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Merge branch 'koloboxer-shura-current' into next

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This commit is contained in:
Carles Fernandez
2022-08-25 09:31:21 +02:00
parent bef029cb50 cd843787c8
commit e636b06b71
4 changed files with 14 additions and 11 deletions
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src/algorithms/PVT/libs/rtcm.cc
+5 -4
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@@ -1873,8 +1873,8 @@ int32_t Rtcm::read_MT1020(const std::string& message, Glonass_Gnav_Ephemeris& gl
{
} // Avoid compiler warning
glonass_gnav_eph.d_P_1 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
glonass_gnav_eph.d_P_1 = (glonass_gnav_eph.d_P_1 + 1) * 15;
uint32_t P_1_tmp = Rtcm::bin_to_uint(message_bin.substr(index, 2));
glonass_gnav_eph.d_P_1 = (P_1_tmp == 0) ? 0. : (P_1_tmp + 1) * 15;
index += 2;
glonass_gnav_eph.d_t_k += static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 5))) * 3600;
@@ -5102,8 +5102,9 @@ int32_t Rtcm::set_DF105(uint32_t glonass_gnav_alm_health_ind)
int32_t Rtcm::set_DF106(const Glonass_Gnav_Ephemeris& glonass_gnav_eph)
{
// Convert the value from (15, 30, 45, 60) to (00, 01, 10, 11)
const auto P_1 = static_cast<uint32_t>(std::round(glonass_gnav_eph.d_P_1 / 15.0 - 1.0));
// Convert the value from (0, 30, 45, 60) to (00, 01, 10, 11)
uint32_t P_1_tmp = std::round(glonass_gnav_eph.d_P_1 / 15.);
uint32_t P_1 = (P_1_tmp == 0) ? 0 : P_1_tmp - 1;
DF106 = std::bitset<2>(P_1);
return 0;
}