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Fixes error after rebase operation from upstream/next

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Damian Miralles 2017-08-29 00:16:07 -06:00 committed by Damian Miralles
parent 85f7e333bb
commit bf9345ebd2
3 changed files with 137 additions and 143 deletions
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2
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
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@ -717,7 +717,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
std::map<int, Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter; std::map<int, Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter;
std::map<int, Gps_Ephemeris>::const_iterator gps_ephemeris_iter; std::map<int, Gps_Ephemeris>::const_iterator gps_ephemeris_iter;
std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter; std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter;
std::map<int, Glonass_Gnav_Ephemeris>::iterator glonass_gnav_ephemeris_iter; std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter; std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
if (!b_rinex_header_written) // & we have utc data in nav message! if (!b_rinex_header_written) // & we have utc data in nav message!

16
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -133,6 +133,8 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
gnss_observables_iter++) gnss_observables_iter++)
{ {
switch(gnss_observables_iter->second.System) switch(gnss_observables_iter->second.System)
{
case 'E':
{ {
// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key // 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
@ -202,6 +204,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN; DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
} }
} }
}
break; break;
} }
case 'G': case 'G':
@ -286,12 +289,12 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.end()) if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.end())
{ {
//convert ephemeris from GNSS-SDR class to RTKLIB structure //convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second); geph_data[valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure //convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}}; obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[valid_obs] = insert_obs_to_rtklib(newobs, obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.WN_5, glonass_gnav_ephemeris_iter->second.d_WN,
0);//TODO are THESE VALUES OK 0);//TODO are THESE VALUES OK
valid_obs++; valid_obs++;
} }
@ -312,11 +315,11 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
for (int i = 0; i < valid_obs; i++) for (int i = 0; i < valid_obs; i++)
{ {
// TODO what is this? // TODO what is this?
if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN+NSATGPS+NSATGLO))) if (geph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN+NSATGPS+NSATGLO)))
{ {
obs_data[i] = insert_obs_to_rtklib(obs_data[i], obs_data[i] = insert_obs_to_rtklib(obs_data[i],
gnss_observables_iter->second, gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.WN_5, glonass_gnav_ephemeris_iter->second.d_WN,
2);//Band 3 (L5/E5) 2);//Band 3 (L5/E5)
found_L1_obs=true; found_L1_obs=true;
break; break;
@ -326,7 +329,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
{ {
//insert GLONASS GNAV L2 obs as new obs and also insert its ephemeris //insert GLONASS GNAV L2 obs as new obs and also insert its ephemeris
//convert ephemeris from GNSS-SDR class to RTKLIB structure //convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second); geph_data[valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure //convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}}; obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[valid_obs] = insert_obs_to_rtklib(newobs, obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
@ -441,6 +444,5 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
} }
} }
} }
} return this->is_valid_position();
return b_valid_position;
} }

8
src/algorithms/PVT/libs/rtklib_solver.h
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@ -103,14 +103,6 @@ public:
Glonass_Gnav_Almanac glonass_gnav_almanac; //!< Map storing GLONASS GNAV Almanac Model Glonass_Gnav_Almanac glonass_gnav_almanac; //!< Map storing GLONASS GNAV Almanac Model
int count_valid_position; int count_valid_position;
bool d_flag_dump_enabled;
sol_t pvt_sol;
rtk_t rtk_;
std::string d_dump_filename;
std::ofstream d_dump_file;
}; };
#endif #endif