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https://github.com/gnss-sdr/gnss-sdr
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debug3
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@ -1713,11 +1713,9 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
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// DEBUG MESSAGE: Display position in console output
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// DEBUG MESSAGE: Display position in console output
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if( (d_ls_pvt->is_valid_position() == true) && (flag_display_pvt == true) )
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if( (d_ls_pvt->is_valid_position() == true) && (flag_display_pvt == true) )
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{
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{
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std::string text_green = "\033[32m";
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std::cout << TEXT_GREEN << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
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std::string text_reset = "\033[0m";
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std::cout << text_green << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
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<< " UTC using " << d_ls_pvt->get_num_valid_observations() << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude()
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<< " UTC using " << d_ls_pvt->get_num_valid_observations() << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude()
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<< " [deg], Height= " << d_ls_pvt->get_height() << " [m]" << text_reset << std::endl;
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<< " [deg], Height= " << d_ls_pvt->get_height() << " [m]" << TEXT_RESET << std::endl;
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LOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
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LOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
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<< " UTC using "<< d_ls_pvt->get_num_valid_observations() << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude()
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<< " UTC using "<< d_ls_pvt->get_num_valid_observations() << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude()
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@ -350,11 +350,19 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
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//double decoder_latency_ms=(double)(current_symbol.Tracking_sample_counter-d_symbol_history.at(0).Tracking_sample_counter)
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//double decoder_latency_ms=(double)(current_symbol.Tracking_sample_counter-d_symbol_history.at(0).Tracking_sample_counter)
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// /(double)current_symbol.fs;
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// /(double)current_symbol.fs;
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// update TOW at the preamble instant (account with decoder latency)
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// update TOW at the preamble instant (account with decoder latency)
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d_TOW_at_Preamble = d_GPS_FSM.d_nav.d_TOW + 2 * GPS_L1_CA_CODE_PERIOD + GPS_CA_PREAMBLE_DURATION_S;
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double tmp_tow = d_TOW_at_current_symbol + GPS_L1_CA_CODE_PERIOD;
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d_TOW_at_Preamble = d_GPS_FSM.d_nav.d_TOW + 2 * GPS_L1_CA_CODE_PERIOD + GPS_CA_PREAMBLE_DURATION_S;
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d_TOW_at_current_symbol = floor(d_TOW_at_Preamble * 1000.0) / 1000.0;
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d_TOW_at_current_symbol = floor(d_TOW_at_Preamble * 1000.0) / 1000.0;
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flag_TOW_set = true;
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flag_TOW_set = true;
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d_flag_new_tow_available = false;
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d_flag_new_tow_available = false;
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double tmp_diff = std::fabs(tmp_tow - d_TOW_at_current_symbol);
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if ((tmp_tow != 0) or (tmp_diff > 0.0))
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{
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std::cout << TEXT_RED <<
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"GPS L1 C/A. TOW incoherence on channel: "<< d_channel << ". TOW difference = " <<
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tmp_diff * 1000.0 << " [ms]" << TEXT_RESET << std::endl;
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}
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}
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}
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else
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else
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{
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{
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@ -156,17 +156,15 @@ int gps_l2c_telemetry_decoder_cc::general_work (int noutput_items __attribute__(
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//* delay by the formulae:
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//* delay by the formulae:
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//* \code
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//* \code
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//* symbolTime_ms = msg->tow * 6000 + *pdelay * 20 + (12 * 20); 12 symbols of the encoder's transitory
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//* symbolTime_ms = msg->tow * 6000 + *pdelay * 20 + (12 * 20); 12 symbols of the encoder's transitory
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double tmp_tow= d_TOW_at_current_symbol += GPS_L2_M_PERIOD;
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double tmp_tow = d_TOW_at_current_symbol + GPS_L2_M_PERIOD;
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d_TOW_at_current_symbol = static_cast<double>(msg.tow) * 6.0 + static_cast<double>(delay) * GPS_L2_M_PERIOD + 12 * GPS_L2_M_PERIOD;
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d_TOW_at_current_symbol = static_cast<double>(msg.tow) * 6.0 + static_cast<double>(delay) * GPS_L2_M_PERIOD + 12 * GPS_L2_M_PERIOD;
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d_TOW_at_current_symbol = floor(d_TOW_at_current_symbol * 1000.0) / 1000.0;
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d_TOW_at_current_symbol = floor(d_TOW_at_current_symbol * 1000.0) / 1000.0;
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double tmp_diff = std::fabs(tmp_tow-d_TOW_at_current_symbol);
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double tmp_diff = std::fabs(tmp_tow - d_TOW_at_current_symbol);
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if ((tmp_tow != 0) or (tmp_diff > 0.0))
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if ((tmp_tow != 0) or (tmp_diff > 0.0))
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{
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{
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std::string text_red = "\033[31m";
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std::cout << TEXT_RED <<
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std::string text_reset = "\033[0m";
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std::cout << text_red <<
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"GPS L2C. TOW incoherence on channel: "<< d_channel << ". TOW difference = " <<
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"GPS L2C. TOW incoherence on channel: "<< d_channel << ". TOW difference = " <<
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tmp_diff * 1000.0 << " [ms]" << text_reset << std::endl;
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tmp_diff * 1000.0 << " [ms]" << TEXT_RESET << std::endl;
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}
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}
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d_flag_valid_word = true;
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d_flag_valid_word = true;
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}
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}
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@ -31,6 +31,8 @@
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#ifndef GNSS_SDR_MATH_CONSTANTS_H_
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#ifndef GNSS_SDR_MATH_CONSTANTS_H_
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#define GNSS_SDR_MATH_CONSTANTS_H_
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#define GNSS_SDR_MATH_CONSTANTS_H_
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#include<string>
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/* Constants for scaling the ephemeris found in the data message
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/* Constants for scaling the ephemeris found in the data message
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the format is the following: TWO_N5 -> 2^-5, TWO_P4 -> 2^4, PI_TWO_N43 -> Pi*2^-43, etc etc
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the format is the following: TWO_N5 -> 2^-5, TWO_P4 -> 2^4, PI_TWO_N43 -> Pi*2^-43, etc etc
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Additionally some of the PI*2^N terms are used in the tracking stuff
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Additionally some of the PI*2^N terms are used in the tracking stuff
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@ -41,6 +43,11 @@
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ONE_PI_TWO_PX = (1/Pi)*2^X
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ONE_PI_TWO_PX = (1/Pi)*2^X
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*/
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*/
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const std::string TEXT_RED = "\033[31m";
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const std::string TEXT_GREEN = "\033[32m";
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const std::string TEXT_RESET = "\033[0m";
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const double PI = 3.1415926535897932; //!< pi
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const double PI = 3.1415926535897932; //!< pi
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const double PI_2 = 2.0 * PI; //!< 2 * pi
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const double PI_2 = 2.0 * PI; //!< 2 * pi
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