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https://github.com/gnss-sdr/gnss-sdr
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Use E6 channels in PVT
This commit is contained in:
parent
1ae6cac249
commit
b6762bf438
@ -651,6 +651,11 @@ rtklib_pvt_gs::~rtklib_pvt_gs()
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{
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{
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ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
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ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
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boost::archive::xml_oarchive xml(ofs);
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boost::archive::xml_oarchive xml(ofs);
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// Annotate as full GPS week number
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for (auto& gal_eph_iter : d_internal_pvt_solver->galileo_ephemeris_map)
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{
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gal_eph_iter.second.WN += 1024;
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}
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xml << boost::serialization::make_nvp("GNSS-SDR_gal_ephemeris_map", d_internal_pvt_solver->galileo_ephemeris_map);
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xml << boost::serialization::make_nvp("GNSS-SDR_gal_ephemeris_map", d_internal_pvt_solver->galileo_ephemeris_map);
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LOG(INFO) << "Saved Galileo E1 Ephemeris map data";
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LOG(INFO) << "Saved Galileo E1 Ephemeris map data";
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}
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}
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@ -2049,6 +2054,10 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
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store_valid_observable = true;
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store_valid_observable = true;
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}
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}
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}
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}
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if (std::string(in[i][epoch].Signal) == std::string("E6"))
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{
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store_valid_observable = true;
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}
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if (store_valid_observable)
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if (store_valid_observable)
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{
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{
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@ -407,6 +407,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
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bool band1 = false;
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bool band1 = false;
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bool band2 = false;
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bool band2 = false;
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bool gal_e5_is_e5b = false;
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bool gal_e5_is_e5b = false;
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bool gal_e6 = false;
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for (gnss_observables_iter = gnss_observables_map.cbegin();
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for (gnss_observables_iter = gnss_observables_map.cbegin();
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gnss_observables_iter != gnss_observables_map.cend();
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gnss_observables_iter != gnss_observables_map.cend();
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++gnss_observables_iter)
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++gnss_observables_iter)
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@ -514,6 +515,48 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
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gal_e5_is_e5b = true;
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gal_e5_is_e5b = true;
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}
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}
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}
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}
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if (sig_ == "E6")
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{
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gal_e6 = true;
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galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (galileo_ephemeris_iter != galileo_ephemeris_map.cend())
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{
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bool found_E1_obs = false;
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for (int i = 0; i < valid_obs; i++)
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{
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if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN + NSATGPS + NSATGLO)))
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{
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d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i + glo_valid_obs],
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gnss_observables_iter->second,
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galileo_ephemeris_iter->second.WN,
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2); // Band E6
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found_E1_obs = true;
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break;
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}
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}
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if (!found_E1_obs)
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{
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// insert Galileo E6 obs as new obs and also insert its ephemeris
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// convert ephemeris from GNSS-SDR class to RTKLIB structure
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eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
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// convert observation from GNSS-SDR class to RTKLIB structure
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const auto default_code_ = static_cast<unsigned char>(CODE_NONE);
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obsd_t newobs = {{0, 0}, '0', '0', {}, {},
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{default_code_, default_code_, default_code_},
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{}, {0.0, 0.0, 0.0}, {}};
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d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
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gnss_observables_iter->second,
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galileo_ephemeris_iter->second.WN,
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2); // Band E6
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// std::cout << "Week " << galileo_ephemeris_iter->second.WN << '\n';
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valid_obs++;
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}
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}
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else // the ephemeris are not available for this SV
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{
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DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
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}
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}
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break;
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break;
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}
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}
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case 'G':
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case 'G':
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@ -879,6 +922,11 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
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{
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{
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for (int j = 0; j < NFREQ; j++)
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for (int j = 0; j < NFREQ; j++)
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{
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{
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if (j == 2 && gal_e6)
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{
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// frq = 3 corresponds to E6 in that function
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nav_data.lam[i][j] = satwavelen(i + 1, 3, &nav_data);
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}
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if (j == 2 && gal_e5_is_e5b)
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if (j == 2 && gal_e5_is_e5b)
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{
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{
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// frq = 4 corresponds to E5B in that function
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// frq = 4 corresponds to E5B in that function
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@ -42,6 +42,7 @@
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#include <cstddef> // for size_t
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#include <cstddef> // for size_t
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#include <exception> // for std::exception
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#include <exception> // for std::exception
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#include <iostream> // for std::cout
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#include <iostream> // for std::cout
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#include <limits> // for std::numeric_limits
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#include <map> // for std::map
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#include <map> // for std::map
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#include <stdexcept> // for std::out_of_range
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#include <stdexcept> // for std::out_of_range
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#include <typeinfo> // for typeid
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#include <typeinfo> // for typeid
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@ -79,6 +80,7 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
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d_sample_counter(0ULL),
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d_sample_counter(0ULL),
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d_preamble_index(0ULL),
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d_preamble_index(0ULL),
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d_last_valid_preamble(0),
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d_last_valid_preamble(0),
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d_received_sample_counter(0),
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d_frame_type(frame_type),
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d_frame_type(frame_type),
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d_CRC_error_counter(0),
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d_CRC_error_counter(0),
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d_channel(0),
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d_channel(0),
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@ -86,6 +88,7 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
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d_stat(0),
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d_stat(0),
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d_TOW_at_Preamble_ms(0),
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d_TOW_at_Preamble_ms(0),
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d_TOW_at_current_symbol_ms(0),
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d_TOW_at_current_symbol_ms(0),
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d_received_tow(std::numeric_limits<uint32_t>::max()),
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d_band('1'),
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d_band('1'),
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d_sent_tlm_failed_msg(false),
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d_sent_tlm_failed_msg(false),
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d_flag_frame_sync(false),
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d_flag_frame_sync(false),
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@ -324,8 +327,11 @@ void galileo_telemetry_decoder_gs::msg_handler_read_galileo_tow_map(const pmt::p
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{
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{
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const auto received_tow_map = wht::any_cast<std::shared_ptr<std::map<uint32_t, std::pair<uint32_t, uint64_t>>>>(pmt::any_ref(msg));
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const auto received_tow_map = wht::any_cast<std::shared_ptr<std::map<uint32_t, std::pair<uint32_t, uint64_t>>>>(pmt::any_ref(msg));
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const std::pair<uint32_t, uint64_t> received_tow_sample = received_tow_map->at(d_satellite.get_PRN());
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const std::pair<uint32_t, uint64_t> received_tow_sample = received_tow_map->at(d_satellite.get_PRN());
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std::cout << "Received TOW: " << received_tow_sample.first << '\n';
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if (received_tow_sample.first < 604800)
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std::cout << "Received sample counter: " << received_tow_sample.second << '\n';
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{
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d_received_tow = received_tow_sample.first;
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d_received_sample_counter = received_tow_sample.second;
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}
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}
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}
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}
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}
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catch (const wht::bad_any_cast &e)
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catch (const wht::bad_any_cast &e)
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@ -1105,7 +1111,30 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
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}
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}
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case 3: // CNAV
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case 3: // CNAV
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{
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{
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// TODO
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if (!d_valid_timetag)
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{
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if (d_received_tow < 604800)
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{
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const int64_t diff = d_received_sample_counter - current_symbol.Tracking_sample_counter;
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bool overflowed = (diff < 0) ^ (d_received_sample_counter < current_symbol.Tracking_sample_counter);
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if (!overflowed && (std::abs(diff) / static_cast<int64_t>(current_symbol.fs) < 1.0))
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{
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d_TOW_at_Preamble_ms = d_received_tow;
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d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * GALILEO_CNAV_SYMBOLS_PER_PAGE * GALILEO_CNAV_PAGE_MS);
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d_E6_TOW_set = true;
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}
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}
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}
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if (d_E6_TOW_set && d_enable_navdata_monitor && !d_nav_msg_packet.nav_message.empty())
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{
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d_nav_msg_packet.system = std::string(1, current_symbol.System);
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d_nav_msg_packet.signal = std::string(current_symbol.Signal);
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d_nav_msg_packet.prn = static_cast<int32_t>(current_symbol.PRN);
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d_nav_msg_packet.tow_at_current_symbol_ms = static_cast<int32_t>(d_TOW_at_current_symbol_ms);
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const std::shared_ptr<Nav_Message_Packet> tmp_obj = std::make_shared<Nav_Message_Packet>(d_nav_msg_packet);
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this->message_port_pub(pmt::mp("Nav_msg_from_TLM"), pmt::make_any(tmp_obj));
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d_nav_msg_packet.nav_message = "";
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}
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}
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}
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}
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}
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}
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}
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@ -113,6 +113,7 @@ private:
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uint64_t d_sample_counter;
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uint64_t d_sample_counter;
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uint64_t d_preamble_index;
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uint64_t d_preamble_index;
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uint64_t d_last_valid_preamble;
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uint64_t d_last_valid_preamble;
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uint64_t d_received_sample_counter;
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int32_t d_mm;
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int32_t d_mm;
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int32_t d_codelength;
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int32_t d_codelength;
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@ -132,6 +133,7 @@ private:
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uint32_t d_TOW_at_Preamble_ms;
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uint32_t d_TOW_at_Preamble_ms;
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uint32_t d_TOW_at_current_symbol_ms;
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uint32_t d_TOW_at_current_symbol_ms;
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uint32_t d_max_symbols_without_valid_frame;
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uint32_t d_max_symbols_without_valid_frame;
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uint32_t d_received_tow;
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char d_band; // This variable will store which band we are dealing with (Galileo E1 or E5b)
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char d_band; // This variable will store which band we are dealing with (Galileo E1 or E5b)
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@ -414,6 +414,11 @@ bool Gnss_Sdr_Supl_Client::load_gal_ephemeris_xml(const std::string& file_name)
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gal_ephemeris_map.clear();
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gal_ephemeris_map.clear();
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xml >> boost::serialization::make_nvp("GNSS-SDR_gal_ephemeris_map", this->gal_ephemeris_map);
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xml >> boost::serialization::make_nvp("GNSS-SDR_gal_ephemeris_map", this->gal_ephemeris_map);
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LOG(INFO) << "Loaded Ephemeris map data with " << this->gal_ephemeris_map.size() << " satellites";
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LOG(INFO) << "Loaded Ephemeris map data with " << this->gal_ephemeris_map.size() << " satellites";
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// Convert to full GPS week number
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for (auto& gal_eph_iter : this->gal_ephemeris_map)
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{
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gal_eph_iter.second.WN -= 1024;
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}
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}
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}
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catch (std::exception& e)
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catch (std::exception& e)
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{
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{
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