
||||
if (d_Lt_verified_utc >= d_Lt_min)
|
||||
{
|
||||
std::cout << "Galileo OSNMA: Timing data verified successfully " << std::endl;
|
||||
d_Lt_verified_utc = 0;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -88,6 +88,8 @@ private:
|
||||
bool d_kroot_verified{false};
|
||||
uint32_t d_GST_Sf {}; // C: used for MACSEQ and Tesla Key verification
|
||||
uint8_t d_Lt_min {}; // minimum equivalent tag length
|
||||
uint8_t d_Lt_verified_eph {0}; // verified tag bits - ephemeris
|
||||
uint8_t d_Lt_verified_utc {0}; // verified tag bits - timing
|
||||
uint32_t d_GST_0 {};
|
||||
uint32_t d_GST_SIS {};
|
||||
std::time_t d_receiver_time {};
|
||||
|
||||
@ -1382,6 +1382,14 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get data relevant for Galileo OSNMA
|
||||
*
|
||||
* \details This function retrieves various parameters and data to compose the OSNMA_msg.
|
||||
* It fills the TOW and WN fields of the message and retrieves ephemeris, iono, and
|
||||
*
|
||||
* @return The OSNMA message
|
||||
*/
|
||||
OSNMA_msg Galileo_Inav_Message::get_osnma_msg()
|
||||
{
|
||||
// TODO - why PRN of word 4 is done separately?
|
||||
@ -1394,7 +1402,6 @@ OSNMA_msg Galileo_Inav_Message::get_osnma_msg()
|
||||
TOW_sf0 += 604800;
|
||||
}
|
||||
nma_msg.TOW_sf0 = static_cast<uint32_t>(TOW_sf0);
|
||||
// nma_msg.TOW_sf0 = static_cast<uint32_t>(TOW_0);
|
||||
// get ephemeris, clock and iono correction datn and GST-UTC and GST-GPS converstion parameters (may be incomplete)
|
||||
nma_msg.EphemerisData = get_ephemeris();
|
||||
nma_msg.IonoData = get_iono();
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user