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ADD: clk_rate_s to dump and mat files

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This commit is contained in:
M.A.Gomez 2022-12-08 14:41:47 +00:00
parent 30233b177b
commit ae4bf6f44d
1 changed files with 12 additions and 4 deletions
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16
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -204,7 +204,7 @@ bool Rtklib_Solver::save_matfile() const
{
// READ DUMP FILE
const std::string dump_filename = d_dump_filename;
const int32_t number_of_double_vars = 22; //+1 MAGL
const int32_t number_of_double_vars = 23; //+2 MAGL
const int32_t number_of_double_vars_sat = 8; //+ pos/vel/psrange/doppler for sat
const int32_t number_of_uint32_vars = 2;
const int32_t number_of_uint8_vars = 3;
@ -256,7 +256,8 @@ bool Rtklib_Solver::save_matfile() const
auto cov_yz = std::vector<double>(num_epoch);
auto cov_zx = std::vector<double>(num_epoch);
auto vel_z2 = std::vector<double>(num_epoch);
auto clk_bias = std::vector<double>(num_epoch);
auto clk_rate = std::vector<double>(num_epoch);
auto sat_posX_m = std::vector<std::vector<double>>(5, std::vector<double>(num_epoch));
auto sat_posY_m = std::vector<std::vector<double>>(5, std::vector<double>(num_epoch));
auto sat_posZ_m = std::vector<std::vector<double>>(5, std::vector<double>(num_epoch));
@ -302,7 +303,8 @@ bool Rtklib_Solver::save_matfile() const
dump_file.read(reinterpret_cast<char *>(&cov_yz[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&cov_zx[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&vel_z2[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&clk_bias[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&clk_rate[i]), sizeof(double));
for (uint32_t chan = 0; chan < 5; chan++)
{
dump_file.read(reinterpret_cast<char *>(&sat_posX_m[chan][i]), sizeof(double));
@ -436,7 +438,11 @@ bool Rtklib_Solver::save_matfile() const
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("clk_bias_s", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), vel_z2.data(), 0);
matvar = Mat_VarCreate("clk_bias_s", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), clk_bias.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("clk_rate_s", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), clk_rate.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
@ -1403,6 +1409,8 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
tmp_double = vtl_data.rx_dts(0);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = vtl_data.rx_dts(1);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
for (int n = 0; n<5; n++)
{
tmp_double = vtl_data.sat_p(n, 0);