diff --git a/docs/changelog b/docs/changelog
index 58585eb8a..8d2fe1b15 100644
--- a/docs/changelog
+++ b/docs/changelog
@@ -2,7 +2,7 @@
### Improvements in Accuracy
-- Local clock correction based on PVT solution (error kept below 1 ms).
+- Local clock correction based on PVT solution, allowing the delivery of continuous observables.
- Fix a bug in broadcast ionospheric parameters usage.
diff --git a/src/algorithms/PVT/adapters/rtklib_pvt.cc b/src/algorithms/PVT/adapters/rtklib_pvt.cc
index 9b97e8c5b..f17d63293 100644
--- a/src/algorithms/PVT/adapters/rtklib_pvt.cc
+++ b/src/algorithms/PVT/adapters/rtklib_pvt.cc
@@ -69,10 +69,10 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
pvt_output_parameters.dump_mat = configuration->property(role + ".dump_mat", true);
// output rate
- pvt_output_parameters.output_rate_ms = configuration->property(role + ".output_rate_ms", 500);
+ pvt_output_parameters.output_rate_ms = bc::lcm(20, configuration->property(role + ".output_rate_ms", 500));
// display rate
- pvt_output_parameters.display_rate_ms = configuration->property(role + ".display_rate_ms", 500);
+ pvt_output_parameters.display_rate_ms = bc::lcm(pvt_output_parameters.output_rate_ms, configuration->property(role + ".display_rate_ms", 500));
// NMEA Printer settings
pvt_output_parameters.flag_nmea_tty_port = configuration->property(role + ".flag_nmea_tty_port", false);
diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
index cdb438d3d..65230c0a1 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
@@ -29,6 +29,7 @@
*/
#include "rtklib_pvt_gs.h"
+#include "MATH_CONSTANTS.h"
#include "beidou_dnav_almanac.h"
#include "beidou_dnav_ephemeris.h"
#include "beidou_dnav_iono.h"
@@ -43,6 +44,7 @@
#include "glonass_gnav_almanac.h"
#include "glonass_gnav_ephemeris.h"
#include "glonass_gnav_utc_model.h"
+#include "gnss_frequencies.h"
#include "gnss_sdr_create_directory.h"
#include "gps_almanac.h"
#include "gps_cnav_ephemeris.h"
@@ -129,9 +131,21 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
// Send PVT status to gnss_flowgraph
this->message_port_register_out(pmt::mp("status"));
+ mapStringValues_["1C"] = evGPS_1C;
+ mapStringValues_["2S"] = evGPS_2S;
+ mapStringValues_["L5"] = evGPS_L5;
+ mapStringValues_["1B"] = evGAL_1B;
+ mapStringValues_["5X"] = evGAL_5X;
+ mapStringValues_["1G"] = evGLO_1G;
+ mapStringValues_["2G"] = evGLO_2G;
+ mapStringValues_["B1"] = evBDS_B1;
+ mapStringValues_["B2"] = evBDS_B2;
+ mapStringValues_["B3"] = evBDS_B3;
+
+ max_obs_block_rx_clock_offset_ms = conf_.max_obs_block_rx_clock_offset_ms;
d_output_rate_ms = conf_.output_rate_ms;
d_display_rate_ms = conf_.display_rate_ms;
- d_report_rate_ms = 1000; //report every second PVT to gnss_synchro
+ d_report_rate_ms = 1000; // report every second PVT to gnss_synchro
d_dump = conf_.dump;
d_dump_mat = conf_.dump_mat and d_dump;
d_dump_filename = conf_.dump_filename;
@@ -443,8 +457,18 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
d_local_time_str = std::string(" ") + time_zone_abrv + " (UTC " + utc_diff_str.substr(0, 3) + ":" + utc_diff_str.substr(3, 2) + ")";
}
- d_pvt_solver = std::make_shared<Rtklib_Solver>(static_cast<int32_t>(nchannels), dump_ls_pvt_filename, d_dump, d_dump_mat, rtk);
- d_pvt_solver->set_averaging_depth(1);
+ // user PVT solver
+ d_user_pvt_solver = std::make_shared<Rtklib_Solver>(static_cast<int32_t>(nchannels), dump_ls_pvt_filename, d_dump, d_dump_mat, rtk);
+ d_user_pvt_solver->set_averaging_depth(1);
+
+ // internal PVT solver, mainly used to estimate the receiver clock
+ rtk_t internal_rtk = rtk;
+ internal_rtk.opt.mode = PMODE_SINGLE; // use single positioning mode in internal PVT solver
+ d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(static_cast<int32_t>(nchannels), dump_ls_pvt_filename, false, false, internal_rtk);
+ d_internal_pvt_solver->set_averaging_depth(1);
+
+ d_waiting_obs_block_rx_clock_offset_correction_msg = false;
+
start = std::chrono::system_clock::now();
}
@@ -458,14 +482,14 @@ rtklib_pvt_gs::~rtklib_pvt_gs()
{
// save GPS L2CM ephemeris to XML file
std::string file_name = xml_base_path + "gps_cnav_ephemeris.xml";
- if (d_pvt_solver->gps_cnav_ephemeris_map.empty() == false)
+ if (d_internal_pvt_solver->gps_cnav_ephemeris_map.empty() == false)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
- xml << boost::serialization::make_nvp("GNSS-SDR_cnav_ephemeris_map", d_pvt_solver->gps_cnav_ephemeris_map);
+ xml << boost::serialization::make_nvp("GNSS-SDR_cnav_ephemeris_map", d_internal_pvt_solver->gps_cnav_ephemeris_map);
LOG(INFO) << "Saved GPS L2CM or L5 Ephemeris map data";
}
catch (const boost::archive::archive_exception& e)
@@ -484,14 +508,14 @@ rtklib_pvt_gs::~rtklib_pvt_gs()
// save GPS L1 CA ephemeris to XML file
file_name = xml_base_path + "gps_ephemeris.xml";
- if (d_pvt_solver->gps_ephemeris_map.empty() == false)
+ if (d_internal_pvt_solver->gps_ephemeris_map.empty() == false)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
- xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", d_pvt_solver->gps_ephemeris_map);
+ xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", d_internal_pvt_solver->gps_ephemeris_map);
LOG(INFO) << "Saved GPS L1 CA Ephemeris map data";
}
catch (const boost::archive::archive_exception& e)
@@ -510,14 +534,14 @@ rtklib_pvt_gs::~rtklib_pvt_gs()
// save Galileo E1 ephemeris to XML file
file_name = xml_base_path + "gal_ephemeris.xml";
- if (d_pvt_solver->galileo_ephemeris_map.empty() == false)
+ if (d_internal_pvt_solver->galileo_ephemeris_map.empty() == false)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
- xml << boost::serialization::make_nvp("GNSS-SDR_gal_ephemeris_map", d_pvt_solver->galileo_ephemeris_map);
+ xml << boost::serialization::make_nvp("GNSS-SDR_gal_ephemeris_map", d_internal_pvt_solver->galileo_ephemeris_map);
LOG(INFO) << "Saved Galileo E1 Ephemeris map data";
}
catch (const boost::archive::archive_exception& e)
@@ -540,14 +564,14 @@ rtklib_pvt_gs::~rtklib_pvt_gs()
// save GLONASS GNAV ephemeris to XML file
file_name = xml_base_path + "eph_GLONASS_GNAV.xml";
- if (d_pvt_solver->glonass_gnav_ephemeris_map.empty() == false)
+ if (d_internal_pvt_solver->glonass_gnav_ephemeris_map.empty() == false)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
- xml << boost::serialization::make_nvp("GNSS-SDR_gnav_ephemeris_map", d_pvt_solver->glonass_gnav_ephemeris_map);
+ xml << boost::serialization::make_nvp("GNSS-SDR_gnav_ephemeris_map", d_internal_pvt_solver->glonass_gnav_ephemeris_map);
LOG(INFO) << "Saved GLONASS GNAV Ephemeris map data";
}
catch (const boost::archive::archive_exception& e)
@@ -570,14 +594,14 @@ rtklib_pvt_gs::~rtklib_pvt_gs()
// Save GPS UTC model parameters
file_name = xml_base_path + "gps_utc_model.xml";
- if (d_pvt_solver->gps_utc_model.valid)
+ if (d_internal_pvt_solver->gps_utc_model.valid)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
- xml << boost::serialization::make_nvp("GNSS-SDR_utc_model", d_pvt_solver->gps_utc_model);
+ xml << boost::serialization::make_nvp("GNSS-SDR_utc_model", d_internal_pvt_solver->gps_utc_model);
LOG(INFO) << "Saved GPS UTC model parameters";
}
catch (const std::ofstream::failure& e)
@@ -600,14 +624,14 @@ rtklib_pvt_gs::~rtklib_pvt_gs()
// Save Galileo UTC model parameters
file_name = xml_base_path + "gal_utc_model.xml";
- if (d_pvt_solver->galileo_utc_model.Delta_tLS_6 != 0.0)
+ if (d_internal_pvt_solver->galileo_utc_model.Delta_tLS_6 != 0.0)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
- xml << boost::serialization::make_nvp("GNSS-SDR_gal_utc_model", d_pvt_solver->galileo_utc_model);
+ xml << boost::serialization::make_nvp("GNSS-SDR_gal_utc_model", d_internal_pvt_solver->galileo_utc_model);
LOG(INFO) << "Saved Galileo UTC model parameters";
}
catch (const boost::archive::archive_exception& e)
@@ -630,14 +654,14 @@ rtklib_pvt_gs::~rtklib_pvt_gs()
// Save GPS iono parameters
file_name = xml_base_path + "gps_iono.xml";
- if (d_pvt_solver->gps_iono.valid == true)
+ if (d_internal_pvt_solver->gps_iono.valid == true)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
- xml << boost::serialization::make_nvp("GNSS-SDR_iono_model", d_pvt_solver->gps_iono);
+ xml << boost::serialization::make_nvp("GNSS-SDR_iono_model", d_internal_pvt_solver->gps_iono);
LOG(INFO) << "Saved GPS ionospheric model parameters";
}
catch (const boost::archive::archive_exception& e)
@@ -660,14 +684,14 @@ rtklib_pvt_gs::~rtklib_pvt_gs()
// Save GPS CNAV iono parameters
file_name = xml_base_path + "gps_cnav_iono.xml";
- if (d_pvt_solver->gps_cnav_iono.valid == true)
+ if (d_internal_pvt_solver->gps_cnav_iono.valid == true)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
- xml << boost::serialization::make_nvp("GNSS-SDR_cnav_iono_model", d_pvt_solver->gps_cnav_iono);
+ xml << boost::serialization::make_nvp("GNSS-SDR_cnav_iono_model", d_internal_pvt_solver->gps_cnav_iono);
LOG(INFO) << "Saved GPS CNAV ionospheric model parameters";
}
catch (const boost::archive::archive_exception& e)
@@ -690,14 +714,14 @@ rtklib_pvt_gs::~rtklib_pvt_gs()
// Save Galileo iono parameters
file_name = xml_base_path + "gal_iono.xml";
- if (d_pvt_solver->galileo_iono.ai0_5 != 0.0)
+ if (d_internal_pvt_solver->galileo_iono.ai0_5 != 0.0)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
- xml << boost::serialization::make_nvp("GNSS-SDR_gal_iono_model", d_pvt_solver->galileo_iono);
+ xml << boost::serialization::make_nvp("GNSS-SDR_gal_iono_model", d_internal_pvt_solver->galileo_iono);
LOG(INFO) << "Saved Galileo ionospheric model parameters";
}
catch (const boost::archive::archive_exception& e)
@@ -720,14 +744,14 @@ rtklib_pvt_gs::~rtklib_pvt_gs()
// save GPS almanac to XML file
file_name = xml_base_path + "gps_almanac.xml";
- if (d_pvt_solver->gps_almanac_map.empty() == false)
+ if (d_internal_pvt_solver->gps_almanac_map.empty() == false)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
- xml << boost::serialization::make_nvp("GNSS-SDR_gps_almanac_map", d_pvt_solver->gps_almanac_map);
+ xml << boost::serialization::make_nvp("GNSS-SDR_gps_almanac_map", d_internal_pvt_solver->gps_almanac_map);
LOG(INFO) << "Saved GPS almanac map data";
}
catch (const boost::archive::archive_exception& e)
@@ -750,14 +774,14 @@ rtklib_pvt_gs::~rtklib_pvt_gs()
// Save Galileo almanac
file_name = xml_base_path + "gal_almanac.xml";
- if (d_pvt_solver->galileo_almanac_map.empty() == false)
+ if (d_internal_pvt_solver->galileo_almanac_map.empty() == false)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
- xml << boost::serialization::make_nvp("GNSS-SDR_gal_almanac_map", d_pvt_solver->galileo_almanac_map);
+ xml << boost::serialization::make_nvp("GNSS-SDR_gal_almanac_map", d_internal_pvt_solver->galileo_almanac_map);
LOG(INFO) << "Saved Galileo almanac data";
}
catch (const boost::archive::archive_exception& e)
@@ -780,14 +804,14 @@ rtklib_pvt_gs::~rtklib_pvt_gs()
// Save GPS CNAV UTC model parameters
file_name = xml_base_path + "gps_cnav_utc_model.xml";
- if (d_pvt_solver->gps_cnav_utc_model.valid)
+ if (d_internal_pvt_solver->gps_cnav_utc_model.valid)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
- xml << boost::serialization::make_nvp("GNSS-SDR_cnav_utc_model", d_pvt_solver->gps_cnav_utc_model);
+ xml << boost::serialization::make_nvp("GNSS-SDR_cnav_utc_model", d_internal_pvt_solver->gps_cnav_utc_model);
LOG(INFO) << "Saved GPS CNAV UTC model parameters";
}
catch (const boost::archive::archive_exception& e)
@@ -810,14 +834,14 @@ rtklib_pvt_gs::~rtklib_pvt_gs()
// save GLONASS GNAV ephemeris to XML file
file_name = xml_base_path + "glo_gnav_ephemeris.xml";
- if (d_pvt_solver->glonass_gnav_ephemeris_map.empty() == false)
+ if (d_internal_pvt_solver->glonass_gnav_ephemeris_map.empty() == false)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
- xml << boost::serialization::make_nvp("GNSS-SDR_gnav_ephemeris_map", d_pvt_solver->glonass_gnav_ephemeris_map);
+ xml << boost::serialization::make_nvp("GNSS-SDR_gnav_ephemeris_map", d_internal_pvt_solver->glonass_gnav_ephemeris_map);
LOG(INFO) << "Saved GLONASS GNAV ephemeris map data";
}
catch (const boost::archive::archive_exception& e)
@@ -840,14 +864,14 @@ rtklib_pvt_gs::~rtklib_pvt_gs()
// save GLONASS UTC model parameters to XML file
file_name = xml_base_path + "glo_utc_model.xml";
- if (d_pvt_solver->glonass_gnav_utc_model.valid)
+ if (d_internal_pvt_solver->glonass_gnav_utc_model.valid)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
- xml << boost::serialization::make_nvp("GNSS-SDR_gnav_utc_model", d_pvt_solver->glonass_gnav_utc_model);
+ xml << boost::serialization::make_nvp("GNSS-SDR_gnav_utc_model", d_internal_pvt_solver->glonass_gnav_utc_model);
LOG(INFO) << "Saved GLONASS UTC model parameters";
}
catch (const boost::archive::archive_exception& e)
@@ -870,14 +894,14 @@ rtklib_pvt_gs::~rtklib_pvt_gs()
// save BeiDou DNAV ephemeris to XML file
file_name = xml_base_path + "bds_dnav_ephemeris.xml";
- if (d_pvt_solver->beidou_dnav_ephemeris_map.empty() == false)
+ if (d_internal_pvt_solver->beidou_dnav_ephemeris_map.empty() == false)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
- xml << boost::serialization::make_nvp("GNSS-SDR_bds_dnav_ephemeris_map", d_pvt_solver->beidou_dnav_ephemeris_map);
+ xml << boost::serialization::make_nvp("GNSS-SDR_bds_dnav_ephemeris_map", d_internal_pvt_solver->beidou_dnav_ephemeris_map);
LOG(INFO) << "Saved BeiDou DNAV Ephemeris map data";
}
catch (const boost::archive::archive_exception& e)
@@ -900,14 +924,14 @@ rtklib_pvt_gs::~rtklib_pvt_gs()
// Save BeiDou DNAV iono parameters
file_name = xml_base_path + "bds_dnav_iono.xml";
- if (d_pvt_solver->beidou_dnav_iono.valid)
+ if (d_internal_pvt_solver->beidou_dnav_iono.valid)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
- xml << boost::serialization::make_nvp("GNSS-SDR_bds_dnav_iono_model", d_pvt_solver->beidou_dnav_iono);
+ xml << boost::serialization::make_nvp("GNSS-SDR_bds_dnav_iono_model", d_internal_pvt_solver->beidou_dnav_iono);
LOG(INFO) << "Saved BeiDou DNAV ionospheric model parameters";
}
catch (const boost::archive::archive_exception& e)
@@ -930,14 +954,14 @@ rtklib_pvt_gs::~rtklib_pvt_gs()
// save BeiDou DNAV almanac to XML file
file_name = xml_base_path + "bds_dnav_almanac.xml";
- if (d_pvt_solver->beidou_dnav_almanac_map.empty() == false)
+ if (d_internal_pvt_solver->beidou_dnav_almanac_map.empty() == false)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
- xml << boost::serialization::make_nvp("GNSS-SDR_bds_dnav_almanac_map", d_pvt_solver->beidou_dnav_almanac_map);
+ xml << boost::serialization::make_nvp("GNSS-SDR_bds_dnav_almanac_map", d_internal_pvt_solver->beidou_dnav_almanac_map);
LOG(INFO) << "Saved BeiDou DNAV almanac map data";
}
catch (const boost::archive::archive_exception& e)
@@ -960,14 +984,14 @@ rtklib_pvt_gs::~rtklib_pvt_gs()
// Save BeiDou UTC model parameters
file_name = xml_base_path + "bds_dnav_utc_model.xml";
- if (d_pvt_solver->beidou_dnav_utc_model.valid)
+ if (d_internal_pvt_solver->beidou_dnav_utc_model.valid)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
- xml << boost::serialization::make_nvp("GNSS-SDR_bds_dnav_utc_model", d_pvt_solver->beidou_dnav_utc_model);
+ xml << boost::serialization::make_nvp("GNSS-SDR_bds_dnav_utc_model", d_internal_pvt_solver->beidou_dnav_utc_model);
LOG(INFO) << "Saved BeiDou DNAV UTC model parameters";
}
catch (const boost::archive::archive_exception& e)
@@ -1015,13 +1039,13 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
{
bool new_annotation = false;
- if (d_pvt_solver->gps_ephemeris_map.find(gps_eph->i_satellite_PRN) == d_pvt_solver->gps_ephemeris_map.cend())
+ if (d_internal_pvt_solver->gps_ephemeris_map.find(gps_eph->i_satellite_PRN) == d_internal_pvt_solver->gps_ephemeris_map.cend())
{
new_annotation = true;
}
else
{
- if (d_pvt_solver->gps_ephemeris_map[gps_eph->i_satellite_PRN].d_Toe != gps_eph->d_Toe)
+ if (d_internal_pvt_solver->gps_ephemeris_map[gps_eph->i_satellite_PRN].d_Toe != gps_eph->d_Toe)
{
new_annotation = true;
}
@@ -1075,14 +1099,16 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
}
}
}
- d_pvt_solver->gps_ephemeris_map[gps_eph->i_satellite_PRN] = *gps_eph;
+ d_internal_pvt_solver->gps_ephemeris_map[gps_eph->i_satellite_PRN] = *gps_eph;
+ d_user_pvt_solver->gps_ephemeris_map[gps_eph->i_satellite_PRN] = *gps_eph;
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Iono>))
{
// ### GPS IONO ###
std::shared_ptr<Gps_Iono> gps_iono;
gps_iono = boost::any_cast<std::shared_ptr<Gps_Iono>>(pmt::any_ref(msg));
- d_pvt_solver->gps_iono = *gps_iono;
+ d_internal_pvt_solver->gps_iono = *gps_iono;
+ d_user_pvt_solver->gps_iono = *gps_iono;
DLOG(INFO) << "New IONO record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Utc_Model>))
@@ -1090,7 +1116,8 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
// ### GPS UTC MODEL ###
std::shared_ptr<Gps_Utc_Model> gps_utc_model;
gps_utc_model = boost::any_cast<std::shared_ptr<Gps_Utc_Model>>(pmt::any_ref(msg));
- d_pvt_solver->gps_utc_model = *gps_utc_model;
+ d_internal_pvt_solver->gps_utc_model = *gps_utc_model;
+ d_user_pvt_solver->gps_utc_model = *gps_utc_model;
DLOG(INFO) << "New UTC record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_CNAV_Ephemeris>))
@@ -1102,13 +1129,13 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
{
bool new_annotation = false;
- if (d_pvt_solver->gps_cnav_ephemeris_map.find(gps_cnav_ephemeris->i_satellite_PRN) == d_pvt_solver->gps_cnav_ephemeris_map.cend())
+ if (d_internal_pvt_solver->gps_cnav_ephemeris_map.find(gps_cnav_ephemeris->i_satellite_PRN) == d_internal_pvt_solver->gps_cnav_ephemeris_map.cend())
{
new_annotation = true;
}
else
{
- if (d_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->i_satellite_PRN].d_Toe1 != gps_cnav_ephemeris->d_Toe1)
+ if (d_internal_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->i_satellite_PRN].d_Toe1 != gps_cnav_ephemeris->d_Toe1)
{
new_annotation = true;
}
@@ -1145,7 +1172,8 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
}
}
}
- d_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->i_satellite_PRN] = *gps_cnav_ephemeris;
+ d_internal_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->i_satellite_PRN] = *gps_cnav_ephemeris;
+ d_user_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->i_satellite_PRN] = *gps_cnav_ephemeris;
DLOG(INFO) << "New GPS CNAV ephemeris record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_CNAV_Iono>))
@@ -1153,7 +1181,8 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
// ### GPS CNAV IONO ###
std::shared_ptr<Gps_CNAV_Iono> gps_cnav_iono;
gps_cnav_iono = boost::any_cast<std::shared_ptr<Gps_CNAV_Iono>>(pmt::any_ref(msg));
- d_pvt_solver->gps_cnav_iono = *gps_cnav_iono;
+ d_internal_pvt_solver->gps_cnav_iono = *gps_cnav_iono;
+ d_user_pvt_solver->gps_cnav_iono = *gps_cnav_iono;
DLOG(INFO) << "New CNAV IONO record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_CNAV_Utc_Model>))
@@ -1161,7 +1190,8 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
// ### GPS CNAV UTC MODEL ###
std::shared_ptr<Gps_CNAV_Utc_Model> gps_cnav_utc_model;
gps_cnav_utc_model = boost::any_cast<std::shared_ptr<Gps_CNAV_Utc_Model>>(pmt::any_ref(msg));
- d_pvt_solver->gps_cnav_utc_model = *gps_cnav_utc_model;
+ d_internal_pvt_solver->gps_cnav_utc_model = *gps_cnav_utc_model;
+ d_user_pvt_solver->gps_cnav_utc_model = *gps_cnav_utc_model;
DLOG(INFO) << "New CNAV UTC record has arrived ";
}
@@ -1170,7 +1200,8 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
// ### GPS ALMANAC ###
std::shared_ptr<Gps_Almanac> gps_almanac;
gps_almanac = boost::any_cast<std::shared_ptr<Gps_Almanac>>(pmt::any_ref(msg));
- d_pvt_solver->gps_almanac_map[gps_almanac->i_satellite_PRN] = *gps_almanac;
+ d_internal_pvt_solver->gps_almanac_map[gps_almanac->i_satellite_PRN] = *gps_almanac;
+ d_user_pvt_solver->gps_almanac_map[gps_almanac->i_satellite_PRN] = *gps_almanac;
DLOG(INFO) << "New GPS almanac record has arrived ";
}
@@ -1188,13 +1219,13 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
{
bool new_annotation = false;
- if (d_pvt_solver->galileo_ephemeris_map.find(galileo_eph->i_satellite_PRN) == d_pvt_solver->galileo_ephemeris_map.cend())
+ if (d_internal_pvt_solver->galileo_ephemeris_map.find(galileo_eph->i_satellite_PRN) == d_internal_pvt_solver->galileo_ephemeris_map.cend())
{
new_annotation = true;
}
else
{
- if (d_pvt_solver->galileo_ephemeris_map[galileo_eph->i_satellite_PRN].t0e_1 != galileo_eph->t0e_1)
+ if (d_internal_pvt_solver->galileo_ephemeris_map[galileo_eph->i_satellite_PRN].t0e_1 != galileo_eph->t0e_1)
{
new_annotation = true;
}
@@ -1238,14 +1269,16 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
}
}
}
- d_pvt_solver->galileo_ephemeris_map[galileo_eph->i_satellite_PRN] = *galileo_eph;
+ d_internal_pvt_solver->galileo_ephemeris_map[galileo_eph->i_satellite_PRN] = *galileo_eph;
+ d_user_pvt_solver->galileo_ephemeris_map[galileo_eph->i_satellite_PRN] = *galileo_eph;
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Iono>))
{
// ### Galileo IONO ###
std::shared_ptr<Galileo_Iono> galileo_iono;
galileo_iono = boost::any_cast<std::shared_ptr<Galileo_Iono>>(pmt::any_ref(msg));
- d_pvt_solver->galileo_iono = *galileo_iono;
+ d_internal_pvt_solver->galileo_iono = *galileo_iono;
+ d_user_pvt_solver->galileo_iono = *galileo_iono;
DLOG(INFO) << "New IONO record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Utc_Model>))
@@ -1253,7 +1286,8 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
// ### Galileo UTC MODEL ###
std::shared_ptr<Galileo_Utc_Model> galileo_utc_model;
galileo_utc_model = boost::any_cast<std::shared_ptr<Galileo_Utc_Model>>(pmt::any_ref(msg));
- d_pvt_solver->galileo_utc_model = *galileo_utc_model;
+ d_internal_pvt_solver->galileo_utc_model = *galileo_utc_model;
+ d_user_pvt_solver->galileo_utc_model = *galileo_utc_model;
DLOG(INFO) << "New UTC record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Almanac_Helper>))
@@ -1268,15 +1302,18 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
if (sv1.i_satellite_PRN != 0)
{
- d_pvt_solver->galileo_almanac_map[sv1.i_satellite_PRN] = sv1;
+ d_internal_pvt_solver->galileo_almanac_map[sv1.i_satellite_PRN] = sv1;
+ d_user_pvt_solver->galileo_almanac_map[sv1.i_satellite_PRN] = sv1;
}
if (sv2.i_satellite_PRN != 0)
{
- d_pvt_solver->galileo_almanac_map[sv2.i_satellite_PRN] = sv2;
+ d_internal_pvt_solver->galileo_almanac_map[sv2.i_satellite_PRN] = sv2;
+ d_user_pvt_solver->galileo_almanac_map[sv2.i_satellite_PRN] = sv2;
}
if (sv3.i_satellite_PRN != 0)
{
- d_pvt_solver->galileo_almanac_map[sv3.i_satellite_PRN] = sv3;
+ d_internal_pvt_solver->galileo_almanac_map[sv3.i_satellite_PRN] = sv3;
+ d_user_pvt_solver->galileo_almanac_map[sv3.i_satellite_PRN] = sv3;
}
DLOG(INFO) << "New Galileo Almanac data have arrived ";
}
@@ -1286,7 +1323,8 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
std::shared_ptr<Galileo_Almanac> galileo_alm;
galileo_alm = boost::any_cast<std::shared_ptr<Galileo_Almanac>>(pmt::any_ref(msg));
// update/insert new almanac record to the global almanac map
- d_pvt_solver->galileo_almanac_map[galileo_alm->i_satellite_PRN] = *galileo_alm;
+ d_internal_pvt_solver->galileo_almanac_map[galileo_alm->i_satellite_PRN] = *galileo_alm;
+ d_user_pvt_solver->galileo_almanac_map[galileo_alm->i_satellite_PRN] = *galileo_alm;
}
// **************** GLONASS GNAV Telemetry **************************
@@ -1305,13 +1343,13 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
{
bool new_annotation = false;
- if (d_pvt_solver->glonass_gnav_ephemeris_map.find(glonass_gnav_eph->i_satellite_PRN) == d_pvt_solver->glonass_gnav_ephemeris_map.cend())
+ if (d_internal_pvt_solver->glonass_gnav_ephemeris_map.find(glonass_gnav_eph->i_satellite_PRN) == d_internal_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
new_annotation = true;
}
else
{
- if (d_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN].d_t_b != glonass_gnav_eph->d_t_b)
+ if (d_internal_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN].d_t_b != glonass_gnav_eph->d_t_b)
{
new_annotation = true;
}
@@ -1366,14 +1404,16 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
}
}
}
- d_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
+ d_internal_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
+ d_user_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Utc_Model>))
{
// ### GLONASS GNAV UTC MODEL ###
std::shared_ptr<Glonass_Gnav_Utc_Model> glonass_gnav_utc_model;
glonass_gnav_utc_model = boost::any_cast<std::shared_ptr<Glonass_Gnav_Utc_Model>>(pmt::any_ref(msg));
- d_pvt_solver->glonass_gnav_utc_model = *glonass_gnav_utc_model;
+ d_internal_pvt_solver->glonass_gnav_utc_model = *glonass_gnav_utc_model;
+ d_user_pvt_solver->glonass_gnav_utc_model = *glonass_gnav_utc_model;
DLOG(INFO) << "New GLONASS GNAV UTC record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Almanac>))
@@ -1381,7 +1421,8 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
// ### GLONASS GNAV Almanac ###
std::shared_ptr<Glonass_Gnav_Almanac> glonass_gnav_almanac;
glonass_gnav_almanac = boost::any_cast<std::shared_ptr<Glonass_Gnav_Almanac>>(pmt::any_ref(msg));
- d_pvt_solver->glonass_gnav_almanac = *glonass_gnav_almanac;
+ d_internal_pvt_solver->glonass_gnav_almanac = *glonass_gnav_almanac;
+ d_user_pvt_solver->glonass_gnav_almanac = *glonass_gnav_almanac;
DLOG(INFO) << "New GLONASS GNAV Almanac has arrived "
<< ", GLONASS GNAV Slot Number =" << glonass_gnav_almanac->d_n_A;
}
@@ -1401,13 +1442,13 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
{
bool new_annotation = false;
- if (d_pvt_solver->beidou_dnav_ephemeris_map.find(bds_dnav_eph->i_satellite_PRN) == d_pvt_solver->beidou_dnav_ephemeris_map.cend())
+ if (d_internal_pvt_solver->beidou_dnav_ephemeris_map.find(bds_dnav_eph->i_satellite_PRN) == d_internal_pvt_solver->beidou_dnav_ephemeris_map.cend())
{
new_annotation = true;
}
else
{
- if (d_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->i_satellite_PRN].d_Toc != bds_dnav_eph->d_Toc)
+ if (d_internal_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->i_satellite_PRN].d_Toc != bds_dnav_eph->d_Toc)
{
new_annotation = true;
}
@@ -1427,14 +1468,16 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
}
}
}
- d_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->i_satellite_PRN] = *bds_dnav_eph;
+ d_internal_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->i_satellite_PRN] = *bds_dnav_eph;
+ d_user_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->i_satellite_PRN] = *bds_dnav_eph;
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Beidou_Dnav_Iono>))
{
// ### BeiDou IONO ###
std::shared_ptr<Beidou_Dnav_Iono> bds_dnav_iono;
bds_dnav_iono = boost::any_cast<std::shared_ptr<Beidou_Dnav_Iono>>(pmt::any_ref(msg));
- d_pvt_solver->beidou_dnav_iono = *bds_dnav_iono;
+ d_internal_pvt_solver->beidou_dnav_iono = *bds_dnav_iono;
+ d_user_pvt_solver->beidou_dnav_iono = *bds_dnav_iono;
DLOG(INFO) << "New BeiDou DNAV IONO record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Beidou_Dnav_Utc_Model>))
@@ -1442,7 +1485,8 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
// ### BeiDou UTC MODEL ###
std::shared_ptr<Beidou_Dnav_Utc_Model> bds_dnav_utc_model;
bds_dnav_utc_model = boost::any_cast<std::shared_ptr<Beidou_Dnav_Utc_Model>>(pmt::any_ref(msg));
- d_pvt_solver->beidou_dnav_utc_model = *bds_dnav_utc_model;
+ d_internal_pvt_solver->beidou_dnav_utc_model = *bds_dnav_utc_model;
+ d_user_pvt_solver->beidou_dnav_utc_model = *bds_dnav_utc_model;
DLOG(INFO) << "New BeiDou DNAV UTC record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Beidou_Dnav_Almanac>))
@@ -1450,7 +1494,8 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
// ### BeiDou ALMANAC ###
std::shared_ptr<Beidou_Dnav_Almanac> bds_dnav_almanac;
bds_dnav_almanac = boost::any_cast<std::shared_ptr<Beidou_Dnav_Almanac>>(pmt::any_ref(msg));
- d_pvt_solver->beidou_dnav_almanac_map[bds_dnav_almanac->i_satellite_PRN] = *bds_dnav_almanac;
+ d_internal_pvt_solver->beidou_dnav_almanac_map[bds_dnav_almanac->i_satellite_PRN] = *bds_dnav_almanac;
+ d_user_pvt_solver->beidou_dnav_almanac_map[bds_dnav_almanac->i_satellite_PRN] = *bds_dnav_almanac;
DLOG(INFO) << "New BeiDou DNAV almanac record has arrived ";
}
else
@@ -1467,54 +1512,55 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
std::map<int, Gps_Ephemeris> rtklib_pvt_gs::get_gps_ephemeris_map() const
{
- return d_pvt_solver->gps_ephemeris_map;
+ return d_internal_pvt_solver->gps_ephemeris_map;
}
std::map<int, Gps_Almanac> rtklib_pvt_gs::get_gps_almanac_map() const
{
- return d_pvt_solver->gps_almanac_map;
+ return d_internal_pvt_solver->gps_almanac_map;
}
std::map<int, Galileo_Ephemeris> rtklib_pvt_gs::get_galileo_ephemeris_map() const
{
- return d_pvt_solver->galileo_ephemeris_map;
+ return d_internal_pvt_solver->galileo_ephemeris_map;
}
std::map<int, Galileo_Almanac> rtklib_pvt_gs::get_galileo_almanac_map() const
{
- return d_pvt_solver->galileo_almanac_map;
+ return d_internal_pvt_solver->galileo_almanac_map;
}
std::map<int, Beidou_Dnav_Ephemeris> rtklib_pvt_gs::get_beidou_dnav_ephemeris_map() const
{
- return d_pvt_solver->beidou_dnav_ephemeris_map;
+ return d_internal_pvt_solver->beidou_dnav_ephemeris_map;
}
std::map<int, Beidou_Dnav_Almanac> rtklib_pvt_gs::get_beidou_dnav_almanac_map() const
{
- return d_pvt_solver->beidou_dnav_almanac_map;
+ return d_internal_pvt_solver->beidou_dnav_almanac_map;
}
void rtklib_pvt_gs::clear_ephemeris()
{
- d_pvt_solver->gps_ephemeris_map.clear();
- d_pvt_solver->gps_almanac_map.clear();
- d_pvt_solver->galileo_ephemeris_map.clear();
- d_pvt_solver->galileo_almanac_map.clear();
- d_pvt_solver->beidou_dnav_ephemeris_map.clear();
- d_pvt_solver->beidou_dnav_almanac_map.clear();
-}
+ d_internal_pvt_solver->gps_ephemeris_map.clear();
+ d_internal_pvt_solver->gps_almanac_map.clear();
+ d_internal_pvt_solver->galileo_ephemeris_map.clear();
+ d_internal_pvt_solver->galileo_almanac_map.clear();
+ d_internal_pvt_solver->beidou_dnav_ephemeris_map.clear();
+ d_internal_pvt_solver->beidou_dnav_almanac_map.clear();
-
-bool rtklib_pvt_gs::observables_pairCompare_min(const std::pair<int, Gnss_Synchro>& a, const std::pair<int, Gnss_Synchro>& b)
-{
- return (a.second.Pseudorange_m) < (b.second.Pseudorange_m);
+ d_user_pvt_solver->gps_ephemeris_map.clear();
+ d_user_pvt_solver->gps_almanac_map.clear();
+ d_user_pvt_solver->galileo_ephemeris_map.clear();
+ d_user_pvt_solver->galileo_almanac_map.clear();
+ d_user_pvt_solver->beidou_dnav_ephemeris_map.clear();
+ d_user_pvt_solver->beidou_dnav_almanac_map.clear();
}
@@ -1569,7 +1615,7 @@ bool rtklib_pvt_gs::load_gnss_synchro_map_xml(const std::string& file_name)
boost::archive::xml_iarchive xml(ifs);
gnss_observables_map.clear();
xml >> boost::serialization::make_nvp("GNSS-SDR_gnss_synchro_map", gnss_observables_map);
- //std::cout << "Loaded gnss_synchro map data with " << gnss_synchro_map.size() << " pseudoranges" << std::endl;
+ // std::cout << "Loaded gnss_synchro map data with " << gnss_synchro_map.size() << " pseudoranges" << std::endl;
}
catch (const std::exception& e)
{
@@ -1602,14 +1648,14 @@ bool rtklib_pvt_gs::get_latest_PVT(double* longitude_deg,
double* course_over_ground_deg,
time_t* UTC_time) const
{
- if (d_pvt_solver->is_valid_position())
+ if (d_user_pvt_solver->is_valid_position())
{
- *latitude_deg = d_pvt_solver->get_latitude();
- *longitude_deg = d_pvt_solver->get_longitude();
- *height_m = d_pvt_solver->get_height();
- *ground_speed_kmh = d_pvt_solver->get_speed_over_ground() * 3600.0 / 1000.0;
- *course_over_ground_deg = d_pvt_solver->get_course_over_ground();
- *UTC_time = convert_to_time_t(d_pvt_solver->get_position_UTC_time());
+ *latitude_deg = d_user_pvt_solver->get_latitude();
+ *longitude_deg = d_user_pvt_solver->get_longitude();
+ *height_m = d_user_pvt_solver->get_height();
+ *ground_speed_kmh = d_user_pvt_solver->get_speed_over_ground() * 3600.0 / 1000.0;
+ *course_over_ground_deg = d_user_pvt_solver->get_course_over_ground();
+ *UTC_time = convert_to_time_t(d_user_pvt_solver->get_position_UTC_time());
return true;
}
@@ -1618,6 +1664,109 @@ bool rtklib_pvt_gs::get_latest_PVT(double* longitude_deg,
}
+void rtklib_pvt_gs::apply_rx_clock_offset(std::map<int, Gnss_Synchro>& observables_map,
+ double rx_clock_offset_s)
+{
+ // apply corrections according to Rinex 3.04, Table 1: Observation Corrections for Receiver Clock Offset
+ std::map<int, Gnss_Synchro>::iterator observables_iter;
+
+ for (observables_iter = observables_map.begin(); observables_iter != observables_map.end(); observables_iter++)
+ {
+ // all observables in the map are valid
+ observables_iter->second.RX_time -= rx_clock_offset_s;
+ observables_iter->second.Pseudorange_m -= rx_clock_offset_s * SPEED_OF_LIGHT;
+
+ switch (mapStringValues_[observables_iter->second.Signal])
+ {
+ case evGPS_1C:
+ observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ1;
+ break;
+ case evGPS_L5:
+ observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ5;
+ break;
+ case evSBAS_1C:
+ observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ1;
+ break;
+ case evGAL_1B:
+ observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ1;
+ break;
+ case evGAL_5X:
+ observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ5;
+ break;
+ case evGPS_2S:
+ observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ2;
+ break;
+ case evBDS_B3:
+ observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ3_BDS;
+ break;
+ case evGLO_1G:
+ observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ1_GLO;
+ break;
+ case evGLO_2G:
+ observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ2_GLO;
+ break;
+ case evBDS_B1:
+ observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ1_BDS;
+ break;
+ case evBDS_B2:
+ observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ2_BDS;
+ break;
+ default:
+ break;
+ }
+ }
+}
+
+
+std::map<int, Gnss_Synchro> rtklib_pvt_gs::interpolate_observables(std::map<int, Gnss_Synchro>& observables_map_t0,
+ std::map<int, Gnss_Synchro>& observables_map_t1,
+ double rx_time_s)
+{
+ std::map<int, Gnss_Synchro> interp_observables_map;
+ // Linear interpolation: y(t) = y(t0) + (y(t1) - y(t0)) * (t - t0) / (t1 - t0)
+
+ // check TOW rollover
+ double time_factor;
+ if ((observables_map_t1.cbegin()->second.RX_time -
+ observables_map_t0.cbegin()->second.RX_time) > 0)
+ {
+ time_factor = (rx_time_s - observables_map_t0.cbegin()->second.RX_time) /
+ (observables_map_t1.cbegin()->second.RX_time -
+ observables_map_t0.cbegin()->second.RX_time);
+ }
+ else
+ {
+ // TOW rollover situation
+ time_factor = (604800000.0 + rx_time_s - observables_map_t0.cbegin()->second.RX_time) /
+ (604800000.0 + observables_map_t1.cbegin()->second.RX_time -
+ observables_map_t0.cbegin()->second.RX_time);
+ }
+
+ std::map<int, Gnss_Synchro>::const_iterator observables_iter;
+ for (observables_iter = observables_map_t0.cbegin(); observables_iter != observables_map_t0.cend(); observables_iter++)
+ {
+ // 1. Check if the observable exist in t0 and t1
+ // the map key is the channel ID (see work())
+ try
+ {
+ if (observables_map_t1.at(observables_iter->first).PRN == observables_iter->second.PRN)
+ {
+ interp_observables_map.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+ interp_observables_map.at(observables_iter->first).RX_time = rx_time_s; // interpolation point
+ interp_observables_map.at(observables_iter->first).Pseudorange_m += (observables_map_t1.at(observables_iter->first).Pseudorange_m - observables_iter->second.Pseudorange_m) * time_factor;
+ interp_observables_map.at(observables_iter->first).Carrier_phase_rads += (observables_map_t1.at(observables_iter->first).Carrier_phase_rads - observables_iter->second.Carrier_phase_rads) * time_factor;
+ interp_observables_map.at(observables_iter->first).Carrier_Doppler_hz += (observables_map_t1.at(observables_iter->first).Carrier_Doppler_hz - observables_iter->second.Carrier_Doppler_hz) * time_factor;
+ }
+ }
+ catch (const std::out_of_range& oor)
+ {
+ // observable does not exist in t1
+ }
+ }
+ return interp_observables_map;
+}
+
+
int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items __attribute__((unused)))
{
@@ -1638,55 +1787,91 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{
if (in[i][epoch].Flag_valid_pseudorange)
{
- std::map<int, Gps_Ephemeris>::const_iterator tmp_eph_iter_gps = d_pvt_solver->gps_ephemeris_map.find(in[i][epoch].PRN);
- std::map<int, Galileo_Ephemeris>::const_iterator tmp_eph_iter_gal = d_pvt_solver->galileo_ephemeris_map.find(in[i][epoch].PRN);
- std::map<int, Gps_CNAV_Ephemeris>::const_iterator tmp_eph_iter_cnav = d_pvt_solver->gps_cnav_ephemeris_map.find(in[i][epoch].PRN);
- std::map<int, Glonass_Gnav_Ephemeris>::const_iterator tmp_eph_iter_glo_gnav = d_pvt_solver->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN);
- std::map<int, Beidou_Dnav_Ephemeris>::const_iterator tmp_eph_iter_bds_dnav = d_pvt_solver->beidou_dnav_ephemeris_map.find(in[i][epoch].PRN);
+ std::map<int, Gps_Ephemeris>::const_iterator tmp_eph_iter_gps = d_internal_pvt_solver->gps_ephemeris_map.find(in[i][epoch].PRN);
+ std::map<int, Galileo_Ephemeris>::const_iterator tmp_eph_iter_gal = d_internal_pvt_solver->galileo_ephemeris_map.find(in[i][epoch].PRN);
+ std::map<int, Gps_CNAV_Ephemeris>::const_iterator tmp_eph_iter_cnav = d_internal_pvt_solver->gps_cnav_ephemeris_map.find(in[i][epoch].PRN);
+ std::map<int, Glonass_Gnav_Ephemeris>::const_iterator tmp_eph_iter_glo_gnav = d_internal_pvt_solver->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN);
+ std::map<int, Beidou_Dnav_Ephemeris>::const_iterator tmp_eph_iter_bds_dnav = d_internal_pvt_solver->beidou_dnav_ephemeris_map.find(in[i][epoch].PRN);
- if (((tmp_eph_iter_gps->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal) == "1C")) or
- ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal) == "2S")) or
- ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal) == "1B")) or
- ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal) == "5X")) or
- ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal) == "1G")) or
- ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal) == "2G")) or
- ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal) == "L5")) or
- ((tmp_eph_iter_bds_dnav->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal) == "B1")) or
- ((tmp_eph_iter_bds_dnav->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal) == "B3")))
+ bool store_valid_observable = false;
+
+ if (tmp_eph_iter_gps != d_internal_pvt_solver->gps_ephemeris_map.cend())
+ {
+ uint32_t prn_aux = tmp_eph_iter_gps->second.i_satellite_PRN;
+ if ((prn_aux == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal) == "1C"))
+ {
+ store_valid_observable = true;
+ }
+ }
+ if (tmp_eph_iter_gal != d_internal_pvt_solver->galileo_ephemeris_map.cend())
+ {
+ uint32_t prn_aux = tmp_eph_iter_gal->second.i_satellite_PRN;
+ if ((prn_aux == in[i][epoch].PRN) and ((std::string(in[i][epoch].Signal) == "1B") or (std::string(in[i][epoch].Signal) == "5X")))
+ {
+ store_valid_observable = true;
+ }
+ }
+ if (tmp_eph_iter_cnav != d_internal_pvt_solver->gps_cnav_ephemeris_map.cend())
+ {
+ uint32_t prn_aux = tmp_eph_iter_cnav->second.i_satellite_PRN;
+ if ((prn_aux == in[i][epoch].PRN) and ((std::string(in[i][epoch].Signal) == "2S") or (std::string(in[i][epoch].Signal) == "L5")))
+ {
+ store_valid_observable = true;
+ }
+ }
+ if (tmp_eph_iter_glo_gnav != d_internal_pvt_solver->glonass_gnav_ephemeris_map.cend())
+ {
+ uint32_t prn_aux = tmp_eph_iter_glo_gnav->second.i_satellite_PRN;
+ if ((prn_aux == in[i][epoch].PRN) and ((std::string(in[i][epoch].Signal) == "1G") or (std::string(in[i][epoch].Signal) == "2G")))
+ {
+ store_valid_observable = true;
+ }
+ }
+ if (tmp_eph_iter_bds_dnav != d_internal_pvt_solver->beidou_dnav_ephemeris_map.cend())
+ {
+ uint32_t prn_aux = tmp_eph_iter_bds_dnav->second.i_satellite_PRN;
+ if ((prn_aux == in[i][epoch].PRN) and ((std::string(in[i][epoch].Signal) == "B1") or (std::string(in[i][epoch].Signal) == "B3")))
+ {
+ store_valid_observable = true;
+ }
+ }
+
+ if (store_valid_observable)
{
// store valid observables in a map.
gnss_observables_map.insert(std::pair<int, Gnss_Synchro>(i, in[i][epoch]));
}
+
if (b_rtcm_enabled)
{
try
{
- if (d_pvt_solver->gps_ephemeris_map.empty() == false)
+ if (d_internal_pvt_solver->gps_ephemeris_map.empty() == false)
{
- if (tmp_eph_iter_gps != d_pvt_solver->gps_ephemeris_map.cend())
+ if (tmp_eph_iter_gps != d_internal_pvt_solver->gps_ephemeris_map.cend())
{
- d_rtcm_printer->lock_time(d_pvt_solver->gps_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
+ d_rtcm_printer->lock_time(d_internal_pvt_solver->gps_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
}
}
- if (d_pvt_solver->galileo_ephemeris_map.empty() == false)
+ if (d_internal_pvt_solver->galileo_ephemeris_map.empty() == false)
{
- if (tmp_eph_iter_gal != d_pvt_solver->galileo_ephemeris_map.cend())
+ if (tmp_eph_iter_gal != d_internal_pvt_solver->galileo_ephemeris_map.cend())
{
- d_rtcm_printer->lock_time(d_pvt_solver->galileo_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
+ d_rtcm_printer->lock_time(d_internal_pvt_solver->galileo_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
}
}
- if (d_pvt_solver->gps_cnav_ephemeris_map.empty() == false)
+ if (d_internal_pvt_solver->gps_cnav_ephemeris_map.empty() == false)
{
- if (tmp_eph_iter_cnav != d_pvt_solver->gps_cnav_ephemeris_map.cend())
+ if (tmp_eph_iter_cnav != d_internal_pvt_solver->gps_cnav_ephemeris_map.cend())
{
- d_rtcm_printer->lock_time(d_pvt_solver->gps_cnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
+ d_rtcm_printer->lock_time(d_internal_pvt_solver->gps_cnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
}
}
- if (d_pvt_solver->glonass_gnav_ephemeris_map.empty() == false)
+ if (d_internal_pvt_solver->glonass_gnav_ephemeris_map.empty() == false)
{
- if (tmp_eph_iter_glo_gnav != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
+ if (tmp_eph_iter_glo_gnav != d_internal_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
- d_rtcm_printer->lock_time(d_pvt_solver->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
+ d_rtcm_printer->lock_time(d_internal_pvt_solver->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
}
}
}
@@ -1707,43 +1892,79 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
// ############ 2 COMPUTE THE PVT ################################
if (gnss_observables_map.empty() == false)
{
- double current_RX_time = gnss_observables_map.begin()->second.RX_time;
- auto current_RX_time_ms = static_cast<uint32_t>(current_RX_time * 1000.0);
- if (current_RX_time_ms % d_output_rate_ms == 0)
+ // LOG(INFO) << "diff raw obs time: " << gnss_observables_map.cbegin()->second.RX_time * 1000.0 - old_time_debug;
+ // old_time_debug = gnss_observables_map.cbegin()->second.RX_time * 1000.0;
+ uint32_t current_RX_time_ms = 0;
+ // #### solve PVT and store the corrected observable set
+ if (d_internal_pvt_solver->get_PVT(gnss_observables_map, false))
{
- flag_compute_pvt_output = true;
- d_rx_time = current_RX_time;
- // std::cout.precision(17);
- // std::cout << "current_RX_time: " << current_RX_time << " map time: " << gnss_observables_map.begin()->second.RX_time << std::endl;
+ double Rx_clock_offset_s = d_internal_pvt_solver->get_time_offset_s();
+ if (fabs(Rx_clock_offset_s) * 1000.0 > max_obs_block_rx_clock_offset_ms)
+ {
+ if (!d_waiting_obs_block_rx_clock_offset_correction_msg)
+ {
+ this->message_port_pub(pmt::mp("pvt_to_observables"), pmt::make_any(Rx_clock_offset_s));
+ d_waiting_obs_block_rx_clock_offset_correction_msg = true;
+ LOG(INFO) << "Sent clock offset correction to observables: " << Rx_clock_offset_s << "[s]";
+ }
+ }
+ else
+ {
+ d_waiting_obs_block_rx_clock_offset_correction_msg = false;
+ gnss_observables_map_t0 = gnss_observables_map_t1;
+ apply_rx_clock_offset(gnss_observables_map, Rx_clock_offset_s);
+ gnss_observables_map_t1 = gnss_observables_map;
+
+ // ### select the rx_time and interpolate observables at that time
+ if (!gnss_observables_map_t0.empty())
+ {
+ uint32_t t0_int_ms = static_cast<uint32_t>(gnss_observables_map_t0.cbegin()->second.RX_time * 1000.0);
+ uint32_t adjust_next_20ms = 20 - t0_int_ms % 20;
+ current_RX_time_ms = t0_int_ms + adjust_next_20ms;
+
+ if (current_RX_time_ms % d_output_rate_ms == 0)
+ {
+ d_rx_time = static_cast<double>(current_RX_time_ms) / 1000.0;
+ // std::cout << " obs time t0: " << gnss_observables_map_t0.cbegin()->second.RX_time
+ // << " t1: " << gnss_observables_map_t1.cbegin()->second.RX_time
+ // << " interp time: " << d_rx_time << std::endl;
+ gnss_observables_map = interpolate_observables(gnss_observables_map_t0,
+ gnss_observables_map_t1,
+ d_rx_time);
+ flag_compute_pvt_output = true;
+ // d_rx_time = current_RX_time;
+ // std::cout.precision(17);
+ // std::cout << "current_RX_time: " << current_RX_time << " map time: " << gnss_observables_map.begin()->second.RX_time << std::endl;
+ }
+ }
+ }
}
+ // debug code
+ // else
+ // {
+ // LOG(INFO) << "Internal PVT solver error";
+ // }
// compute on the fly PVT solution
if (flag_compute_pvt_output == true)
{
- // receiver clock correction is disabled to be coherent with the RINEX and RTCM standard
- // std::cout << TEXT_RED << "(internal) accumulated RX clock offset: " << d_pvt_solver->get_time_offset_s() << "[s]" << TEXT_RESET << std::endl;
- // for (std::map<int, Gnss_Synchro>::iterator it = gnss_observables_map.begin(); it != gnss_observables_map.cend(); ++it)
- // {
- // todo: check if it has effect to correct the receiver time for the internal pvt solution
- // take into account that the RINEX obs with the RX time (integer ms) CAN NOT be corrected to keep the coherence in obs time
- // it->second.Pseudorange_m = it->second.Pseudorange_m - d_pvt_solver->get_time_offset_s() * GPS_C_m_s;
- // }
-
- if (d_pvt_solver->get_PVT(gnss_observables_map, false))
+ if (d_user_pvt_solver->get_PVT(gnss_observables_map, false))
{
- double Rx_clock_offset_s = d_pvt_solver->get_time_offset_s();
- if (fabs(Rx_clock_offset_s) > 0.001)
+ double Rx_clock_offset_s = d_user_pvt_solver->get_time_offset_s();
+ if (fabs(Rx_clock_offset_s) > 0.000001) // 1us !!
{
- this->message_port_pub(pmt::mp("pvt_to_observables"), pmt::make_any(Rx_clock_offset_s));
- LOG(INFO) << "Sent clock offset correction to observables: " << Rx_clock_offset_s << "[s]";
+ LOG(INFO) << "Warning: Rx clock offset at interpolated RX time: " << Rx_clock_offset_s * 1000.0 << "[ms]"
+ << " at RX time: " << static_cast<uint32_t>(d_rx_time * 1000.0) << " [ms]";
}
else
{
- //Optional debug code: export observables snapshot for rtklib unit testing
- //std::cout << "step 1: save gnss_synchro map" << std::endl;
- //save_gnss_synchro_map_xml("./gnss_synchro_map.xml");
- //getchar(); //stop the execution
- //end debug
+ DLOG(INFO) << "Rx clock offset at interpolated RX time: " << Rx_clock_offset_s * 1000.0 << "[s]"
+ << " at RX time: " << static_cast<uint32_t>(d_rx_time * 1000.0) << " [ms]";
+ // Optional debug code: export observables snapshot for rtklib unit testing
+ // std::cout << "step 1: save gnss_synchro map" << std::endl;
+ // save_gnss_synchro_map_xml("./gnss_synchro_map.xml");
+ // getchar(); // stop the execution
+ // end debug
if (d_display_rate_ms != 0)
{
if (current_RX_time_ms % d_display_rate_ms == 0)
@@ -1804,15 +2025,15 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{
if (d_show_local_time_zone)
{
- boost::posix_time::ptime time_first_solution = d_pvt_solver->get_position_UTC_time() + d_utc_diff_time;
+ boost::posix_time::ptime time_first_solution = d_user_pvt_solver->get_position_UTC_time() + d_utc_diff_time;
std::cout << "First position fix at " << time_first_solution << d_local_time_str;
}
else
{
- std::cout << "First position fix at " << d_pvt_solver->get_position_UTC_time() << " UTC";
+ std::cout << "First position fix at " << d_user_pvt_solver->get_position_UTC_time() << " UTC";
}
- std::cout << " is Lat = " << d_pvt_solver->get_latitude() << " [deg], Long = " << d_pvt_solver->get_longitude()
- << " [deg], Height= " << d_pvt_solver->get_height() << " [m]" << std::endl;
+ std::cout << " is Lat = " << d_user_pvt_solver->get_latitude() << " [deg], Long = " << d_user_pvt_solver->get_longitude()
+ << " [deg], Height= " << d_user_pvt_solver->get_height() << " [m]" << std::endl;
ttff_msgbuf ttff;
ttff.mtype = 1;
end = std::chrono::system_clock::now();
@@ -1825,28 +2046,28 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{
if (current_RX_time_ms % d_kml_rate_ms == 0)
{
- d_kml_dump->print_position(d_pvt_solver, false);
+ d_kml_dump->print_position(d_user_pvt_solver, false);
}
}
if (d_gpx_output_enabled)
{
if (current_RX_time_ms % d_gpx_rate_ms == 0)
{
- d_gpx_dump->print_position(d_pvt_solver, false);
+ d_gpx_dump->print_position(d_user_pvt_solver, false);
}
}
if (d_geojson_output_enabled)
{
if (current_RX_time_ms % d_geojson_rate_ms == 0)
{
- d_geojson_printer->print_position(d_pvt_solver, false);
+ d_geojson_printer->print_position(d_user_pvt_solver, false);
}
}
if (d_nmea_output_file_enabled)
{
if (current_RX_time_ms % d_nmea_rate_ms == 0)
{
- d_nmea_printer->Print_Nmea_Line(d_pvt_solver, false);
+ d_nmea_printer->Print_Nmea_Line(d_user_pvt_solver, false);
}
}
@@ -1906,384 +2127,384 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::map<int, Beidou_Dnav_Ephemeris>::const_iterator beidou_dnav_ephemeris_iter;
if (!b_rinex_header_written) // & we have utc data in nav message!
{
- galileo_ephemeris_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
- gps_ephemeris_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
- gps_cnav_ephemeris_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin();
- glonass_gnav_ephemeris_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
- beidou_dnav_ephemeris_iter = d_pvt_solver->beidou_dnav_ephemeris_map.cbegin();
+ galileo_ephemeris_iter = d_user_pvt_solver->galileo_ephemeris_map.cbegin();
+ gps_ephemeris_iter = d_user_pvt_solver->gps_ephemeris_map.cbegin();
+ gps_cnav_ephemeris_iter = d_user_pvt_solver->gps_cnav_ephemeris_map.cbegin();
+ glonass_gnav_ephemeris_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
+ beidou_dnav_ephemeris_iter = d_user_pvt_solver->beidou_dnav_ephemeris_map.cbegin();
switch (type_of_rx)
{
case 1: // GPS L1 C/A only
- if (gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend())
+ if (gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend())
{
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, d_rx_time);
- rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second);
- rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
+ rp->rinex_nav_header(rp->navFile, d_user_pvt_solver->gps_iono, d_user_pvt_solver->gps_utc_model, gps_ephemeris_iter->second);
+ rp->log_rinex_nav(rp->navFile, d_user_pvt_solver->gps_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 2: // GPS L2C only
- if (gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend())
+ if (gps_cnav_ephemeris_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend())
{
std::string signal("2S");
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, signal);
- rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model);
- rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map);
+ rp->rinex_nav_header(rp->navFile, d_user_pvt_solver->gps_cnav_iono, d_user_pvt_solver->gps_cnav_utc_model);
+ rp->log_rinex_nav(rp->navFile, d_user_pvt_solver->gps_cnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 3: // GPS L5 only
- if (gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend())
+ if (gps_cnav_ephemeris_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend())
{
std::string signal("L5");
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, signal);
- rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model);
- rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map);
+ rp->rinex_nav_header(rp->navFile, d_user_pvt_solver->gps_cnav_iono, d_user_pvt_solver->gps_cnav_utc_model);
+ rp->log_rinex_nav(rp->navFile, d_user_pvt_solver->gps_cnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 4: // Galileo E1B only
- if (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+ if (galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time);
- rp->rinex_nav_header(rp->navGalFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
+ rp->rinex_nav_header(rp->navGalFile, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 5: // Galileo E5a only
- if (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+ if (galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
std::string signal("5X");
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, signal);
- rp->rinex_nav_header(rp->navGalFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
+ rp->rinex_nav_header(rp->navGalFile, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 6: // Galileo E5b only
- if (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+ if (galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
std::string signal("7X");
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, signal);
- rp->rinex_nav_header(rp->navGalFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
- rp->log_rinex_nav(rp->navGalFile, d_pvt_solver->galileo_ephemeris_map);
+ rp->rinex_nav_header(rp->navGalFile, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
+ rp->log_rinex_nav(rp->navGalFile, d_user_pvt_solver->galileo_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 7: // GPS L1 C/A + GPS L2C
- if ((gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()))
+ if ((gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend()))
{
std::string signal("1C 2S");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time, signal);
- rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second);
- rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map);
+ rp->rinex_nav_header(rp->navFile, d_user_pvt_solver->gps_iono, d_user_pvt_solver->gps_utc_model, gps_ephemeris_iter->second);
+ rp->log_rinex_nav(rp->navFile, d_user_pvt_solver->gps_cnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 8: // GPS L1 + GPS L5
- if ((gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()))
+ if ((gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend()))
{
std::string signal("1C L5");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time, signal);
- rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second);
- rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
+ rp->rinex_nav_header(rp->navFile, d_user_pvt_solver->gps_iono, d_user_pvt_solver->gps_utc_model, gps_ephemeris_iter->second);
+ rp->log_rinex_nav(rp->navFile, d_user_pvt_solver->gps_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 9: // GPS L1 C/A + Galileo E1B
- if ((galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()) and (gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()))
+ if ((galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend()) and (gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend()))
{
std::string gal_signal("1B");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
- rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
+ rp->rinex_nav_header(rp->navMixFile, d_user_pvt_solver->gps_iono, d_user_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 10: // GPS L1 C/A + Galileo E5a
- if ((galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()) and (gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()))
+ if ((galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend()) and (gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend()))
{
std::string gal_signal("5X");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
- rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
+ rp->rinex_nav_header(rp->navMixFile, d_user_pvt_solver->gps_iono, d_user_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 11: // GPS L1 C/A + Galileo E5b
- if ((galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()) and (gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()))
+ if ((galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend()) and (gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend()))
{
std::string gal_signal("7X");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
- rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
- rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
+ rp->rinex_nav_header(rp->navMixFile, d_user_pvt_solver->gps_iono, d_user_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
+ rp->log_rinex_nav(rp->navMixFile, d_user_pvt_solver->gps_ephemeris_map, d_user_pvt_solver->galileo_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 13: // L5+E5a
- if ((galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()))
+ if ((galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend()))
{
std::string gal_signal("5X");
std::string gps_signal("L5");
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gps_signal, gal_signal);
- rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
- rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
+ rp->rinex_nav_header(rp->navMixFile, d_user_pvt_solver->gps_cnav_iono, d_user_pvt_solver->gps_cnav_utc_model, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
+ rp->log_rinex_nav(rp->navFile, d_user_pvt_solver->gps_cnav_ephemeris_map, d_user_pvt_solver->galileo_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 14: // Galileo E1B + Galileo E5a
- if ((galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()))
+ if ((galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend()))
{
std::string gal_signal("1B 5X");
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
- rp->rinex_nav_header(rp->navGalFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
+ rp->rinex_nav_header(rp->navGalFile, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 15: // Galileo E1B + Galileo E5b
- if ((galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()))
+ if ((galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend()))
{
std::string gal_signal("1B 7X");
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
- rp->rinex_nav_header(rp->navGalFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
- rp->log_rinex_nav(rp->navGalFile, d_pvt_solver->galileo_ephemeris_map);
+ rp->rinex_nav_header(rp->navGalFile, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
+ rp->log_rinex_nav(rp->navGalFile, d_user_pvt_solver->galileo_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 23: // GLONASS L1 C/A only
- if (glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
+ if (glonass_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
std::string signal("1G");
rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
- rp->rinex_nav_header(rp->navGloFile, d_pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
+ rp->rinex_nav_header(rp->navGloFile, d_user_pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 24: // GLONASS L2 C/A only
- if (glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
+ if (glonass_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
std::string signal("2G");
rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
- rp->rinex_nav_header(rp->navGloFile, d_pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
+ rp->rinex_nav_header(rp->navGloFile, d_user_pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 25: // GLONASS L1 C/A + GLONASS L2 C/A
- if (glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
+ if (glonass_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
std::string signal("1G 2G");
rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
- rp->rinex_nav_header(rp->navGloFile, d_pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
- rp->log_rinex_nav(rp->navGloFile, d_pvt_solver->glonass_gnav_ephemeris_map);
+ rp->rinex_nav_header(rp->navGloFile, d_user_pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
+ rp->log_rinex_nav(rp->navGloFile, d_user_pvt_solver->glonass_gnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 26: // GPS L1 C/A + GLONASS L1 C/A
- if ((glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()))
+ if ((glonass_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend()))
{
std::string glo_signal("1G");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
if (d_rinex_version == 3)
{
- rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
- rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
+ rp->rinex_nav_header(rp->navMixFile, d_user_pvt_solver->gps_iono, d_user_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_user_pvt_solver->glonass_gnav_utc_model, d_user_pvt_solver->glonass_gnav_almanac);
+ rp->log_rinex_nav(rp->navMixFile, d_user_pvt_solver->gps_ephemeris_map, d_user_pvt_solver->glonass_gnav_ephemeris_map);
}
if (d_rinex_version == 2)
{
- rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second);
- rp->rinex_nav_header(rp->navGloFile, d_pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
- rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
- rp->log_rinex_nav(rp->navGloFile, d_pvt_solver->glonass_gnav_ephemeris_map);
+ rp->rinex_nav_header(rp->navFile, d_user_pvt_solver->gps_iono, d_user_pvt_solver->gps_utc_model, gps_ephemeris_iter->second);
+ rp->rinex_nav_header(rp->navGloFile, d_user_pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
+ rp->log_rinex_nav(rp->navFile, d_user_pvt_solver->gps_ephemeris_map);
+ rp->log_rinex_nav(rp->navGloFile, d_user_pvt_solver->glonass_gnav_ephemeris_map);
}
b_rinex_header_written = true; // do not write header anymore
}
break;
case 27: // Galileo E1B + GLONASS L1 C/A
- if ((glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()))
+ if ((glonass_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend()))
{
std::string glo_signal("1G");
std::string gal_signal("1B");
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal, gal_signal);
- rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
- rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->galileo_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
+ rp->rinex_nav_header(rp->navMixFile, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model, d_user_pvt_solver->glonass_gnav_utc_model, d_user_pvt_solver->glonass_gnav_almanac);
+ rp->log_rinex_nav(rp->navMixFile, d_user_pvt_solver->galileo_ephemeris_map, d_user_pvt_solver->glonass_gnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 28: // GPS L2C + GLONASS L1 C/A
- if ((glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()))
+ if ((glonass_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend()))
{
std::string glo_signal("1G");
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
- rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
- rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_cnav_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
+ rp->rinex_nav_header(rp->navMixFile, d_user_pvt_solver->gps_cnav_iono, d_user_pvt_solver->gps_cnav_utc_model, d_user_pvt_solver->glonass_gnav_utc_model, d_user_pvt_solver->glonass_gnav_almanac);
+ rp->log_rinex_nav(rp->navMixFile, d_user_pvt_solver->gps_cnav_ephemeris_map, d_user_pvt_solver->glonass_gnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 29: // GPS L1 C/A + GLONASS L2 C/A
- if ((glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()))
+ if ((glonass_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend()))
{
std::string glo_signal("2G");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
if (d_rinex_version == 3)
{
- rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
- rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
+ rp->rinex_nav_header(rp->navMixFile, d_user_pvt_solver->gps_iono, d_user_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_user_pvt_solver->glonass_gnav_utc_model, d_user_pvt_solver->glonass_gnav_almanac);
+ rp->log_rinex_nav(rp->navMixFile, d_user_pvt_solver->gps_ephemeris_map, d_user_pvt_solver->glonass_gnav_ephemeris_map);
}
if (d_rinex_version == 2)
{
- rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second);
- rp->rinex_nav_header(rp->navGloFile, d_pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
- rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
- rp->log_rinex_nav(rp->navGloFile, d_pvt_solver->glonass_gnav_ephemeris_map);
+ rp->rinex_nav_header(rp->navFile, d_user_pvt_solver->gps_iono, d_user_pvt_solver->gps_utc_model, gps_ephemeris_iter->second);
+ rp->rinex_nav_header(rp->navGloFile, d_user_pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
+ rp->log_rinex_nav(rp->navFile, d_user_pvt_solver->gps_ephemeris_map);
+ rp->log_rinex_nav(rp->navGloFile, d_user_pvt_solver->glonass_gnav_ephemeris_map);
}
b_rinex_header_written = true; // do not write header anymore
}
break;
case 30: // Galileo E1B + GLONASS L2 C/A
- if ((glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()))
+ if ((glonass_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend()))
{
std::string glo_signal("2G");
std::string gal_signal("1B");
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal, gal_signal);
- rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
- rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->galileo_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
+ rp->rinex_nav_header(rp->navMixFile, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model, d_user_pvt_solver->glonass_gnav_utc_model, d_user_pvt_solver->glonass_gnav_almanac);
+ rp->log_rinex_nav(rp->navMixFile, d_user_pvt_solver->galileo_ephemeris_map, d_user_pvt_solver->glonass_gnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 31: // GPS L2C + GLONASS L2 C/A
- if ((glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()))
+ if ((glonass_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend()))
{
std::string glo_signal("2G");
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
- rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
- rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_cnav_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
+ rp->rinex_nav_header(rp->navMixFile, d_user_pvt_solver->gps_cnav_iono, d_user_pvt_solver->gps_cnav_utc_model, d_user_pvt_solver->glonass_gnav_utc_model, d_user_pvt_solver->glonass_gnav_almanac);
+ rp->log_rinex_nav(rp->navMixFile, d_user_pvt_solver->gps_cnav_ephemeris_map, d_user_pvt_solver->glonass_gnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 32: // L1+E1+L5+E5a
- if ((gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()) and
- (gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()) and
- (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()))
+ if ((gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend()) and
+ (gps_cnav_ephemeris_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend()) and
+ (galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend()))
{
std::string gal_signal("1B 5X");
std::string gps_signal("1C L5");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gps_signal, gal_signal);
- rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
- rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
+ rp->rinex_nav_header(rp->navMixFile, d_user_pvt_solver->gps_iono, d_user_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
+ rp->log_rinex_nav(rp->navMixFile, d_user_pvt_solver->gps_ephemeris_map, d_user_pvt_solver->galileo_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 33: // L1+E1+E5a
- if ((gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()) and
- (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()))
+ if ((gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend()) and
+ (galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend()))
{
std::string gal_signal("1B 5X");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
- rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
- rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
+ rp->rinex_nav_header(rp->navMixFile, d_user_pvt_solver->gps_iono, d_user_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
+ rp->log_rinex_nav(rp->navMixFile, d_user_pvt_solver->gps_ephemeris_map, d_user_pvt_solver->galileo_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 500: // BDS B1I only
- if (beidou_dnav_ephemeris_iter != d_pvt_solver->beidou_dnav_ephemeris_map.cend())
+ if (beidou_dnav_ephemeris_iter != d_user_pvt_solver->beidou_dnav_ephemeris_map.cend())
{
rp->rinex_obs_header(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B1");
- rp->rinex_nav_header(rp->navFile, d_pvt_solver->beidou_dnav_iono, d_pvt_solver->beidou_dnav_utc_model);
- rp->log_rinex_nav(rp->navFile, d_pvt_solver->beidou_dnav_ephemeris_map);
+ rp->rinex_nav_header(rp->navFile, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model);
+ rp->log_rinex_nav(rp->navFile, d_user_pvt_solver->beidou_dnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 501: // BeiDou B1I + GPS L1 C/A
- if ((gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()) and (beidou_dnav_ephemeris_iter != d_pvt_solver->beidou_dnav_ephemeris_map.cend()))
+ if ((gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend()) and (beidou_dnav_ephemeris_iter != d_user_pvt_solver->beidou_dnav_ephemeris_map.cend()))
{
std::string bds_signal("B1");
- //rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, beidou_dnav_ephemeris_iter->second, d_rx_time, bds_signal);
- //rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_pvt_solver->beidou_dnav_iono, d_pvt_solver->beidou_dnav_utc_model);
+ // rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, beidou_dnav_ephemeris_iter->second, d_rx_time, bds_signal);
+ // rp->rinex_nav_header(rp->navMixFile, d_user_pvt_solver->gps_iono, d_user_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 502: // BeiDou B1I + Galileo E1B
- if ((galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()) and (beidou_dnav_ephemeris_iter != d_pvt_solver->beidou_dnav_ephemeris_map.cend()))
+ if ((galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend()) and (beidou_dnav_ephemeris_iter != d_user_pvt_solver->beidou_dnav_ephemeris_map.cend()))
{
std::string bds_signal("B1");
std::string gal_signal("1B");
- //rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, beidou_dnav_ephemeris_iter->second, d_rx_time, gal_signal, bds_signal);
- //rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model, d_pvt_solver->beidou_dnav_iono, d_pvt_solver->beidou_dnav_utc_model);
+ // rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, beidou_dnav_ephemeris_iter->second, d_rx_time, gal_signal, bds_signal);
+ // rp->rinex_nav_header(rp->navMixFile, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 503: // BeiDou B1I + GLONASS L1 C/A
- if (beidou_dnav_ephemeris_iter != d_pvt_solver->beidou_dnav_ephemeris_map.cend())
+ if (beidou_dnav_ephemeris_iter != d_user_pvt_solver->beidou_dnav_ephemeris_map.cend())
{
- //rp->rinex_obs_header(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B1");
- //rp->rinex_nav_header(rp->navFile, d_pvt_solver->beidou_dnav_iono, d_pvt_solver->beidou_dnav_utc_model);
- //rp->log_rinex_nav(rp->navFile, d_pvt_solver->beidou_dnav_ephemeris_map);
+ // rp->rinex_obs_header(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B1");
+ // rp->rinex_nav_header(rp->navFile, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model);
+ // rp->log_rinex_nav(rp->navFile, d_user_pvt_solver->beidou_dnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 504: // BeiDou B1I + GPS L1 C/A + Galileo E1B
- if (beidou_dnav_ephemeris_iter != d_pvt_solver->beidou_dnav_ephemeris_map.cend())
+ if (beidou_dnav_ephemeris_iter != d_user_pvt_solver->beidou_dnav_ephemeris_map.cend())
{
- //rp->rinex_obs_header(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B1");
- //rp->rinex_nav_header(rp->navFile, d_pvt_solver->beidou_dnav_iono, d_pvt_solver->beidou_dnav_utc_model);
- //rp->log_rinex_nav(rp->navFile, d_pvt_solver->beidou_dnav_ephemeris_map);
+ // rp->rinex_obs_header(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B1");
+ // rp->rinex_nav_header(rp->navFile, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model);
+ // rp->log_rinex_nav(rp->navFile, d_user_pvt_solver->beidou_dnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 505: // BeiDou B1I + GPS L1 C/A + GLONASS L1 C/A + Galileo E1B
- if (beidou_dnav_ephemeris_iter != d_pvt_solver->beidou_dnav_ephemeris_map.cend())
+ if (beidou_dnav_ephemeris_iter != d_user_pvt_solver->beidou_dnav_ephemeris_map.cend())
{
- //rp->rinex_obs_header(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B1");
- //rp->rinex_nav_header(rp->navFile, d_pvt_solver->beidou_dnav_iono, d_pvt_solver->beidou_dnav_utc_model);
- //rp->log_rinex_nav(rp->navFile, d_pvt_solver->beidou_dnav_ephemeris_map);
+ // rp->rinex_obs_header(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B1");
+ // rp->rinex_nav_header(rp->navFile, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model);
+ // rp->log_rinex_nav(rp->navFile, d_user_pvt_solver->beidou_dnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 506: // BeiDou B1I + Beidou B3I
- if (beidou_dnav_ephemeris_iter != d_pvt_solver->beidou_dnav_ephemeris_map.cend())
+ if (beidou_dnav_ephemeris_iter != d_user_pvt_solver->beidou_dnav_ephemeris_map.cend())
{
- //rp->rinex_obs_header(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B1");
- //rp->rinex_nav_header(rp->navFile, d_pvt_solver->beidou_dnav_iono, d_pvt_solver->beidou_dnav_utc_model);
- //rp->log_rinex_nav(rp->navFile, d_pvt_solver->beidou_dnav_ephemeris_map);
+ // rp->rinex_obs_header(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B1");
+ // rp->rinex_nav_header(rp->navFile, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model);
+ // rp->log_rinex_nav(rp->navFile, d_user_pvt_solver->beidou_dnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 600: // BDS B3I only
- if (beidou_dnav_ephemeris_iter != d_pvt_solver->beidou_dnav_ephemeris_map.cend())
+ if (beidou_dnav_ephemeris_iter != d_user_pvt_solver->beidou_dnav_ephemeris_map.cend())
{
rp->rinex_obs_header(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B3");
- rp->rinex_nav_header(rp->navFile, d_pvt_solver->beidou_dnav_iono, d_pvt_solver->beidou_dnav_utc_model);
+ rp->rinex_nav_header(rp->navFile, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 601: // BeiDou B3I + GPS L2C
- if (beidou_dnav_ephemeris_iter != d_pvt_solver->beidou_dnav_ephemeris_map.cend())
+ if (beidou_dnav_ephemeris_iter != d_user_pvt_solver->beidou_dnav_ephemeris_map.cend())
{
rp->rinex_obs_header(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B3");
- //rp->rinex_nav_header(rp->navFile, d_pvt_solver->beidou_dnav_iono, d_pvt_solver->beidou_dnav_utc_model);
+ // rp->rinex_nav_header(rp->navFile, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 602: // BeiDou B3I + GLONASS L2 C/A
- if (beidou_dnav_ephemeris_iter != d_pvt_solver->beidou_dnav_ephemeris_map.cend())
+ if (beidou_dnav_ephemeris_iter != d_user_pvt_solver->beidou_dnav_ephemeris_map.cend())
{
rp->rinex_obs_header(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B3");
- //rp->rinex_nav_header(rp->navFile, d_pvt_solver->beidou_dnav_iono, d_pvt_solver->beidou_dnav_utc_model);
+ // rp->rinex_nav_header(rp->navFile, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 603: // BeiDou B3I + GPS L2C + GLONASS L2 C/A
- if (beidou_dnav_ephemeris_iter != d_pvt_solver->beidou_dnav_ephemeris_map.cend())
+ if (beidou_dnav_ephemeris_iter != d_user_pvt_solver->beidou_dnav_ephemeris_map.cend())
{
rp->rinex_obs_header(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B3");
- //rp->rinex_nav_header(rp->navFile, d_pvt_solver->beidou_dnav_iono, d_pvt_solver->beidou_dnav_utc_model);
+ // rp->rinex_nav_header(rp->navFile, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model);
b_rinex_header_written = true; // do not write header anymore
}
@@ -2294,11 +2515,11 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
{
- galileo_ephemeris_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
- gps_ephemeris_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
- gps_cnav_ephemeris_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin();
- glonass_gnav_ephemeris_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
- beidou_dnav_ephemeris_iter = d_pvt_solver->beidou_dnav_ephemeris_map.cbegin();
+ galileo_ephemeris_iter = d_user_pvt_solver->galileo_ephemeris_map.cbegin();
+ gps_ephemeris_iter = d_user_pvt_solver->gps_ephemeris_map.cbegin();
+ gps_cnav_ephemeris_iter = d_user_pvt_solver->gps_cnav_ephemeris_map.cbegin();
+ glonass_gnav_ephemeris_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
+ beidou_dnav_ephemeris_iter = d_user_pvt_solver->beidou_dnav_ephemeris_map.cbegin();
// Log observables into the RINEX file
if (flag_write_RINEX_obs_output)
@@ -2306,306 +2527,306 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
switch (type_of_rx)
{
case 1: // GPS L1 C/A only
- if (gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend())
+ if (gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend())
{
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, d_rx_time, gnss_observables_map);
- if (!b_rinex_header_updated and (d_pvt_solver->gps_utc_model.d_A0 != 0))
+ if (!b_rinex_header_updated and (d_user_pvt_solver->gps_utc_model.d_A0 != 0))
{
- rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_utc_model);
- rp->update_nav_header(rp->navFile, d_pvt_solver->gps_utc_model, d_pvt_solver->gps_iono, gps_ephemeris_iter->second);
+ rp->update_obs_header(rp->obsFile, d_user_pvt_solver->gps_utc_model);
+ rp->update_nav_header(rp->navFile, d_user_pvt_solver->gps_utc_model, d_user_pvt_solver->gps_iono, gps_ephemeris_iter->second);
b_rinex_header_updated = true;
}
}
break;
case 2: // GPS L2C only
- if (gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend())
+ if (gps_cnav_ephemeris_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend())
{
rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
}
- if (!b_rinex_header_updated and (d_pvt_solver->gps_cnav_utc_model.d_A0 != 0))
+ if (!b_rinex_header_updated and (d_user_pvt_solver->gps_cnav_utc_model.d_A0 != 0))
{
- rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_cnav_utc_model);
- rp->update_nav_header(rp->navFile, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->gps_cnav_iono);
+ rp->update_obs_header(rp->obsFile, d_user_pvt_solver->gps_cnav_utc_model);
+ rp->update_nav_header(rp->navFile, d_user_pvt_solver->gps_cnav_utc_model, d_user_pvt_solver->gps_cnav_iono);
b_rinex_header_updated = true;
}
break;
case 3: // GPS L5
- if (gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend())
+ if (gps_cnav_ephemeris_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend())
{
rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
}
- if (!b_rinex_header_updated and (d_pvt_solver->gps_cnav_utc_model.d_A0 != 0))
+ if (!b_rinex_header_updated and (d_user_pvt_solver->gps_cnav_utc_model.d_A0 != 0))
{
- rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_cnav_utc_model);
- rp->update_nav_header(rp->navFile, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->gps_cnav_iono);
+ rp->update_obs_header(rp->obsFile, d_user_pvt_solver->gps_cnav_utc_model);
+ rp->update_nav_header(rp->navFile, d_user_pvt_solver->gps_cnav_utc_model, d_user_pvt_solver->gps_cnav_iono);
b_rinex_header_updated = true;
}
break;
case 4: // Galileo E1B only
- if (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+ if (galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B");
}
- if (!b_rinex_header_updated and (d_pvt_solver->galileo_utc_model.A0_6 != 0))
+ if (!b_rinex_header_updated and (d_user_pvt_solver->galileo_utc_model.A0_6 != 0))
{
- rp->update_nav_header(rp->navGalFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
- rp->update_obs_header(rp->obsFile, d_pvt_solver->galileo_utc_model);
+ rp->update_nav_header(rp->navGalFile, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
+ rp->update_obs_header(rp->obsFile, d_user_pvt_solver->galileo_utc_model);
b_rinex_header_updated = true;
}
break;
case 5: // Galileo E5a only
- if (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+ if (galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "5X");
}
- if (!b_rinex_header_updated and (d_pvt_solver->galileo_utc_model.A0_6 != 0))
+ if (!b_rinex_header_updated and (d_user_pvt_solver->galileo_utc_model.A0_6 != 0))
{
- rp->update_nav_header(rp->navGalFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
- rp->update_obs_header(rp->obsFile, d_pvt_solver->galileo_utc_model);
+ rp->update_nav_header(rp->navGalFile, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
+ rp->update_obs_header(rp->obsFile, d_user_pvt_solver->galileo_utc_model);
b_rinex_header_updated = true;
}
break;
case 6: // Galileo E5b only
- if (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+ if (galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "7X");
}
- if (!b_rinex_header_updated and (d_pvt_solver->galileo_utc_model.A0_6 != 0))
+ if (!b_rinex_header_updated and (d_user_pvt_solver->galileo_utc_model.A0_6 != 0))
{
- rp->update_nav_header(rp->navGalFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
- rp->update_obs_header(rp->obsFile, d_pvt_solver->galileo_utc_model);
+ rp->update_nav_header(rp->navGalFile, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
+ rp->update_obs_header(rp->obsFile, d_user_pvt_solver->galileo_utc_model);
b_rinex_header_updated = true;
}
break;
case 7: // GPS L1 C/A + GPS L2C
- if ((gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()))
+ if ((gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend()))
{
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
- if (!b_rinex_header_updated and (d_pvt_solver->gps_utc_model.d_A0 != 0))
+ if (!b_rinex_header_updated and (d_user_pvt_solver->gps_utc_model.d_A0 != 0))
{
- rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_utc_model);
- rp->update_nav_header(rp->navFile, d_pvt_solver->gps_utc_model, d_pvt_solver->gps_iono, gps_ephemeris_iter->second);
+ rp->update_obs_header(rp->obsFile, d_user_pvt_solver->gps_utc_model);
+ rp->update_nav_header(rp->navFile, d_user_pvt_solver->gps_utc_model, d_user_pvt_solver->gps_iono, gps_ephemeris_iter->second);
b_rinex_header_updated = true;
}
}
break;
case 8: // L1+L5
- if ((gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()))
+ if ((gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend()))
{
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
- if (!b_rinex_header_updated and ((d_pvt_solver->gps_cnav_utc_model.d_A0 != 0) or (d_pvt_solver->gps_utc_model.d_A0 != 0)))
+ if (!b_rinex_header_updated and ((d_user_pvt_solver->gps_cnav_utc_model.d_A0 != 0) or (d_user_pvt_solver->gps_utc_model.d_A0 != 0)))
{
- if (d_pvt_solver->gps_cnav_utc_model.d_A0 != 0)
+ if (d_user_pvt_solver->gps_cnav_utc_model.d_A0 != 0)
{
- rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_cnav_utc_model);
- rp->update_nav_header(rp->navFile, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->gps_cnav_iono);
+ rp->update_obs_header(rp->obsFile, d_user_pvt_solver->gps_cnav_utc_model);
+ rp->update_nav_header(rp->navFile, d_user_pvt_solver->gps_cnav_utc_model, d_user_pvt_solver->gps_cnav_iono);
}
else
{
- rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_utc_model);
- rp->update_nav_header(rp->navFile, d_pvt_solver->gps_utc_model, d_pvt_solver->gps_iono, gps_ephemeris_iter->second);
+ rp->update_obs_header(rp->obsFile, d_user_pvt_solver->gps_utc_model);
+ rp->update_nav_header(rp->navFile, d_user_pvt_solver->gps_utc_model, d_user_pvt_solver->gps_iono, gps_ephemeris_iter->second);
}
b_rinex_header_updated = true;
}
}
break;
case 9: // GPS L1 C/A + Galileo E1B
- if ((galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()) and (gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()))
+ if ((galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend()) and (gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend()))
{
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map);
- if (!b_rinex_header_updated and (d_pvt_solver->gps_utc_model.d_A0 != 0))
+ if (!b_rinex_header_updated and (d_user_pvt_solver->gps_utc_model.d_A0 != 0))
{
- rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_utc_model);
- rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
+ rp->update_obs_header(rp->obsFile, d_user_pvt_solver->gps_utc_model);
+ rp->update_nav_header(rp->navMixFile, d_user_pvt_solver->gps_iono, d_user_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
b_rinex_header_updated = true;
}
}
break;
case 13: // L5+E5a
- if ((gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()))
+ if ((gps_cnav_ephemeris_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend()))
{
rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map);
}
- if (!b_rinex_header_updated and (d_pvt_solver->gps_cnav_utc_model.d_A0 != 0) and (d_pvt_solver->galileo_utc_model.A0_6 != 0))
+ if (!b_rinex_header_updated and (d_user_pvt_solver->gps_cnav_utc_model.d_A0 != 0) and (d_user_pvt_solver->galileo_utc_model.A0_6 != 0))
{
- rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_cnav_utc_model);
- rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->gps_cnav_iono, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
+ rp->update_obs_header(rp->obsFile, d_user_pvt_solver->gps_cnav_utc_model);
+ rp->update_nav_header(rp->navMixFile, d_user_pvt_solver->gps_cnav_utc_model, d_user_pvt_solver->gps_cnav_iono, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
b_rinex_header_updated = true; // do not write header anymore
}
break;
case 14: // Galileo E1B + Galileo E5a
- if (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+ if (galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B 5X");
}
- if (!b_rinex_header_updated and (d_pvt_solver->galileo_utc_model.A0_6 != 0))
+ if (!b_rinex_header_updated and (d_user_pvt_solver->galileo_utc_model.A0_6 != 0))
{
- rp->update_nav_header(rp->navGalFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
- rp->update_obs_header(rp->obsFile, d_pvt_solver->galileo_utc_model);
+ rp->update_nav_header(rp->navGalFile, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
+ rp->update_obs_header(rp->obsFile, d_user_pvt_solver->galileo_utc_model);
b_rinex_header_updated = true;
}
break;
case 15: // Galileo E1B + Galileo E5b
- if (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+ if (galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B 7X");
}
- if (!b_rinex_header_updated and (d_pvt_solver->galileo_utc_model.A0_6 != 0))
+ if (!b_rinex_header_updated and (d_user_pvt_solver->galileo_utc_model.A0_6 != 0))
{
- rp->update_nav_header(rp->navGalFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
- rp->update_obs_header(rp->obsFile, d_pvt_solver->galileo_utc_model);
+ rp->update_nav_header(rp->navGalFile, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
+ rp->update_obs_header(rp->obsFile, d_user_pvt_solver->galileo_utc_model);
b_rinex_header_updated = true;
}
break;
case 23: // GLONASS L1 C/A only
- if (glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
+ if (glonass_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1C");
}
- if (!b_rinex_header_updated and (d_pvt_solver->glonass_gnav_utc_model.d_tau_c != 0))
+ if (!b_rinex_header_updated and (d_user_pvt_solver->glonass_gnav_utc_model.d_tau_c != 0))
{
- rp->update_nav_header(rp->navGloFile, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
- rp->update_obs_header(rp->obsFile, d_pvt_solver->glonass_gnav_utc_model);
+ rp->update_nav_header(rp->navGloFile, d_user_pvt_solver->glonass_gnav_utc_model, d_user_pvt_solver->glonass_gnav_almanac);
+ rp->update_obs_header(rp->obsFile, d_user_pvt_solver->glonass_gnav_utc_model);
b_rinex_header_updated = true;
}
break;
case 24: // GLONASS L2 C/A only
- if (glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
+ if (glonass_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, "2C");
}
- if (!b_rinex_header_updated and (d_pvt_solver->glonass_gnav_utc_model.d_tau_c != 0))
+ if (!b_rinex_header_updated and (d_user_pvt_solver->glonass_gnav_utc_model.d_tau_c != 0))
{
- rp->update_nav_header(rp->navGloFile, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
- rp->update_obs_header(rp->obsFile, d_pvt_solver->glonass_gnav_utc_model);
+ rp->update_nav_header(rp->navGloFile, d_user_pvt_solver->glonass_gnav_utc_model, d_user_pvt_solver->glonass_gnav_almanac);
+ rp->update_obs_header(rp->obsFile, d_user_pvt_solver->glonass_gnav_utc_model);
b_rinex_header_updated = true;
}
break;
case 25: // GLONASS L1 C/A + GLONASS L2 C/A
- if (glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
+ if (glonass_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1C 2C");
}
- if (!b_rinex_header_updated and (d_pvt_solver->glonass_gnav_utc_model.d_tau_c != 0))
+ if (!b_rinex_header_updated and (d_user_pvt_solver->glonass_gnav_utc_model.d_tau_c != 0))
{
- rp->update_nav_header(rp->navMixFile, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
- rp->update_obs_header(rp->obsFile, d_pvt_solver->glonass_gnav_utc_model);
+ rp->update_nav_header(rp->navMixFile, d_user_pvt_solver->glonass_gnav_utc_model, d_user_pvt_solver->glonass_gnav_almanac);
+ rp->update_obs_header(rp->obsFile, d_user_pvt_solver->glonass_gnav_utc_model);
b_rinex_header_updated = true;
}
break;
case 26: // GPS L1 C/A + GLONASS L1 C/A
- if ((glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()))
+ if ((glonass_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend()))
{
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
- if (!b_rinex_header_updated and (d_pvt_solver->gps_utc_model.d_A0 != 0))
+ if (!b_rinex_header_updated and (d_user_pvt_solver->gps_utc_model.d_A0 != 0))
{
- rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_utc_model);
- rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
+ rp->update_obs_header(rp->obsFile, d_user_pvt_solver->gps_utc_model);
+ rp->update_nav_header(rp->navMixFile, d_user_pvt_solver->gps_iono, d_user_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_user_pvt_solver->glonass_gnav_utc_model, d_user_pvt_solver->glonass_gnav_almanac);
b_rinex_header_updated = true; // do not write header anymore
}
}
break;
case 27: // Galileo E1B + GLONASS L1 C/A
- if ((glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()))
+ if ((glonass_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend()))
{
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
}
- if (!b_rinex_header_updated and (d_pvt_solver->galileo_utc_model.A0_6 != 0))
+ if (!b_rinex_header_updated and (d_user_pvt_solver->galileo_utc_model.A0_6 != 0))
{
- rp->update_obs_header(rp->obsFile, d_pvt_solver->galileo_utc_model);
- rp->update_nav_header(rp->navMixFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
+ rp->update_obs_header(rp->obsFile, d_user_pvt_solver->galileo_utc_model);
+ rp->update_nav_header(rp->navMixFile, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model, d_user_pvt_solver->glonass_gnav_utc_model, d_user_pvt_solver->glonass_gnav_almanac);
b_rinex_header_updated = true; // do not write header anymore
}
break;
case 28: // GPS L2C + GLONASS L1 C/A
- if ((glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()))
+ if ((glonass_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend()))
{
rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
}
- if (!b_rinex_header_updated and (d_pvt_solver->gps_cnav_utc_model.d_A0 != 0))
+ if (!b_rinex_header_updated and (d_user_pvt_solver->gps_cnav_utc_model.d_A0 != 0))
{
- rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_cnav_utc_model);
- rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
+ rp->update_obs_header(rp->obsFile, d_user_pvt_solver->gps_cnav_utc_model);
+ rp->update_nav_header(rp->navMixFile, d_user_pvt_solver->gps_cnav_iono, d_user_pvt_solver->gps_cnav_utc_model, d_user_pvt_solver->glonass_gnav_utc_model, d_user_pvt_solver->glonass_gnav_almanac);
b_rinex_header_updated = true; // do not write header anymore
}
break;
case 29: // GPS L1 C/A + GLONASS L2 C/A
- if ((glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()))
+ if ((glonass_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend()))
{
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
- if (!b_rinex_header_updated and (d_pvt_solver->gps_utc_model.d_A0 != 0))
+ if (!b_rinex_header_updated and (d_user_pvt_solver->gps_utc_model.d_A0 != 0))
{
- rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_utc_model);
- rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
+ rp->update_obs_header(rp->obsFile, d_user_pvt_solver->gps_utc_model);
+ rp->update_nav_header(rp->navMixFile, d_user_pvt_solver->gps_iono, d_user_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_user_pvt_solver->glonass_gnav_utc_model, d_user_pvt_solver->glonass_gnav_almanac);
b_rinex_header_updated = true; // do not write header anymore
}
}
break;
case 30: // Galileo E1B + GLONASS L2 C/A
- if ((glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()))
+ if ((glonass_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend()))
{
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
}
- if (!b_rinex_header_updated and (d_pvt_solver->galileo_utc_model.A0_6 != 0))
+ if (!b_rinex_header_updated and (d_user_pvt_solver->galileo_utc_model.A0_6 != 0))
{
- rp->update_obs_header(rp->obsFile, d_pvt_solver->galileo_utc_model);
- rp->update_nav_header(rp->navMixFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
+ rp->update_obs_header(rp->obsFile, d_user_pvt_solver->galileo_utc_model);
+ rp->update_nav_header(rp->navMixFile, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model, d_user_pvt_solver->glonass_gnav_utc_model, d_user_pvt_solver->glonass_gnav_almanac);
b_rinex_header_updated = true; // do not write header anymore
}
break;
case 31: // GPS L2C + GLONASS L2 C/A
- if ((glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()))
+ if ((glonass_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend()))
{
rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
}
- if (!b_rinex_header_updated and (d_pvt_solver->gps_cnav_utc_model.d_A0 != 0))
+ if (!b_rinex_header_updated and (d_user_pvt_solver->gps_cnav_utc_model.d_A0 != 0))
{
- rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_cnav_utc_model);
- rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
+ rp->update_obs_header(rp->obsFile, d_user_pvt_solver->gps_cnav_utc_model);
+ rp->update_nav_header(rp->navMixFile, d_user_pvt_solver->gps_cnav_iono, d_user_pvt_solver->gps_cnav_utc_model, d_user_pvt_solver->glonass_gnav_utc_model, d_user_pvt_solver->glonass_gnav_almanac);
b_rinex_header_updated = true; // do not write header anymore
}
break;
case 32: // L1+E1+L5+E5a
- if ((gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()))
+ if ((gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend()))
{
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map);
- if (!b_rinex_header_updated and ((d_pvt_solver->gps_cnav_utc_model.d_A0 != 0) or (d_pvt_solver->gps_utc_model.d_A0 != 0)) and (d_pvt_solver->galileo_utc_model.A0_6 != 0))
+ if (!b_rinex_header_updated and ((d_user_pvt_solver->gps_cnav_utc_model.d_A0 != 0) or (d_user_pvt_solver->gps_utc_model.d_A0 != 0)) and (d_user_pvt_solver->galileo_utc_model.A0_6 != 0))
{
- if (d_pvt_solver->gps_cnav_utc_model.d_A0 != 0)
+ if (d_user_pvt_solver->gps_cnav_utc_model.d_A0 != 0)
{
- rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_cnav_utc_model);
- rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->gps_cnav_iono, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
+ rp->update_obs_header(rp->obsFile, d_user_pvt_solver->gps_cnav_utc_model);
+ rp->update_nav_header(rp->navMixFile, d_user_pvt_solver->gps_cnav_utc_model, d_user_pvt_solver->gps_cnav_iono, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
}
else
{
- rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_utc_model);
- rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
+ rp->update_obs_header(rp->obsFile, d_user_pvt_solver->gps_utc_model);
+ rp->update_nav_header(rp->navMixFile, d_user_pvt_solver->gps_iono, d_user_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
}
b_rinex_header_updated = true; // do not write header anymore
}
}
break;
case 33: // L1+E1+E5a
- if ((gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()))
+ if ((gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend()))
{
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map);
- if (!b_rinex_header_updated and (d_pvt_solver->gps_utc_model.d_A0 != 0) and (d_pvt_solver->galileo_utc_model.A0_6 != 0))
+ if (!b_rinex_header_updated and (d_user_pvt_solver->gps_utc_model.d_A0 != 0) and (d_user_pvt_solver->galileo_utc_model.A0_6 != 0))
{
- rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_utc_model);
- rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
+ rp->update_obs_header(rp->obsFile, d_user_pvt_solver->gps_utc_model);
+ rp->update_nav_header(rp->navMixFile, d_user_pvt_solver->gps_iono, d_user_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
b_rinex_header_updated = true; // do not write header anymore
}
}
break;
case 500: // BDS B1I only
- if (beidou_dnav_ephemeris_iter != d_pvt_solver->beidou_dnav_ephemeris_map.cend())
+ if (beidou_dnav_ephemeris_iter != d_user_pvt_solver->beidou_dnav_ephemeris_map.cend())
{
rp->log_rinex_obs(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, "B1");
}
- if (!b_rinex_header_updated and (d_pvt_solver->beidou_dnav_utc_model.d_A0_UTC != 0))
+ if (!b_rinex_header_updated and (d_user_pvt_solver->beidou_dnav_utc_model.d_A0_UTC != 0))
{
- rp->update_obs_header(rp->obsFile, d_pvt_solver->beidou_dnav_utc_model);
- rp->update_nav_header(rp->navFile, d_pvt_solver->beidou_dnav_utc_model, d_pvt_solver->beidou_dnav_iono);
+ rp->update_obs_header(rp->obsFile, d_user_pvt_solver->beidou_dnav_utc_model);
+ rp->update_nav_header(rp->navFile, d_user_pvt_solver->beidou_dnav_utc_model, d_user_pvt_solver->beidou_dnav_iono);
b_rinex_header_updated = true;
}
break;
@@ -2626,15 +2847,15 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 1: // GPS L1 C/A
if (flag_write_RTCM_1019_output == true)
{
- for (const auto& gps_eph_iter : d_pvt_solver->gps_ephemeris_map)
+ for (const auto& gps_eph_iter : d_user_pvt_solver->gps_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (flag_write_RTCM_MSM_output == true)
{
- auto gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
- if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
+ auto gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.cbegin();
+ if (gps_eph_iter != d_user_pvt_solver->gps_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
@@ -2645,15 +2866,15 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 6:
if (flag_write_RTCM_1045_output == true)
{
- for (const auto& gal_eph_iter : d_pvt_solver->galileo_ephemeris_map)
+ for (const auto& gal_eph_iter : d_user_pvt_solver->galileo_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter.second);
}
}
if (flag_write_RTCM_MSM_output == true)
{
- auto gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
- if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+ auto gal_eph_iter = d_user_pvt_solver->galileo_ephemeris_map.cbegin();
+ if (gal_eph_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
@@ -2662,16 +2883,16 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 7: // GPS L1 C/A + GPS L2C
if (flag_write_RTCM_1019_output == true)
{
- for (const auto& gps_eph_iter : d_pvt_solver->gps_ephemeris_map)
+ for (const auto& gps_eph_iter : d_user_pvt_solver->gps_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (flag_write_RTCM_MSM_output == true)
{
- auto gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
- auto gps_cnav_eph_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin();
- if ((gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_eph_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()))
+ auto gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.cbegin();
+ auto gps_cnav_eph_iter = d_user_pvt_solver->gps_cnav_ephemeris_map.cbegin();
+ if ((gps_eph_iter != d_user_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_eph_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend()))
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, gps_cnav_eph_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
@@ -2680,16 +2901,16 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 8: // L1+L5
if (flag_write_RTCM_1019_output == true)
{
- for (const auto& gps_eph_iter : d_pvt_solver->gps_ephemeris_map)
+ for (const auto& gps_eph_iter : d_user_pvt_solver->gps_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (flag_write_RTCM_MSM_output == true)
{
- auto gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
- auto gps_cnav_eph_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin();
- if ((gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_eph_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()))
+ auto gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.cbegin();
+ auto gps_cnav_eph_iter = d_user_pvt_solver->gps_cnav_ephemeris_map.cbegin();
+ if ((gps_eph_iter != d_user_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_eph_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend()))
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, gps_cnav_eph_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
@@ -2698,14 +2919,14 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 9: // GPS L1 C/A + Galileo E1B
if (flag_write_RTCM_1019_output == true)
{
- for (const auto& gps_eph_iter : d_pvt_solver->gps_ephemeris_map)
+ for (const auto& gps_eph_iter : d_user_pvt_solver->gps_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (flag_write_RTCM_1045_output == true)
{
- for (const auto& gal_eph_iter : d_pvt_solver->galileo_ephemeris_map)
+ for (const auto& gal_eph_iter : d_user_pvt_solver->galileo_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter.second);
}
@@ -2713,8 +2934,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (flag_write_RTCM_MSM_output == true)
{
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
- auto gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
- auto gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
+ auto gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.cbegin();
+ auto gal_eph_iter = d_user_pvt_solver->galileo_ephemeris_map.cbegin();
int gps_channel = 0;
int gal_channel = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
@@ -2725,8 +2946,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (system == "G")
{
// This is a channel with valid GPS signal
- gps_eph_iter = d_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
- if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
+ gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (gps_eph_iter != d_user_pvt_solver->gps_ephemeris_map.cend())
{
gps_channel = 1;
}
@@ -2736,19 +2957,19 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{
if (system == "E")
{
- gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
- if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+ gal_eph_iter = d_user_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (gal_eph_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
gal_channel = 1;
}
}
}
}
- if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
+ if (gps_eph_iter != d_user_pvt_solver->gps_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
- if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+ if (gal_eph_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
@@ -2757,7 +2978,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 13: // L5+E5a
if (flag_write_RTCM_1045_output == true)
{
- for (const auto& gal_eph_iter : d_pvt_solver->galileo_ephemeris_map)
+ for (const auto& gal_eph_iter : d_user_pvt_solver->galileo_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter.second);
}
@@ -2766,8 +2987,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (flag_write_RTCM_MSM_output and d_rtcm_MSM_rate_ms != 0)
{
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
- auto gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
- auto gps_cnav_eph_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin();
+ auto gal_eph_iter = d_user_pvt_solver->galileo_ephemeris_map.cbegin();
+ auto gps_cnav_eph_iter = d_user_pvt_solver->gps_cnav_ephemeris_map.cbegin();
int gal_channel = 0;
int gps_channel = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
@@ -2778,8 +2999,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (system == "G")
{
// This is a channel with valid GPS signal
- gps_cnav_eph_iter = d_pvt_solver->gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
- if (gps_cnav_eph_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend())
+ gps_cnav_eph_iter = d_user_pvt_solver->gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (gps_cnav_eph_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend())
{
gps_channel = 1;
}
@@ -2789,8 +3010,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{
if (system == "E")
{
- gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
- if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+ gal_eph_iter = d_user_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (gal_eph_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
gal_channel = 1;
}
@@ -2798,11 +3019,11 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
}
- if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend() and (d_rtcm_MT1097_rate_ms != 0))
+ if (gal_eph_iter != d_user_pvt_solver->galileo_ephemeris_map.cend() and (d_rtcm_MT1097_rate_ms != 0))
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
- if (gps_cnav_eph_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend() and (d_rtcm_MT1077_rate_ms != 0))
+ if (gps_cnav_eph_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend() and (d_rtcm_MT1077_rate_ms != 0))
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, gps_cnav_eph_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
@@ -2812,15 +3033,15 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 15:
if (flag_write_RTCM_1045_output == true)
{
- for (const auto& gal_eph_iter : d_pvt_solver->galileo_ephemeris_map)
+ for (const auto& gal_eph_iter : d_user_pvt_solver->galileo_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter.second);
}
}
if (flag_write_RTCM_MSM_output == true)
{
- auto gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
- if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+ auto gal_eph_iter = d_user_pvt_solver->galileo_ephemeris_map.cbegin();
+ if (gal_eph_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
@@ -2831,15 +3052,15 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 25:
if (flag_write_RTCM_1020_output == true)
{
- for (auto glonass_gnav_ephemeris_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++)
+ for (auto glonass_gnav_ephemeris_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++)
{
- d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_pvt_solver->glonass_gnav_utc_model);
+ d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_user_pvt_solver->glonass_gnav_utc_model);
}
}
if (flag_write_RTCM_MSM_output == true)
{
- auto glo_gnav_ephemeris_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
- if (glo_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
+ auto glo_gnav_ephemeris_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
+ if (glo_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
@@ -2849,23 +3070,23 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 26: // GPS L1 C/A + GLONASS L1 C/A
if (flag_write_RTCM_1019_output == true)
{
- for (const auto& gps_eph_iter : d_pvt_solver->gps_ephemeris_map)
+ for (const auto& gps_eph_iter : d_user_pvt_solver->gps_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (flag_write_RTCM_1020_output == true)
{
- for (auto glonass_gnav_ephemeris_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++)
+ for (auto glonass_gnav_ephemeris_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++)
{
- d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_pvt_solver->glonass_gnav_utc_model);
+ d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_user_pvt_solver->glonass_gnav_utc_model);
}
}
if (flag_write_RTCM_MSM_output == true)
{
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
- auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
- auto gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
+ auto glonass_gnav_eph_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
+ auto gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.cbegin();
int gps_channel = 0;
int glo_channel = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
@@ -2876,8 +3097,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (system == "G")
{
// This is a channel with valid GPS signal
- gps_eph_iter = d_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
- if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
+ gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (gps_eph_iter != d_user_pvt_solver->gps_ephemeris_map.cend())
{
gps_channel = 1;
}
@@ -2887,8 +3108,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{
if (system == "R")
{
- glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
- if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
+ glonass_gnav_eph_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (glonass_gnav_eph_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
glo_channel = 1;
}
@@ -2896,11 +3117,11 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
}
- if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
+ if (glonass_gnav_eph_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
- if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
+ if (gps_eph_iter != d_user_pvt_solver->gps_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
@@ -2909,14 +3130,14 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 27: // GLONASS L1 C/A + Galileo E1B
if (flag_write_RTCM_1020_output == true)
{
- for (auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
+ for (auto glonass_gnav_eph_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
{
- d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_pvt_solver->glonass_gnav_utc_model);
+ d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_user_pvt_solver->glonass_gnav_utc_model);
}
}
if (flag_write_RTCM_1045_output == true)
{
- for (const auto& gal_eph_iter : d_pvt_solver->galileo_ephemeris_map)
+ for (const auto& gal_eph_iter : d_user_pvt_solver->galileo_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter.second);
}
@@ -2924,8 +3145,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (flag_write_RTCM_MSM_output == true)
{
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
- auto gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
- auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
+ auto gal_eph_iter = d_user_pvt_solver->galileo_ephemeris_map.cbegin();
+ auto glonass_gnav_eph_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
int gal_channel = 0;
int glo_channel = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
@@ -2936,8 +3157,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (system == "E")
{
// This is a channel with valid GPS signal
- gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
- if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+ gal_eph_iter = d_user_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (gal_eph_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
gal_channel = 1;
}
@@ -2947,19 +3168,19 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{
if (system == "R")
{
- glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
- if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
+ glonass_gnav_eph_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (glonass_gnav_eph_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
glo_channel = 1;
}
}
}
}
- if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+ if (gal_eph_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
- if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
+ if (glonass_gnav_eph_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
@@ -2968,23 +3189,23 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 29: // GPS L1 C/A + GLONASS L2 C/A
if (flag_write_RTCM_1019_output == true)
{
- for (const auto& gps_eph_iter : d_pvt_solver->gps_ephemeris_map)
+ for (const auto& gps_eph_iter : d_user_pvt_solver->gps_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (flag_write_RTCM_1020_output == true)
{
- for (auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
+ for (auto glonass_gnav_eph_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
{
- d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_pvt_solver->glonass_gnav_utc_model);
+ d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_user_pvt_solver->glonass_gnav_utc_model);
}
}
if (flag_write_RTCM_MSM_output == true)
{
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
- auto gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
- auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
+ auto gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.cbegin();
+ auto glonass_gnav_eph_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
int gps_channel = 0;
int glo_channel = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
@@ -2995,8 +3216,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (system == "G")
{
// This is a channel with valid GPS signal
- gps_eph_iter = d_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
- if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
+ gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (gps_eph_iter != d_user_pvt_solver->gps_ephemeris_map.cend())
{
gps_channel = 1;
}
@@ -3006,19 +3227,19 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{
if (system == "R")
{
- glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
- if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
+ glonass_gnav_eph_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (glonass_gnav_eph_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
glo_channel = 1;
}
}
}
}
- if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
+ if (glonass_gnav_eph_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
- if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
+ if (gps_eph_iter != d_user_pvt_solver->gps_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
@@ -3027,14 +3248,14 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 30: // GLONASS L2 C/A + Galileo E1B
if (flag_write_RTCM_1020_output == true)
{
- for (auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
+ for (auto glonass_gnav_eph_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
{
- d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_pvt_solver->glonass_gnav_utc_model);
+ d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_user_pvt_solver->glonass_gnav_utc_model);
}
}
if (flag_write_RTCM_1045_output == true)
{
- for (const auto& gal_eph_iter : d_pvt_solver->galileo_ephemeris_map)
+ for (const auto& gal_eph_iter : d_user_pvt_solver->galileo_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter.second);
}
@@ -3042,8 +3263,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (flag_write_RTCM_MSM_output == true)
{
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
- auto gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
- auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
+ auto gal_eph_iter = d_user_pvt_solver->galileo_ephemeris_map.cbegin();
+ auto glonass_gnav_eph_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
int gal_channel = 0;
int glo_channel = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
@@ -3054,8 +3275,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (system == "E")
{
// This is a channel with valid GPS signal
- gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
- if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+ gal_eph_iter = d_user_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (gal_eph_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
gal_channel = 1;
}
@@ -3065,19 +3286,19 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{
if (system == "R")
{
- glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
- if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
+ glonass_gnav_eph_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (glonass_gnav_eph_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
glo_channel = 1;
}
}
}
}
- if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+ if (gal_eph_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
- if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
+ if (glonass_gnav_eph_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
@@ -3086,14 +3307,14 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 32: // L1+E1+L5+E5a
if (flag_write_RTCM_1019_output == true)
{
- for (const auto& gps_eph_iter : d_pvt_solver->gps_ephemeris_map)
+ for (const auto& gps_eph_iter : d_user_pvt_solver->gps_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (flag_write_RTCM_1045_output == true)
{
- for (const auto& gal_eph_iter : d_pvt_solver->galileo_ephemeris_map)
+ for (const auto& gal_eph_iter : d_user_pvt_solver->galileo_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter.second);
}
@@ -3101,8 +3322,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (flag_write_RTCM_MSM_output == true)
{
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
- auto gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
- auto gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
+ auto gal_eph_iter = d_user_pvt_solver->galileo_ephemeris_map.cbegin();
+ auto gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.cbegin();
int gal_channel = 0;
int gps_channel = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
@@ -3113,8 +3334,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (system == "E")
{
// This is a channel with valid GPS signal
- gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
- if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+ gal_eph_iter = d_user_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (gal_eph_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
gal_channel = 1;
}
@@ -3124,19 +3345,19 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{
if (system == "G")
{
- gps_eph_iter = d_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
- if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
+ gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (gps_eph_iter != d_user_pvt_solver->gps_ephemeris_map.cend())
{
gps_channel = 1;
}
}
}
}
- if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
+ if (gps_eph_iter != d_user_pvt_solver->gps_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
- if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+ if (gal_eph_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
@@ -3154,16 +3375,16 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 1: // GPS L1 C/A
if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
- for (const auto& gps_eph_iter : d_pvt_solver->gps_ephemeris_map)
+ for (const auto& gps_eph_iter : d_user_pvt_solver->gps_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (d_rtcm_MSM_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
- auto gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
+ auto gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.cbegin();
- if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
+ if (gps_eph_iter != d_user_pvt_solver->gps_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
@@ -3175,15 +3396,15 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 6:
if (d_rtcm_MT1045_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
- for (const auto& gal_eph_iter : d_pvt_solver->galileo_ephemeris_map)
+ for (const auto& gal_eph_iter : d_user_pvt_solver->galileo_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter.second);
}
}
if (d_rtcm_MSM_rate_ms != 0)
{
- auto gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
- if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+ auto gal_eph_iter = d_user_pvt_solver->galileo_ephemeris_map.cbegin();
+ if (gal_eph_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
@@ -3193,16 +3414,16 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 7: // GPS L1 C/A + GPS L2C
if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
- for (const auto& gps_eph_iter : d_pvt_solver->gps_ephemeris_map)
+ for (const auto& gps_eph_iter : d_user_pvt_solver->gps_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (d_rtcm_MSM_rate_ms != 0)
{
- auto gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
- auto gps_cnav_eph_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin();
- if ((gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_eph_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()))
+ auto gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.cbegin();
+ auto gps_cnav_eph_iter = d_user_pvt_solver->gps_cnav_ephemeris_map.cbegin();
+ if ((gps_eph_iter != d_user_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_eph_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend()))
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, gps_cnav_eph_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
@@ -3212,16 +3433,16 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 8: // L1+L5
if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
- for (const auto& gps_eph_iter : d_pvt_solver->gps_ephemeris_map)
+ for (const auto& gps_eph_iter : d_user_pvt_solver->gps_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (d_rtcm_MSM_rate_ms != 0)
{
- auto gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
- auto gps_cnav_eph_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin();
- if ((gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_eph_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()))
+ auto gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.cbegin();
+ auto gps_cnav_eph_iter = d_user_pvt_solver->gps_cnav_ephemeris_map.cbegin();
+ if ((gps_eph_iter != d_user_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_eph_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend()))
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, gps_cnav_eph_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
@@ -3231,14 +3452,14 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 9: // GPS L1 C/A + Galileo E1B
if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
- for (const auto& gps_eph_iter : d_pvt_solver->gps_ephemeris_map)
+ for (const auto& gps_eph_iter : d_user_pvt_solver->gps_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (d_rtcm_MT1045_rate_ms != 0)
{
- for (const auto& gal_eph_iter : d_pvt_solver->galileo_ephemeris_map)
+ for (const auto& gal_eph_iter : d_user_pvt_solver->galileo_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter.second);
}
@@ -3246,8 +3467,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (d_rtcm_MSM_rate_ms != 0)
{
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
- auto gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
- auto gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
+ auto gal_eph_iter = d_user_pvt_solver->galileo_ephemeris_map.cbegin();
+ auto gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.cbegin();
int gps_channel = 0;
int gal_channel = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
@@ -3258,8 +3479,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (system == "G")
{
// This is a channel with valid GPS signal
- gps_eph_iter = d_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
- if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
+ gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (gps_eph_iter != d_user_pvt_solver->gps_ephemeris_map.cend())
{
gps_channel = 1;
}
@@ -3269,19 +3490,19 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{
if (system == "E")
{
- gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
- if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+ gal_eph_iter = d_user_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (gal_eph_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
gal_channel = 1;
}
}
}
}
- if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
+ if (gps_eph_iter != d_user_pvt_solver->gps_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
- if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+ if (gal_eph_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
@@ -3292,7 +3513,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 13: // L5+E5a
if (d_rtcm_MT1045_rate_ms != 0)
{
- for (const auto& gal_eph_iter : d_pvt_solver->galileo_ephemeris_map)
+ for (const auto& gal_eph_iter : d_user_pvt_solver->galileo_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter.second);
}
@@ -3300,7 +3521,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (d_rtcm_MSM_rate_ms != 0)
{
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
- auto gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
+ auto gal_eph_iter = d_user_pvt_solver->galileo_ephemeris_map.cbegin();
int gal_channel = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
{
@@ -3309,8 +3530,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{
if (system == "E")
{
- gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
- if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+ gal_eph_iter = d_user_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (gal_eph_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
gal_channel = 1;
}
@@ -3318,7 +3539,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
}
- if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend() and (d_rtcm_MT1097_rate_ms != 0))
+ if (gal_eph_iter != d_user_pvt_solver->galileo_ephemeris_map.cend() and (d_rtcm_MT1097_rate_ms != 0))
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
@@ -3329,15 +3550,15 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 15:
if (d_rtcm_MT1045_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
- for (const auto& gal_eph_iter : d_pvt_solver->galileo_ephemeris_map)
+ for (const auto& gal_eph_iter : d_user_pvt_solver->galileo_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter.second);
}
}
if (d_rtcm_MSM_rate_ms != 0)
{
- auto gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
- if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+ auto gal_eph_iter = d_user_pvt_solver->galileo_ephemeris_map.cbegin();
+ if (gal_eph_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
@@ -3349,15 +3570,15 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 25:
if (d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
- for (auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
+ for (auto glonass_gnav_eph_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
{
- d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_pvt_solver->glonass_gnav_utc_model);
+ d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_user_pvt_solver->glonass_gnav_utc_model);
}
}
if (d_rtcm_MSM_rate_ms != 0)
{
- auto glo_gnav_ephemeris_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
- if (glo_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
+ auto glo_gnav_ephemeris_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
+ if (glo_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
@@ -3367,23 +3588,23 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 26: // GPS L1 C/A + GLONASS L1 C/A
if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
- for (const auto& gps_eph_iter : d_pvt_solver->gps_ephemeris_map)
+ for (const auto& gps_eph_iter : d_user_pvt_solver->gps_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
- for (auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
+ for (auto glonass_gnav_eph_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
{
- d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_pvt_solver->glonass_gnav_utc_model);
+ d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_user_pvt_solver->glonass_gnav_utc_model);
}
}
if (d_rtcm_MSM_rate_ms != 0)
{
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
- auto gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
- auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
+ auto gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.cbegin();
+ auto glonass_gnav_eph_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
int gps_channel = 0;
int glo_channel = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
@@ -3394,8 +3615,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (system == "G")
{
// This is a channel with valid GPS signal
- gps_eph_iter = d_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
- if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
+ gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (gps_eph_iter != d_user_pvt_solver->gps_ephemeris_map.cend())
{
gps_channel = 1;
}
@@ -3405,19 +3626,19 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{
if (system == "R")
{
- glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
- if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
+ glonass_gnav_eph_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (glonass_gnav_eph_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
glo_channel = 1;
}
}
}
}
- if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
+ if (glonass_gnav_eph_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
- if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
+ if (gps_eph_iter != d_user_pvt_solver->gps_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
@@ -3427,14 +3648,14 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 27: // GLONASS L1 C/A + Galileo E1B
if (d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
- for (auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
+ for (auto glonass_gnav_eph_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
{
- d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_pvt_solver->glonass_gnav_utc_model);
+ d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_user_pvt_solver->glonass_gnav_utc_model);
}
}
if (d_rtcm_MT1045_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
- for (const auto& gal_eph_iter : d_pvt_solver->galileo_ephemeris_map)
+ for (const auto& gal_eph_iter : d_user_pvt_solver->galileo_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter.second);
}
@@ -3444,8 +3665,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
int gal_channel = 0;
int glo_channel = 0;
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
- auto gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
- auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
+ auto gal_eph_iter = d_user_pvt_solver->galileo_ephemeris_map.cbegin();
+ auto glonass_gnav_eph_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
{
std::string system(&gnss_observables_iter->second.System, 1);
@@ -3454,8 +3675,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (system == "E")
{
// This is a channel with valid GPS signal
- gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
- if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+ gal_eph_iter = d_user_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (gal_eph_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
gal_channel = 1;
}
@@ -3465,19 +3686,19 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{
if (system == "R")
{
- glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
- if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
+ glonass_gnav_eph_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (glonass_gnav_eph_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
glo_channel = 1;
}
}
}
}
- if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+ if (gal_eph_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
- if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
+ if (glonass_gnav_eph_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
@@ -3487,22 +3708,22 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 29: // GPS L1 C/A + GLONASS L2 C/A
if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
- for (const auto& gps_eph_iter : d_pvt_solver->gps_ephemeris_map)
+ for (const auto& gps_eph_iter : d_user_pvt_solver->gps_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
- for (auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
+ for (auto glonass_gnav_eph_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
{
- d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_pvt_solver->glonass_gnav_utc_model);
+ d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_user_pvt_solver->glonass_gnav_utc_model);
}
}
if (d_rtcm_MSM_rate_ms != 0)
{
- auto gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
- auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
+ auto gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.cbegin();
+ auto glonass_gnav_eph_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
int gps_channel = 0;
int glo_channel = 0;
@@ -3514,8 +3735,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (system == "G")
{
// This is a channel with valid GPS signal
- gps_eph_iter = d_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
- if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
+ gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (gps_eph_iter != d_user_pvt_solver->gps_ephemeris_map.cend())
{
gps_channel = 1;
}
@@ -3525,20 +3746,20 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{
if (system == "R")
{
- glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
- if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
+ glonass_gnav_eph_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (glonass_gnav_eph_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
glo_channel = 1;
}
}
}
}
- if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
+ if (glonass_gnav_eph_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
- if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
+ if (gps_eph_iter != d_user_pvt_solver->gps_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
@@ -3548,14 +3769,14 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 30: // GLONASS L2 C/A + Galileo E1B
if (d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
- for (auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
+ for (auto glonass_gnav_eph_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
{
- d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_pvt_solver->glonass_gnav_utc_model);
+ d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_user_pvt_solver->glonass_gnav_utc_model);
}
}
if (d_rtcm_MT1045_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
- for (const auto& gal_eph_iter : d_pvt_solver->galileo_ephemeris_map)
+ for (const auto& gal_eph_iter : d_user_pvt_solver->galileo_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter.second);
}
@@ -3565,8 +3786,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
int gal_channel = 0;
int glo_channel = 0;
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
- auto gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
- auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
+ auto gal_eph_iter = d_user_pvt_solver->galileo_ephemeris_map.cbegin();
+ auto glonass_gnav_eph_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
{
std::string system(&gnss_observables_iter->second.System, 1);
@@ -3575,8 +3796,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (system == "E")
{
// This is a channel with valid GPS signal
- gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
- if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+ gal_eph_iter = d_user_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (gal_eph_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
gal_channel = 1;
}
@@ -3586,19 +3807,19 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{
if (system == "R")
{
- glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
- if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
+ glonass_gnav_eph_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (glonass_gnav_eph_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
glo_channel = 1;
}
}
}
}
- if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+ if (gal_eph_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
- if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
+ if (glonass_gnav_eph_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
@@ -3608,14 +3829,14 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 32: // L1+E1+L5+E5a
if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
- for (const auto& gps_eph_iter : d_pvt_solver->gps_ephemeris_map)
+ for (const auto& gps_eph_iter : d_user_pvt_solver->gps_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (d_rtcm_MT1045_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
- for (const auto& gal_eph_iter : d_pvt_solver->galileo_ephemeris_map)
+ for (const auto& gal_eph_iter : d_user_pvt_solver->galileo_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter.second);
}
@@ -3623,8 +3844,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (d_rtcm_MSM_rate_ms != 0)
{
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
- auto gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
- auto gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
+ auto gal_eph_iter = d_user_pvt_solver->galileo_ephemeris_map.cbegin();
+ auto gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.cbegin();
int gps_channel = 0;
int gal_channel = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
@@ -3635,8 +3856,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (system == "G")
{
// This is a channel with valid GPS signal
- gps_eph_iter = d_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
- if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
+ gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (gps_eph_iter != d_user_pvt_solver->gps_ephemeris_map.cend())
{
gps_channel = 1;
}
@@ -3646,19 +3867,19 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{
if (system == "E")
{
- gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
- if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+ gal_eph_iter = d_user_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (gal_eph_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
gal_channel = 1;
}
}
}
}
- if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
+ if (gps_eph_iter != d_user_pvt_solver->gps_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
- if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+ if (gal_eph_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
@@ -3685,18 +3906,18 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
// DEBUG MESSAGE: Display position in console output
- if (d_pvt_solver->is_valid_position() and flag_display_pvt)
+ if (d_user_pvt_solver->is_valid_position() and flag_display_pvt)
{
boost::posix_time::ptime time_solution;
std::string UTC_solution_str;
if (d_show_local_time_zone)
{
- time_solution = d_pvt_solver->get_position_UTC_time() + d_utc_diff_time;
+ time_solution = d_user_pvt_solver->get_position_UTC_time() + d_utc_diff_time;
UTC_solution_str = d_local_time_str;
}
else
{
- time_solution = d_pvt_solver->get_position_UTC_time();
+ time_solution = d_user_pvt_solver->get_position_UTC_time();
UTC_solution_str = " UTC";
}
std::streamsize ss = std::cout.precision(); // save current precision
@@ -3706,37 +3927,37 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::cout
<< TEXT_BOLD_GREEN
<< "Position at " << time_solution << UTC_solution_str
- << " using " << d_pvt_solver->get_num_valid_observations()
+ << " using " << d_user_pvt_solver->get_num_valid_observations()
<< std::fixed << std::setprecision(9)
- << " observations is Lat = " << d_pvt_solver->get_latitude() << " [deg], Long = " << d_pvt_solver->get_longitude()
+ << " observations is Lat = " << d_user_pvt_solver->get_latitude() << " [deg], Long = " << d_user_pvt_solver->get_longitude()
<< std::fixed << std::setprecision(3)
- << " [deg], Height = " << d_pvt_solver->get_height() << " [m]" << TEXT_RESET << std::endl;
+ << " [deg], Height = " << d_user_pvt_solver->get_height() << " [m]" << TEXT_RESET << std::endl;
std::cout << std::setprecision(ss);
- DLOG(INFO) << "RX clock offset: " << d_pvt_solver->get_time_offset_s() << "[s]";
+ DLOG(INFO) << "RX clock offset: " << d_user_pvt_solver->get_time_offset_s() << "[s]";
// boost::posix_time::ptime p_time;
- // gtime_t rtklib_utc_time = gpst2time(adjgpsweek(d_pvt_solver->gps_ephemeris_map.cbegin()->second.i_GPS_week), d_rx_time);
+ // gtime_t rtklib_utc_time = gpst2time(adjgpsweek(d_user_pvt_solver->gps_ephemeris_map.cbegin()->second.i_GPS_week), d_rx_time);
// p_time = boost::posix_time::from_time_t(rtklib_utc_time.time);
// p_time += boost::posix_time::microseconds(round(rtklib_utc_time.sec * 1e6));
// std::cout << TEXT_MAGENTA << "Observable RX time (GPST) " << boost::posix_time::to_simple_string(p_time) << TEXT_RESET << std::endl;
- DLOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_pvt_solver->get_position_UTC_time())
- << " UTC using " << d_pvt_solver->get_num_valid_observations() << " observations is Lat = " << d_pvt_solver->get_latitude() << " [deg], Long = " << d_pvt_solver->get_longitude()
- << " [deg], Height = " << d_pvt_solver->get_height() << " [m]";
+ DLOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_user_pvt_solver->get_position_UTC_time())
+ << " UTC using " << d_user_pvt_solver->get_num_valid_observations() << " observations is Lat = " << d_user_pvt_solver->get_latitude() << " [deg], Long = " << d_user_pvt_solver->get_longitude()
+ << " [deg], Height = " << d_user_pvt_solver->get_height() << " [m]";
- /* std::cout << "Dilution of Precision at " << boost::posix_time::to_simple_string(d_pvt_solver->get_position_UTC_time())
- << " UTC using "<< d_pvt_solver->get_num_valid_observations() <<" observations is HDOP = " << d_pvt_solver->get_hdop() << " VDOP = "
- << d_pvt_solver->get_vdop()
- << " GDOP = " << d_pvt_solver->get_gdop() << std::endl; */
+ /* std::cout << "Dilution of Precision at " << boost::posix_time::to_simple_string(d_user_pvt_solver->get_position_UTC_time())
+ << " UTC using "<< d_user_pvt_solver->get_num_valid_observations() <<" observations is HDOP = " << d_user_pvt_solver->get_hdop() << " VDOP = "
+ << d_user_pvt_solver->get_vdop()
+ << " GDOP = " << d_user_pvt_solver->get_gdop() << std::endl; */
}
// PVT MONITOR
- if (d_pvt_solver->is_valid_position())
+ if (d_user_pvt_solver->is_valid_position())
{
- std::shared_ptr<Monitor_Pvt> monitor_pvt = std::make_shared<Monitor_Pvt>(d_pvt_solver->get_monitor_pvt());
+ std::shared_ptr<Monitor_Pvt> monitor_pvt = std::make_shared<Monitor_Pvt>(d_user_pvt_solver->get_monitor_pvt());
- //publish new position to the gnss_flowgraph channel status monitor
+ // publish new position to the gnss_flowgraph channel status monitor
if (current_RX_time_ms % d_report_rate_ms == 0)
{
this->message_port_pub(pmt::mp("status"), pmt::make_any(monitor_pvt));
diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
index 18f4fcd98..e9d379521 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
@@ -139,6 +139,30 @@ private:
void msg_handler_telemetry(const pmt::pmt_t& msg);
+ enum StringValue
+ {
+ evGPS_1C,
+ evGPS_2S,
+ evGPS_L5,
+ evSBAS_1C,
+ evGAL_1B,
+ evGAL_5X,
+ evGLO_1G,
+ evGLO_2G,
+ evBDS_B1,
+ evBDS_B2,
+ evBDS_B3
+ };
+
+ std::map<std::string, StringValue> mapStringValues_;
+
+ void apply_rx_clock_offset(std::map<int, Gnss_Synchro>& observables_map,
+ double rx_clock_offset_s);
+
+ std::map<int, Gnss_Synchro> interpolate_observables(std::map<int, Gnss_Synchro>& observables_map_t0,
+ std::map<int, Gnss_Synchro>& observables_map_t1,
+ double rx_time_s);
+
bool d_dump;
bool d_dump_mat;
bool b_rinex_output_enabled;
@@ -184,10 +208,14 @@ private:
bool d_kml_output_enabled;
bool d_nmea_output_file_enabled;
- std::shared_ptr<Rtklib_Solver> d_pvt_solver;
+ std::shared_ptr<Rtklib_Solver> d_internal_pvt_solver;
+ std::shared_ptr<Rtklib_Solver> d_user_pvt_solver;
+ int32_t max_obs_block_rx_clock_offset_ms;
+ bool d_waiting_obs_block_rx_clock_offset_correction_msg;
std::map<int, Gnss_Synchro> gnss_observables_map;
- bool observables_pairCompare_min(const std::pair<int, Gnss_Synchro>& a, const std::pair<int, Gnss_Synchro>& b);
+ std::map<int, Gnss_Synchro> gnss_observables_map_t0;
+ std::map<int, Gnss_Synchro> gnss_observables_map_t1;
uint32_t type_of_rx;
diff --git a/src/algorithms/PVT/libs/hybrid_ls_pvt.cc b/src/algorithms/PVT/libs/hybrid_ls_pvt.cc
index b29e5813d..590774c1d 100644
--- a/src/algorithms/PVT/libs/hybrid_ls_pvt.cc
+++ b/src/algorithms/PVT/libs/hybrid_ls_pvt.cc
@@ -45,7 +45,6 @@ Hybrid_Ls_Pvt::Hybrid_Ls_Pvt(int nchannels, std::string dump_filename, bool flag
d_dump_filename = std::move(dump_filename);
d_flag_dump_enabled = flag_dump_to_file;
d_galileo_current_time = 0;
- count_valid_position = 0;
this->set_averaging_flag(false);
// ############# ENABLE DATA FILE LOG #################
if (d_flag_dump_enabled == true)
diff --git a/src/algorithms/PVT/libs/hybrid_ls_pvt.h b/src/algorithms/PVT/libs/hybrid_ls_pvt.h
index 87f9d11cd..75eeb9b83 100644
--- a/src/algorithms/PVT/libs/hybrid_ls_pvt.h
+++ b/src/algorithms/PVT/libs/hybrid_ls_pvt.h
@@ -69,7 +69,6 @@ public:
Gps_CNAV_Utc_Model gps_cnav_utc_model;
private:
- int count_valid_position;
bool d_flag_dump_enabled;
std::string d_dump_filename;
std::ofstream d_dump_file;
diff --git a/src/algorithms/PVT/libs/pvt_conf.cc b/src/algorithms/PVT/libs/pvt_conf.cc
index c4014779f..589941658 100644
--- a/src/algorithms/PVT/libs/pvt_conf.cc
+++ b/src/algorithms/PVT/libs/pvt_conf.cc
@@ -40,6 +40,7 @@ Pvt_Conf::Pvt_Conf()
geojson_rate_ms = 1000;
nmea_rate_ms = 1000;
+ max_obs_block_rx_clock_offset_ms = 40;
rinex_version = 0;
rinexobs_rate_ms = 0;
diff --git a/src/algorithms/PVT/libs/pvt_conf.h b/src/algorithms/PVT/libs/pvt_conf.h
index 93352458e..7f11baeae 100644
--- a/src/algorithms/PVT/libs/pvt_conf.h
+++ b/src/algorithms/PVT/libs/pvt_conf.h
@@ -73,6 +73,8 @@ public:
bool xml_output_enabled;
bool rtcm_output_file_enabled;
+ int32_t max_obs_block_rx_clock_offset_ms;
+
std::string output_path;
std::string rinex_output_path;
std::string gpx_output_path;
diff --git a/src/algorithms/PVT/libs/rtklib_solver.cc b/src/algorithms/PVT/libs/rtklib_solver.cc
index 45de55b96..345d0ab58 100644
--- a/src/algorithms/PVT/libs/rtklib_solver.cc
+++ b/src/algorithms/PVT/libs/rtklib_solver.cc
@@ -3,8 +3,8 @@
* \brief PVT solver based on rtklib library functions adapted to the GNSS-SDR
* data flow and structures
* \authors <ul>
- * <li> 2017, Javier Arribas
- * <li> 2017, Carles Fernandez
+ * <li> 2017-2019, Javier Arribas
+ * <li> 2017-2019, Carles Fernandez
* <li> 2007-2013, T. Takasu
* </ul>
*
@@ -94,7 +94,6 @@ Rtklib_Solver::Rtklib_Solver(int nchannels, std::string dump_filename, bool flag
d_dump_filename = std::move(dump_filename);
d_flag_dump_enabled = flag_dump_to_file;
d_flag_dump_mat_enabled = flag_dump_to_mat;
- count_valid_position = 0;
this->set_averaging_flag(false);
rtk_ = rtk;
@@ -443,7 +442,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
int valid_obs = 0; // valid observations counter
int glo_valid_obs = 0; // GLONASS L1/L2 valid observations counter
- std::array<obsd_t, MAXOBS> obs_data{};
+ obs_data.fill({});
std::vector<eph_t> eph_data(MAXOBS);
std::vector<geph_t> geph_data(MAXOBS);
diff --git a/src/algorithms/PVT/libs/rtklib_solver.h b/src/algorithms/PVT/libs/rtklib_solver.h
index 1fa4ba8dd..3bc11fc9d 100644
--- a/src/algorithms/PVT/libs/rtklib_solver.h
+++ b/src/algorithms/PVT/libs/rtklib_solver.h
@@ -126,18 +126,17 @@ public:
Beidou_Dnav_Iono beidou_dnav_iono;
std::map<int, Beidou_Dnav_Almanac> beidou_dnav_almanac_map;
- int count_valid_position;
-
private:
rtk_t rtk_{};
+ Monitor_Pvt monitor_pvt{};
+ std::array<obsd_t, MAXOBS> obs_data{};
+ std::array<double, 4> dop_{};
std::string d_dump_filename;
std::ofstream d_dump_file;
- bool save_matfile();
+ int d_nchannels; // Number of available channels for positioning
bool d_flag_dump_enabled;
bool d_flag_dump_mat_enabled;
- int d_nchannels; // Number of available channels for positioning
- std::array<double, 4> dop_{};
- Monitor_Pvt monitor_pvt{};
+ bool save_matfile();
};
#endif
diff --git a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc
index 5e58faded..b3b4ab638 100644
--- a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc
+++ b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc
@@ -93,8 +93,7 @@ hybrid_observables_gs::hybrid_observables_gs(uint32_t nchannels_in,
d_dump_filename = std::move(dump_filename);
d_nchannels_out = nchannels_out;
d_nchannels_in = nchannels_in;
- T_rx_offset_ms = 0;
- d_gnss_synchro_history = std::make_shared<Gnss_circular_deque<Gnss_Synchro>>(500, d_nchannels_out);
+ d_gnss_synchro_history = std::make_shared<Gnss_circular_deque<Gnss_Synchro>>(1000, d_nchannels_out);
// ############# ENABLE DATA FILE LOG #################
if (d_dump)
@@ -141,7 +140,6 @@ hybrid_observables_gs::hybrid_observables_gs(uint32_t nchannels_in,
}
}
T_rx_TOW_ms = 0U;
- T_rx_remnant_to_20ms = 0;
T_rx_step_ms = 20; // read from config at the adapter GNSS-SDR.observable_interval_ms!!
T_rx_TOW_set = false;
T_status_report_timer_ms = 0;
@@ -197,16 +195,14 @@ void hybrid_observables_gs::msg_handler_pvt_to_observables(const pmt::pmt_t &msg
{
double new_rx_clock_offset_s;
new_rx_clock_offset_s = boost::any_cast<double>(pmt::any_ref(msg));
- T_rx_offset_ms = new_rx_clock_offset_s * 1000.0;
- T_rx_TOW_ms = T_rx_TOW_ms - static_cast<int>(round(T_rx_offset_ms));
- T_rx_remnant_to_20ms = (T_rx_TOW_ms % 20);
+ T_rx_TOW_ms = T_rx_TOW_ms - static_cast<int>(round(new_rx_clock_offset_s * 1000.0));
// d_Rx_clock_buffer.clear(); // Clear all the elements in the buffer
for (uint32_t n = 0; n < d_nchannels_out; n++)
{
d_gnss_synchro_history->clear(n);
}
- LOG(INFO) << "Corrected new RX Time offset: " << T_rx_offset_ms << "[ms]";
+ LOG(INFO) << "Corrected new RX Time offset: " << static_cast<int>(round(new_rx_clock_offset_s * 1000.0)) << "[ms]";
}
}
catch (boost::bad_any_cast &e)
@@ -440,8 +436,6 @@ bool hybrid_observables_gs::interp_trk_obs(Gnss_Synchro &interpolated_obs, const
// << d_gnss_synchro_history->at(ch, t2_idx).RX_time - d_gnss_synchro_history->at(ch, t1_idx).RX_time
// << " trx - t1: "
// << T_rx_s - d_gnss_synchro_history->at(ch, t1_idx).RX_time;
-
- //
// std::cout << "Rx samplestamp: " << T_rx_s << " Channel " << ch << " interp buff idx " << nearest_element
// << " ,diff: " << old_abs_diff << " samples (" << static_cast<double>(old_abs_diff) / static_cast<double>(d_gnss_synchro_history->at(ch, nearest_element).fs) << " s)\n";
return true;
@@ -489,8 +483,7 @@ void hybrid_observables_gs::update_TOW(const std::vector<Gnss_Synchro> &data)
}
}
}
- T_rx_TOW_ms = TOW_ref - (TOW_ref % 20);
- T_rx_remnant_to_20ms = 0;
+ T_rx_TOW_ms = TOW_ref;
}
else
{
@@ -509,7 +502,7 @@ void hybrid_observables_gs::compute_pranges(std::vector<Gnss_Synchro> &data)
// std::cout.precision(17);
// std::cout << " T_rx_TOW_ms: " << static_cast<double>(T_rx_TOW_ms) << std::endl;
std::vector<Gnss_Synchro>::iterator it;
- double current_T_rx_TOW_ms = (static_cast<double>(T_rx_TOW_ms - T_rx_remnant_to_20ms));
+ auto current_T_rx_TOW_ms = static_cast<double>(T_rx_TOW_ms);
double current_T_rx_TOW_s = current_T_rx_TOW_ms / 1000.0;
for (it = data.begin(); it != data.end(); it++)
{
@@ -582,9 +575,7 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
for (uint32_t n = 0; n < d_nchannels_out; n++)
{
Gnss_Synchro interpolated_gnss_synchro{};
-
- uint32_t T_rx_remnant_to_20ms_samples = T_rx_remnant_to_20ms * in[d_nchannels_in - 1][0].fs / 1000;
- if (!interp_trk_obs(interpolated_gnss_synchro, n, d_Rx_clock_buffer.front() - T_rx_remnant_to_20ms_samples))
+ if (!interp_trk_obs(interpolated_gnss_synchro, n, d_Rx_clock_buffer.front()))
{
// Produce an empty observation
interpolated_gnss_synchro = Gnss_Synchro();
@@ -666,7 +657,17 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
d_dump = false;
}
}
- return 1;
+
+ if (n_valid > 0)
+ {
+ // LOG(INFO) << "OBS: diff time: " << out[0][0].RX_time * 1000.0 - old_time_debug;
+ // old_time_debug = out[0][0].RX_time * 1000.0;
+ return 1;
+ }
+ else
+ {
+ return 0;
+ }
}
return 0;
}
diff --git a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.h b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.h
index b5c59ff9e..6ab2b1955 100644
--- a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.h
+++ b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.h
@@ -87,12 +87,10 @@ private:
bool d_dump;
bool d_dump_mat;
uint32_t T_rx_TOW_ms;
- uint32_t T_rx_remnant_to_20ms;
uint32_t T_rx_step_ms;
uint32_t T_status_report_timer_ms;
uint32_t d_nchannels_in;
uint32_t d_nchannels_out;
- double T_rx_offset_ms;
std::string d_dump_filename;
std::ofstream d_dump_file;
boost::circular_buffer<uint64_t> d_Rx_clock_buffer; // time history
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_gs.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_gs.cc
index 8ec99b2c5..4ba01fc22 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_gs.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_gs.cc
@@ -550,7 +550,7 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
flag_SOW_set = true;
d_nav.flag_new_SOW_available = false;
- if (last_d_TOW_at_current_symbol_ms != 0 and abs(static_cast<int64_t>(d_TOW_at_current_symbol_ms) - int64_t(last_d_TOW_at_current_symbol_ms)) > d_symbol_duration_ms)
+ if (last_d_TOW_at_current_symbol_ms != 0 and abs(static_cast<int64_t>(d_TOW_at_current_symbol_ms) - int64_t(last_d_TOW_at_current_symbol_ms)) > static_cast<int64_t>(d_symbol_duration_ms))
{
LOG(INFO) << "Warning: BEIDOU B1I TOW update in ch " << d_channel
<< " does not match the TLM TOW counter " << static_cast<int64_t>(d_TOW_at_current_symbol_ms) - int64_t(last_d_TOW_at_current_symbol_ms) << " ms \n";
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.cc
index ff04bdf59..e82779644 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.cc
@@ -581,7 +581,7 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
flag_SOW_set = true;
d_nav.flag_new_SOW_available = false;
- if (last_d_TOW_at_current_symbol_ms != 0 and abs(static_cast<int64_t>(d_TOW_at_current_symbol_ms) - int64_t(last_d_TOW_at_current_symbol_ms)) > d_symbol_duration_ms)
+ if (last_d_TOW_at_current_symbol_ms != 0 and abs(static_cast<int64_t>(d_TOW_at_current_symbol_ms) - int64_t(last_d_TOW_at_current_symbol_ms)) > static_cast<int64_t>(d_symbol_duration_ms))
{
LOG(INFO) << "Warning: BEIDOU B3I TOW update in ch " << d_channel
<< " does not match the TLM TOW counter " << static_cast<int64_t>(d_TOW_at_current_symbol_ms) - int64_t(last_d_TOW_at_current_symbol_ms) << " ms \n";
diff --git a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc
index b6040f1d9..5ca096839 100644
--- a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc
@@ -1680,9 +1680,6 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
d_current_fpga_integration_period = d_fpga_integration_period;
d_current_extended_correlation_in_fpga = true;
- d_P_accu_old.real(d_P_accu_old.real() * d_fpga_integration_period);
- d_P_accu_old.imag(d_P_accu_old.imag() * d_fpga_integration_period);
-
if (d_sc_demodulate_enabled)
{
multicorrelator_fpga->enable_secondary_codes();