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Fix RX time correction in Galileo-only or in mix GPS and Galileo configurations
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@ -961,15 +961,18 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
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rx_position_and_time(0) = pvt_sol.rr[0]; // [m]
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rx_position_and_time(1) = pvt_sol.rr[1]; // [m]
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rx_position_and_time(2) = pvt_sol.rr[2]; // [m]
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//todo: fix this ambiguity in the RTKLIB units in receiver clock offset!
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if (rtk_.opt.mode == PMODE_SINGLE)
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{
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rx_position_and_time(3) = pvt_sol.dtr[0]; // if the RTKLIB solver is set to SINGLE, the dtr is already expressed in [s]
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// if the RTKLIB solver is set to SINGLE, the dtr is already expressed in [s]
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// add also the clock offset from gps to galileo (pvt_sol.dtr[2])
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rx_position_and_time(3) = pvt_sol.dtr[0] + pvt_sol.dtr[2];
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}
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else
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{
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rx_position_and_time(3) = pvt_sol.dtr[0] / GPS_C_M_S; // the receiver clock offset is expressed in [meters], so we convert it into [s]
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// the receiver clock offset is expressed in [meters], so we convert it into [s]
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// add also the clock offset from gps to galileo (pvt_sol.dtr[2])
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rx_position_and_time(3) = pvt_sol.dtr[2] + pvt_sol.dtr[0] / GPS_C_M_S;
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}
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this->set_rx_pos(rx_position_and_time.rows(0, 2)); // save ECEF position for the next iteration
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