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Merge branch 'iucgnaw-Bugfix' into next

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This commit is contained in:
Carles Fernandez 2021-10-04 19:12:28 +02:00
commit cc90b01cf5
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1 changed files with 35 additions and 14 deletions
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49
src/core/system_parameters/galileo_inav_message.cc
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@ -725,19 +725,25 @@ std::bitset<GALILEO_DATA_JK_BITS> Galileo_Inav_Message::regenerate_page_1(const
std::bitset<8> c1(decoded[1]); std::bitset<8> c1(decoded[1]);
for (int i = 0; i < 8; i++) for (int i = 0; i < 8; i++)
{ {
data_bits[6 + i] = c1[i]; data_bits[6 + i] = c1[8 - i - 1];
} }
data_bits[14] = c0[6]; data_bits[14] = c0[1];
data_bits[15] = c0[7]; data_bits[15] = c0[0];
for (int k = 2; k < 16; k++) for (int k = 2; k < 16; k++)
{ {
std::bitset<8> octet(decoded[k]); std::bitset<8> octet(decoded[k]);
for (int i = 0; i < 8; i++) for (int i = 0; i < 8; i++)
{ {
data_bits[i + k * 8] = octet[i]; data_bits[i + k * 8] = octet[8 - i - 1];
} }
} }
return data_bits;
std::bitset<GALILEO_DATA_JK_BITS> data_bits_reversed;
for (int i = 0; i < GALILEO_DATA_JK_BITS; i++)
{
data_bits_reversed[GALILEO_DATA_JK_BITS - i - 1] = data_bits[i];
}
return data_bits_reversed;
} }
@ -751,17 +757,22 @@ std::bitset<GALILEO_DATA_JK_BITS> Galileo_Inav_Message::regenerate_page_2(const
for (int i = 0; i < 10; i++) for (int i = 0; i < 10; i++)
{ {
data_bits[6 + i] = iodnav[i]; data_bits[6 + i] = iodnav[10 - i - 1];
} }
for (int k = 0; k < 14; k++) for (int k = 0; k < 14; k++)
{ {
std::bitset<8> octet(decoded[k + 16]); std::bitset<8> octet(decoded[k + 16]);
for (int i = 0; i < 8; i++) for (int i = 0; i < 8; i++)
{ {
data_bits[16 + i + k * 8] = octet[i]; data_bits[16 + i + k * 8] = octet[8 - i - 1];
} }
} }
return data_bits; std::bitset<GALILEO_DATA_JK_BITS> data_bits_reversed;
for (int i = 0; i < GALILEO_DATA_JK_BITS; i++)
{
data_bits_reversed[GALILEO_DATA_JK_BITS - i - 1] = data_bits[i];
}
return data_bits_reversed;
} }
@ -776,17 +787,22 @@ std::bitset<GALILEO_DATA_JK_BITS> Galileo_Inav_Message::regenerate_page_3(const
for (int i = 0; i < 10; i++) for (int i = 0; i < 10; i++)
{ {
data_bits[6 + i] = iodnav[i]; data_bits[6 + i] = iodnav[10 - i - 1];
} }
for (int k = 0; k < 14; k++) for (int k = 0; k < 14; k++)
{ {
std::bitset<8> octet(decoded[k + 30]); std::bitset<8> octet(decoded[k + 30]);
for (int i = 0; i < 8; i++) for (int i = 0; i < 8; i++)
{ {
data_bits[16 + i + k * 8] = octet[i]; data_bits[16 + i + k * 8] = octet[8 - i - 1];
} }
} }
return data_bits; std::bitset<GALILEO_DATA_JK_BITS> data_bits_reversed;
for (int i = 0; i < GALILEO_DATA_JK_BITS; i++)
{
data_bits_reversed[GALILEO_DATA_JK_BITS - i - 1] = data_bits[i];
}
return data_bits_reversed;
} }
@ -800,17 +816,22 @@ std::bitset<GALILEO_DATA_JK_BITS> Galileo_Inav_Message::regenerate_page_4(const
for (int i = 0; i < 10; i++) for (int i = 0; i < 10; i++)
{ {
data_bits[6 + i] = iodnav[i]; data_bits[6 + i] = iodnav[10 - i - 1];
} }
for (int k = 0; k < 14; k++) for (int k = 0; k < 14; k++)
{ {
std::bitset<8> octet(decoded[k + 44]); std::bitset<8> octet(decoded[k + 44]);
for (int i = 0; i < 8; i++) for (int i = 0; i < 8; i++)
{ {
data_bits[16 + i + k * 8] = octet[i]; data_bits[16 + i + k * 8] = octet[8 - i - 1];
} }
} }
return data_bits; std::bitset<GALILEO_DATA_JK_BITS> data_bits_reversed;
for (int i = 0; i < GALILEO_DATA_JK_BITS; i++)
{
data_bits_reversed[GALILEO_DATA_JK_BITS - i - 1] = data_bits[i];
}
return data_bits_reversed;
} }