diff --git a/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc index efdacf2a4..3aa628979 100644 --- a/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc +++ b/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc @@ -329,6 +329,13 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), g } if(b_rtcm_writing_started) { + if((d_sample_counter % 5000) == 0) + { + for(std::map::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ ) + { + d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second); + } + } if((d_sample_counter % 1000) == 0) { std::map::iterator gps_ephemeris_iter; @@ -338,24 +345,19 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), g d_rtcm_printer->Print_Rtcm_MSM(4, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_pseudoranges_map, 1234, 0, 0, 0, 0, 0); } } - if((d_sample_counter % 5000) == 0) - { - std::map::iterator gps_ephemeris_iter; - gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); - if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) - { - d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second); - } - } } if(!b_rtcm_writing_started) // the first time { - std::map::iterator gps_ephemeris_iter; - gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); - if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) + for(std::map::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ ) { d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second); + } + + std::map::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); + + if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) + { d_rtcm_printer->Print_Rtcm_MSM(4, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_pseudoranges_map, 1234, 0, 0, 0, 0, 0); } b_rtcm_writing_started = true;