From adfa9db282700a2c1656a176c51b249e2cc58c8f Mon Sep 17 00:00:00 2001 From: "M.A. Gomez" Date: Wed, 5 Apr 2023 15:35:24 +0200 Subject: [PATCH] ADD: rtklib usr_clk_drift to pvv_raw_vtl dump file --- src/algorithms/PVT/libs/rtklib_solver.cc | 16 +++++++++++++--- 1 file changed, 13 insertions(+), 3 deletions(-) diff --git a/src/algorithms/PVT/libs/rtklib_solver.cc b/src/algorithms/PVT/libs/rtklib_solver.cc index 2af55de3e..bfd8a5e6b 100644 --- a/src/algorithms/PVT/libs/rtklib_solver.cc +++ b/src/algorithms/PVT/libs/rtklib_solver.cc @@ -236,7 +236,7 @@ bool Rtklib_Solver::save_vtl_matfile() const { // READ DUMP FILE const std::string dump_filename = d_vtl_dump_filename; - const int32_t number_of_double_vars = 28; + const int32_t number_of_double_vars = 29; const int32_t number_of_uint32_vars = 2; const int32_t number_of_uint8_vars = 1; const int32_t epoch_size_bytes = sizeof(double) * number_of_double_vars + @@ -272,6 +272,7 @@ bool Rtklib_Solver::save_vtl_matfile() const auto RX_time = std::vector(num_epoch); auto user_clk_offset = std::vector(num_epoch); auto user_clk_offset_drift = std::vector(num_epoch); + auto rtklib_user_clk_offset_drift = std::vector(num_epoch); auto pos_x = std::vector(num_epoch); auto pos_y = std::vector(num_epoch); auto pos_z = std::vector(num_epoch); @@ -310,6 +311,7 @@ bool Rtklib_Solver::save_vtl_matfile() const dump_file.read(reinterpret_cast(&RX_time[i]), sizeof(double)); dump_file.read(reinterpret_cast(&user_clk_offset[i]), sizeof(double)); dump_file.read(reinterpret_cast(&user_clk_offset_drift[i]), sizeof(double)); + dump_file.read(reinterpret_cast(&rtklib_user_clk_offset_drift[i]), sizeof(double)); dump_file.read(reinterpret_cast(&pos_x[i]), sizeof(double)); dump_file.read(reinterpret_cast(&pos_y[i]), sizeof(double)); dump_file.read(reinterpret_cast(&pos_z[i]), sizeof(double)); @@ -376,6 +378,10 @@ bool Rtklib_Solver::save_vtl_matfile() const Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); + matvar = Mat_VarCreate("rtklib_user_clk_offset_drift", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), rtklib_user_clk_offset_drift.data(), 0); + Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE + Mat_VarFree(matvar); + matvar = Mat_VarCreate("pos_x", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), pos_x.data(), 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); @@ -2102,13 +2108,17 @@ bool Rtklib_Solver::get_PVT(const std::map &gnss_observables_ // PVT GPS time tmp_double = gnss_observables_map.cbegin()->second.RX_time; d_vtl_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); - // User clock offset [s] + // VTL filtered User clock offset [s] tmp_double = vtl_engine.get_user_clock_offset_s(); d_vtl_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); - // User clock offset drift[s/s] + // VTL filtered User clock offset drift[s/s] tmp_double = vtl_engine.get_user_clock_offset_drift_s_s(); d_vtl_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); + // rtklib User clock offset drift[s/s] + tmp_double = pvt_sol.dtr[5] / 1e6; // [ppm] to [s] + d_vtl_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); + // ECEF POS X,Y,X [m] + ECEF VEL X,Y,X [m/s] + ECEF ACC X,Y,X [m/s] (9 x double) std::vector p_vec_m = vtl_engine.get_position_ecef_m(); tmp_double = p_vec_m[0];