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FORMAT: clean finished TODO coments

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M.A.Gomez 2022-12-30 17:42:28 +00:00
parent 4a578a5e7b
commit d8fc40e209
1 changed files with 1 additions and 4 deletions
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5
src/algorithms/PVT/libs/vtl_engine.cc
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@ -245,10 +245,7 @@ bool Vtl_Engine::vtl_loop(Vtl_Data& new_data)
{
rho_pri_filt(channel) = new_data.pr_m(channel) + kf_yerr(channel); // now filtered
rhoDot_pri_filt(channel) = (new_data.doppler_hz(channel) * Lambda_GPS_L1 + kf_x(7)) - kf_yerr(channel + new_data.sat_number); // now filtered
// TO DO: convert rhoDot_pri to doppler shift!
// Doppler shift defined as pseudorange rate measurement divided by the negative of carrier wavelength.
//double d_dt_clk_drift;
//d_dt_clk_drift=(kf_x(7)-new_data.kf_state(7));
if(counter < closure_point)
{
doppler_hz_filt(channel) = (rhoDot_pri_filt(channel) - kf_x(7)) / Lambda_GPS_L1;