Merge branch 'dmiralles2009-glonass_dec' into next

src/algorithms/PVT/libs/rinex_printer.cc

@@ -505,7 +505,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Glonass_Gnav_Utc_M
             line += Rinex_Printer::rightJustify(month, 6);
             line += Rinex_Printer::rightJustify(day, 6);
             line += std::string(3, ' ');
-            line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_c, 16, 2), 19);
+            line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_c, 19, 2), 19);
             line += std::string(20, ' ');
             line += Rinex_Printer::leftJustify("CORR TO SYSTEM TIME", 20);
             Rinex_Printer::lengthCheck(line);
@@ -3319,12 +3319,24 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
     out << line << std::endl;
 
     // -------- Line MARKER TYPE
+    if (version == 2)
+        {
+            line.clear();
+            line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
+            line += std::string(40, ' ');
+            line += Rinex_Printer::leftJustify("MARKER NUMBER", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
+        }
+    if (version == 3)
+        {
             line.clear();
             line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
             line += std::string(40, ' ');
             line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
+        }
 
     // -------- Line OBSERVER / AGENCY
     line.clear();
@@ -3619,12 +3631,25 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
     Rinex_Printer::lengthCheck(line);
     out << line << std::endl;
 
-    // -------- Line MARKER NAME
+    // -------- Line MARKER NAME / TYPE
+    if (version == 2)
+        {
             line.clear();
-    line += Rinex_Printer::leftJustify("DEFAULT MARKER NAME", 60); // put a flag or a property,
+            line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
-    line += Rinex_Printer::leftJustify("MARKER NAME", 20);
+            line += std::string(40, ' ');
+            line += Rinex_Printer::leftJustify("MARKER NUMBER", 20);
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
+        }
+    if (version == 3)
+        {
+            line.clear();
+            line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
+            line += std::string(40, ' ');
+            line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
+        }
 
     // -------- Line MARKER TYPE
     line.clear();
@@ -3958,11 +3983,24 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
     out << line << std::endl;
 
     // -------- Line MARKER NAME
+    if (version == 2)
+        {
             line.clear();
-    line += Rinex_Printer::leftJustify("DEFAULT MARKER NAME", 60); // put a flag or a property,
+            line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
-    line += Rinex_Printer::leftJustify("MARKER NAME", 20);
+            line += std::string(40, ' ');
+            line += Rinex_Printer::leftJustify("MARKER NUMBER", 20);
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
+        }
+    if (version == 3)
+        {
+            line.clear();
+            line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
+            line += std::string(40, ' ');
+            line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
+        }
 
     // -------- Line MARKER TYPE
     line.clear();
@@ -4264,17 +4302,17 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
     // -------- Line MARKER NAME
     line.clear();
     line += Rinex_Printer::leftJustify("DEFAULT MARKER NAME", 60); // put a flag or a property,
-    line += Rinex_Printer::leftJustify("MARKER NAME", 20);
+    line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
     Rinex_Printer::lengthCheck(line);
     out << line << std::endl;
 
     // -------- Line MARKER TYPE
-    //line.clear();
+    line.clear();
-    //line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property
+    line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property
-    //line += std::string(40, ' ');
+    line += std::string(40, ' ');
-    //line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
+    line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
-    //Rinex_Printer::lengthCheck(line);
+    Rinex_Printer::lengthCheck(line);
-    //out << line << std::endl;
+    out << line << std::endl;
 
     // -------- Line OBSERVER / AGENCY
     line.clear();

src/algorithms/PVT/libs/rtklib_solver.cc

@@ -150,7 +150,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
                                     eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
                                     //convert observation from GNSS-SDR class to RTKLIB structure
                                     obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
-                                    obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
+                                    obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs,
                                             gnss_observables_iter->second,
                                             galileo_ephemeris_iter->second.WN_5,
                                             0);
@@ -295,7 +295,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
                                                     if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN))
                                                         {
                                                             eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
-                                                            obs_data[i] = insert_obs_to_rtklib(obs_data[i],
+                                                            obs_data[i+glo_valid_obs] = insert_obs_to_rtklib(obs_data[i],
                                                                     gnss_observables_iter->second,
                                                                     gps_cnav_ephemeris_iter->second.i_GPS_week,
                                                                     2);//Band 3 (L5)
@@ -313,7 +313,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
                                             obsd_t newobs = {{0,0}, '0', '0', {}, {},
                                                     {default_code_, default_code_, default_code_},
                                                     {}, {0.0, 0.0, 0.0}, {}};
-                                            obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
+                                            obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs,
                                                     gnss_observables_iter->second,
                                                     gps_cnav_ephemeris_iter->second.i_GPS_week,
                                                     2);//Band 3 (L5)

src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc

@@ -194,6 +194,7 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
     if (d_nav.have_new_ephemeris() == true)
         {
             // get object for this SV (mandatory)
+            d_nav.gnav_ephemeris.i_satellite_freq_channel = d_satellite.get_rf_link();
             std::shared_ptr<Glonass_Gnav_Ephemeris> tmp_obj = std::make_shared<Glonass_Gnav_Ephemeris>(d_nav.get_ephemeris());
             this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
             LOG(INFO) << "GLONASS GNAV Ephemeris have been received on channel" << d_channel << " from satellite " << d_satellite;

src/core/system_parameters/gnss_satellite.cc

@@ -223,7 +223,13 @@ void Gnss_Satellite::set_PRN(unsigned int PRN_)
 }
 
 
-
+signed int Gnss_Satellite::get_rf_link() const
+{
+    // Get satellite's rf link. Identifies the GLONASS Frequency Channel
+    signed int rf_link_;
+    rf_link_ = rf_link;
+    return rf_link_;
+}
 
 
 unsigned int Gnss_Satellite::get_PRN() const

src/core/system_parameters/gnss_satellite.h

@@ -52,6 +52,7 @@ public:
     ~Gnss_Satellite();                         //!< Default Destructor.
     void update_PRN(unsigned int PRN);         //!< Updates the PRN Number when information is decoded, only applies to GLONASS GNAV messages
     unsigned int get_PRN() const;              //!< Gets satellite's PRN
+    signed int get_rf_link() const;            //!< Gets the satellite's rf link
     std::string get_system() const;            //!< Gets the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Beidou"}
     std::string get_system_short() const;      //!< Gets the satellite system {"G", "R", "SBAS", "E", "C"}
     std::string get_block() const;             //!< Gets the satellite block. If GPS, returns {"IIA", "IIR", "IIR-M", "IIF"}