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mod: output from vtl loop

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This commit is contained in:
M.A.Gomez 2022-11-22 15:56:52 +01:00
parent f5be456f91
commit e3daff4dcf
3 changed files with 12 additions and 5 deletions
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6
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -1152,9 +1152,11 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
new_vtl_data.rx_dts(1) = pvt_sol.dtr[5] / 1e6; // [ppm] to [s] new_vtl_data.rx_dts(1) = pvt_sol.dtr[5] / 1e6; // [ppm] to [s]
//new_vtl_data.debug_print(); //new_vtl_data.debug_print();
pvt_sol.rr[0]=vtl_engine.vtl_loop(new_vtl_data); double PVT[6]={0};
vtl_engine.vtl_loop(new_vtl_data, PVT);
// pvt_sol.rr[0]=new_vtl_data.rx_p(0); pvt_sol.rr[0]=PVT[0];
pvt_sol.rr[1]=PVT[1];
// pvt_sol.rr[1]=new_vtl_data.rx_p(1); // pvt_sol.rr[1]=new_vtl_data.rx_p(1);
// pvt_sol.rr[2]=new_vtl_data.rx_p(2); // pvt_sol.rr[2]=new_vtl_data.rx_p(2);
// pvt_sol.rr[3]=new_vtl_data.rx_v(0); // pvt_sol.rr[3]=new_vtl_data.rx_v(0);

9
src/algorithms/PVT/libs/vtl_engine.cc
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@ -27,7 +27,7 @@ Vtl_Engine::~Vtl_Engine()
{ {
} }
bool Vtl_Engine::vtl_loop(Vtl_Data new_data) bool Vtl_Engine::vtl_loop(Vtl_Data new_data, double PVT_out[6])
{ {
//TODO: Implement main VTL loop here //TODO: Implement main VTL loop here
using arma::as_scalar; using arma::as_scalar;
@ -174,7 +174,12 @@ bool Vtl_Engine::vtl_loop(Vtl_Data new_data)
new_data.kf_state=kf_x; //updated state estimation new_data.kf_state=kf_x; //updated state estimation
new_data.kf_P=kf_P_x; //update state estimation error covariance new_data.kf_P=kf_P_x; //update state estimation error covariance
// States related tu USER clock adjust from m/s to s (by /SPEED_OF_LIGHT_M_S) // States related tu USER clock adjust from m/s to s (by /SPEED_OF_LIGHT_M_S)
PVT_out[0]=kf_x(0);
PVT_out[1]=kf_x(1);
PVT_out[2]=kf_x(2);
PVT_out[3]=kf_x(3);
PVT_out[4]=kf_x(4);
PVT_out[5]=kf_x(5);
// kf_x(6) =kf_x(6) /SPEED_OF_LIGHT_M_S; // kf_x(6) =kf_x(6) /SPEED_OF_LIGHT_M_S;
// kf_x(7) =kf_x(7) /SPEED_OF_LIGHT_M_S; // kf_x(7) =kf_x(7) /SPEED_OF_LIGHT_M_S;

2
src/algorithms/PVT/libs/vtl_engine.h
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@ -42,7 +42,7 @@ public:
void configure(Vtl_Conf config_); //set config parameters void configure(Vtl_Conf config_); //set config parameters
//TODO: output functions here (output for tracking KF updates, VTL computed user PVT, etc...) //TODO: output functions here (output for tracking KF updates, VTL computed user PVT, etc...)
bool vtl_loop(Vtl_Data new_data); bool vtl_loop(Vtl_Data new_data, double PVT_out[6]);
void reset(); // reset all internal states void reset(); // reset all internal states
void debug_print(); // print debug information void debug_print(); // print debug information