diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc index 04eb44ae2..65230c0a1 100644 --- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc +++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc @@ -131,7 +131,6 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels, // Send PVT status to gnss_flowgraph this->message_port_register_out(pmt::mp("status")); - mapStringValues_["1C"] = evGPS_1C; mapStringValues_["2S"] = evGPS_2S; mapStringValues_["L5"] = evGPS_L5; @@ -146,7 +145,7 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels, max_obs_block_rx_clock_offset_ms = conf_.max_obs_block_rx_clock_offset_ms; d_output_rate_ms = conf_.output_rate_ms; d_display_rate_ms = conf_.display_rate_ms; - d_report_rate_ms = 1000; //report every second PVT to gnss_synchro + d_report_rate_ms = 1000; // report every second PVT to gnss_synchro d_dump = conf_.dump; d_dump_mat = conf_.dump_mat and d_dump; d_dump_filename = conf_.dump_filename; @@ -458,13 +457,13 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels, d_local_time_str = std::string(" ") + time_zone_abrv + " (UTC " + utc_diff_str.substr(0, 3) + ":" + utc_diff_str.substr(3, 2) + ")"; } - //user PVT solver + // user PVT solver d_user_pvt_solver = std::make_shared(static_cast(nchannels), dump_ls_pvt_filename, d_dump, d_dump_mat, rtk); d_user_pvt_solver->set_averaging_depth(1); - //internal PVT solver, mainly used to estimate the receiver clock + // internal PVT solver, mainly used to estimate the receiver clock rtk_t internal_rtk = rtk; - internal_rtk.opt.mode = PMODE_SINGLE; //use single positioning mode in internal PVT solver + internal_rtk.opt.mode = PMODE_SINGLE; // use single positioning mode in internal PVT solver d_internal_pvt_solver = std::make_shared(static_cast(nchannels), dump_ls_pvt_filename, false, false, internal_rtk); d_internal_pvt_solver->set_averaging_depth(1); @@ -1616,7 +1615,7 @@ bool rtklib_pvt_gs::load_gnss_synchro_map_xml(const std::string& file_name) boost::archive::xml_iarchive xml(ifs); gnss_observables_map.clear(); xml >> boost::serialization::make_nvp("GNSS-SDR_gnss_synchro_map", gnss_observables_map); - //std::cout << "Loaded gnss_synchro map data with " << gnss_synchro_map.size() << " pseudoranges" << std::endl; + // std::cout << "Loaded gnss_synchro map data with " << gnss_synchro_map.size() << " pseudoranges" << std::endl; } catch (const std::exception& e) { @@ -1668,12 +1667,12 @@ bool rtklib_pvt_gs::get_latest_PVT(double* longitude_deg, void rtklib_pvt_gs::apply_rx_clock_offset(std::map& observables_map, double rx_clock_offset_s) { - //apply corrections according to Rinex 3.04, Table 1: Observation Corrections for Receiver Clock Offset + // apply corrections according to Rinex 3.04, Table 1: Observation Corrections for Receiver Clock Offset std::map::iterator observables_iter; for (observables_iter = observables_map.begin(); observables_iter != observables_map.end(); observables_iter++) { - //all observables in the map are valid + // all observables in the map are valid observables_iter->second.RX_time -= rx_clock_offset_s; observables_iter->second.Pseudorange_m -= rx_clock_offset_s * SPEED_OF_LIGHT; @@ -1718,12 +1717,13 @@ void rtklib_pvt_gs::apply_rx_clock_offset(std::map& observabl } } + std::map rtklib_pvt_gs::interpolate_observables(std::map& observables_map_t0, std::map& observables_map_t1, double rx_time_s) { std::map interp_observables_map; - //Linear interpolation: y(t) = y(t0) + (y(t1) - y(t0)) * (t - t0) / (t1 - t0) + // Linear interpolation: y(t) = y(t0) + (y(t1) - y(t0)) * (t - t0) / (t1 - t0) // check TOW rollover double time_factor; @@ -1742,18 +1742,17 @@ std::map rtklib_pvt_gs::interpolate_observables(std::mapsecond.RX_time); } - std::map::const_iterator observables_iter; for (observables_iter = observables_map_t0.cbegin(); observables_iter != observables_map_t0.cend(); observables_iter++) { - //1. Check if the observable exist in t0 and t1 - //the map key is the channel ID (see work()) + // 1. Check if the observable exist in t0 and t1 + // the map key is the channel ID (see work()) try { if (observables_map_t1.at(observables_iter->first).PRN == observables_iter->second.PRN) { interp_observables_map.insert(std::pair(observables_iter->first, observables_iter->second)); - interp_observables_map.at(observables_iter->first).RX_time = rx_time_s; //interpolation point + interp_observables_map.at(observables_iter->first).RX_time = rx_time_s; // interpolation point interp_observables_map.at(observables_iter->first).Pseudorange_m += (observables_map_t1.at(observables_iter->first).Pseudorange_m - observables_iter->second.Pseudorange_m) * time_factor; interp_observables_map.at(observables_iter->first).Carrier_phase_rads += (observables_map_t1.at(observables_iter->first).Carrier_phase_rads - observables_iter->second.Carrier_phase_rads) * time_factor; interp_observables_map.at(observables_iter->first).Carrier_Doppler_hz += (observables_map_t1.at(observables_iter->first).Carrier_Doppler_hz - observables_iter->second.Carrier_Doppler_hz) * time_factor; @@ -1761,12 +1760,13 @@ std::map rtklib_pvt_gs::interpolate_observables(std::mapgps_ephemeris_map.cend()) + if (tmp_eph_iter_gps != d_internal_pvt_solver->gps_ephemeris_map.cend()) { uint32_t prn_aux = tmp_eph_iter_gps->second.i_satellite_PRN; if ((prn_aux == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal) == "1C")) @@ -1803,7 +1803,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item store_valid_observable = true; } } - if (tmp_eph_iter_gal != d_pvt_solver->galileo_ephemeris_map.cend()) + if (tmp_eph_iter_gal != d_internal_pvt_solver->galileo_ephemeris_map.cend()) { uint32_t prn_aux = tmp_eph_iter_gal->second.i_satellite_PRN; if ((prn_aux == in[i][epoch].PRN) and ((std::string(in[i][epoch].Signal) == "1B") or (std::string(in[i][epoch].Signal) == "5X"))) @@ -1811,7 +1811,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item store_valid_observable = true; } } - if (tmp_eph_iter_cnav != d_pvt_solver->gps_cnav_ephemeris_map.cend()) + if (tmp_eph_iter_cnav != d_internal_pvt_solver->gps_cnav_ephemeris_map.cend()) { uint32_t prn_aux = tmp_eph_iter_cnav->second.i_satellite_PRN; if ((prn_aux == in[i][epoch].PRN) and ((std::string(in[i][epoch].Signal) == "2S") or (std::string(in[i][epoch].Signal) == "L5"))) @@ -1819,7 +1819,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item store_valid_observable = true; } } - if (tmp_eph_iter_glo_gnav != d_pvt_solver->glonass_gnav_ephemeris_map.cend()) + if (tmp_eph_iter_glo_gnav != d_internal_pvt_solver->glonass_gnav_ephemeris_map.cend()) { uint32_t prn_aux = tmp_eph_iter_glo_gnav->second.i_satellite_PRN; if ((prn_aux == in[i][epoch].PRN) and ((std::string(in[i][epoch].Signal) == "1G") or (std::string(in[i][epoch].Signal) == "2G"))) @@ -1827,7 +1827,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item store_valid_observable = true; } } - if (tmp_eph_iter_bds_dnav != d_pvt_solver->beidou_dnav_ephemeris_map.cend()) + if (tmp_eph_iter_bds_dnav != d_internal_pvt_solver->beidou_dnav_ephemeris_map.cend()) { uint32_t prn_aux = tmp_eph_iter_bds_dnav->second.i_satellite_PRN; if ((prn_aux == in[i][epoch].PRN) and ((std::string(in[i][epoch].Signal) == "B1") or (std::string(in[i][epoch].Signal) == "B3"))) @@ -1892,8 +1892,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item // ############ 2 COMPUTE THE PVT ################################ if (gnss_observables_map.empty() == false) { - //LOG(INFO) << "diff raw obs time: " << gnss_observables_map.cbegin()->second.RX_time * 1000.0 - old_time_debug; - //old_time_debug = gnss_observables_map.cbegin()->second.RX_time * 1000.0; + // LOG(INFO) << "diff raw obs time: " << gnss_observables_map.cbegin()->second.RX_time * 1000.0 - old_time_debug; + // old_time_debug = gnss_observables_map.cbegin()->second.RX_time * 1000.0; uint32_t current_RX_time_ms = 0; // #### solve PVT and store the corrected observable set if (d_internal_pvt_solver->get_PVT(gnss_observables_map, false)) @@ -1915,7 +1915,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item apply_rx_clock_offset(gnss_observables_map, Rx_clock_offset_s); gnss_observables_map_t1 = gnss_observables_map; - //### select the rx_time and interpolate observables at that time + // ### select the rx_time and interpolate observables at that time if (!gnss_observables_map_t0.empty()) { uint32_t t0_int_ms = static_cast(gnss_observables_map_t0.cbegin()->second.RX_time * 1000.0); @@ -1925,25 +1925,25 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item if (current_RX_time_ms % d_output_rate_ms == 0) { d_rx_time = static_cast(current_RX_time_ms) / 1000.0; - // std::cout << " obs time t0: " << gnss_observables_map_t0.cbegin()->second.RX_time - // << " t1: " << gnss_observables_map_t1.cbegin()->second.RX_time - // << " interp time: " << d_rx_time << std::endl; + // std::cout << " obs time t0: " << gnss_observables_map_t0.cbegin()->second.RX_time + // << " t1: " << gnss_observables_map_t1.cbegin()->second.RX_time + // << " interp time: " << d_rx_time << std::endl; gnss_observables_map = interpolate_observables(gnss_observables_map_t0, gnss_observables_map_t1, d_rx_time); flag_compute_pvt_output = true; - //d_rx_time = current_RX_time; + // d_rx_time = current_RX_time; // std::cout.precision(17); // std::cout << "current_RX_time: " << current_RX_time << " map time: " << gnss_observables_map.begin()->second.RX_time << std::endl; } } } } - //debug code - // else - // { - // LOG(INFO) << "Internal PVT solver error"; - // } + // debug code + // else + // { + // LOG(INFO) << "Internal PVT solver error"; + // } // compute on the fly PVT solution if (flag_compute_pvt_output == true) @@ -1951,7 +1951,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item if (d_user_pvt_solver->get_PVT(gnss_observables_map, false)) { double Rx_clock_offset_s = d_user_pvt_solver->get_time_offset_s(); - if (fabs(Rx_clock_offset_s) > 0.000001) //1us !! + if (fabs(Rx_clock_offset_s) > 0.000001) // 1us !! { LOG(INFO) << "Warning: Rx clock offset at interpolated RX time: " << Rx_clock_offset_s * 1000.0 << "[ms]" << " at RX time: " << static_cast(d_rx_time * 1000.0) << " [ms]"; @@ -1960,11 +1960,11 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item { DLOG(INFO) << "Rx clock offset at interpolated RX time: " << Rx_clock_offset_s * 1000.0 << "[s]" << " at RX time: " << static_cast(d_rx_time * 1000.0) << " [ms]"; - //Optional debug code: export observables snapshot for rtklib unit testing - //std::cout << "step 1: save gnss_synchro map" << std::endl; - //save_gnss_synchro_map_xml("./gnss_synchro_map.xml"); - //getchar(); //stop the execution - //end debug + // Optional debug code: export observables snapshot for rtklib unit testing + // std::cout << "step 1: save gnss_synchro map" << std::endl; + // save_gnss_synchro_map_xml("./gnss_synchro_map.xml"); + // getchar(); // stop the execution + // end debug if (d_display_rate_ms != 0) { if (current_RX_time_ms % d_display_rate_ms == 0) @@ -2416,8 +2416,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item if ((gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend()) and (beidou_dnav_ephemeris_iter != d_user_pvt_solver->beidou_dnav_ephemeris_map.cend())) { std::string bds_signal("B1"); - //rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, beidou_dnav_ephemeris_iter->second, d_rx_time, bds_signal); - //rp->rinex_nav_header(rp->navMixFile, d_user_pvt_solver->gps_iono, d_user_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model); + // rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, beidou_dnav_ephemeris_iter->second, d_rx_time, bds_signal); + // rp->rinex_nav_header(rp->navMixFile, d_user_pvt_solver->gps_iono, d_user_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model); b_rinex_header_written = true; // do not write header anymore } @@ -2427,8 +2427,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item { std::string bds_signal("B1"); std::string gal_signal("1B"); - //rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, beidou_dnav_ephemeris_iter->second, d_rx_time, gal_signal, bds_signal); - //rp->rinex_nav_header(rp->navMixFile, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model); + // rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, beidou_dnav_ephemeris_iter->second, d_rx_time, gal_signal, bds_signal); + // rp->rinex_nav_header(rp->navMixFile, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model); b_rinex_header_written = true; // do not write header anymore } @@ -2436,9 +2436,9 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item case 503: // BeiDou B1I + GLONASS L1 C/A if (beidou_dnav_ephemeris_iter != d_user_pvt_solver->beidou_dnav_ephemeris_map.cend()) { - //rp->rinex_obs_header(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B1"); - //rp->rinex_nav_header(rp->navFile, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model); - //rp->log_rinex_nav(rp->navFile, d_user_pvt_solver->beidou_dnav_ephemeris_map); + // rp->rinex_obs_header(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B1"); + // rp->rinex_nav_header(rp->navFile, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model); + // rp->log_rinex_nav(rp->navFile, d_user_pvt_solver->beidou_dnav_ephemeris_map); b_rinex_header_written = true; // do not write header anymore } @@ -2446,9 +2446,9 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item case 504: // BeiDou B1I + GPS L1 C/A + Galileo E1B if (beidou_dnav_ephemeris_iter != d_user_pvt_solver->beidou_dnav_ephemeris_map.cend()) { - //rp->rinex_obs_header(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B1"); - //rp->rinex_nav_header(rp->navFile, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model); - //rp->log_rinex_nav(rp->navFile, d_user_pvt_solver->beidou_dnav_ephemeris_map); + // rp->rinex_obs_header(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B1"); + // rp->rinex_nav_header(rp->navFile, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model); + // rp->log_rinex_nav(rp->navFile, d_user_pvt_solver->beidou_dnav_ephemeris_map); b_rinex_header_written = true; // do not write header anymore } @@ -2456,9 +2456,9 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item case 505: // BeiDou B1I + GPS L1 C/A + GLONASS L1 C/A + Galileo E1B if (beidou_dnav_ephemeris_iter != d_user_pvt_solver->beidou_dnav_ephemeris_map.cend()) { - //rp->rinex_obs_header(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B1"); - //rp->rinex_nav_header(rp->navFile, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model); - //rp->log_rinex_nav(rp->navFile, d_user_pvt_solver->beidou_dnav_ephemeris_map); + // rp->rinex_obs_header(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B1"); + // rp->rinex_nav_header(rp->navFile, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model); + // rp->log_rinex_nav(rp->navFile, d_user_pvt_solver->beidou_dnav_ephemeris_map); b_rinex_header_written = true; // do not write header anymore } @@ -2466,9 +2466,9 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item case 506: // BeiDou B1I + Beidou B3I if (beidou_dnav_ephemeris_iter != d_user_pvt_solver->beidou_dnav_ephemeris_map.cend()) { - //rp->rinex_obs_header(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B1"); - //rp->rinex_nav_header(rp->navFile, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model); - //rp->log_rinex_nav(rp->navFile, d_user_pvt_solver->beidou_dnav_ephemeris_map); + // rp->rinex_obs_header(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B1"); + // rp->rinex_nav_header(rp->navFile, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model); + // rp->log_rinex_nav(rp->navFile, d_user_pvt_solver->beidou_dnav_ephemeris_map); b_rinex_header_written = true; // do not write header anymore } @@ -2486,7 +2486,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item if (beidou_dnav_ephemeris_iter != d_user_pvt_solver->beidou_dnav_ephemeris_map.cend()) { rp->rinex_obs_header(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B3"); - //rp->rinex_nav_header(rp->navFile, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model); + // rp->rinex_nav_header(rp->navFile, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model); b_rinex_header_written = true; // do not write header anymore } @@ -2495,7 +2495,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item if (beidou_dnav_ephemeris_iter != d_user_pvt_solver->beidou_dnav_ephemeris_map.cend()) { rp->rinex_obs_header(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B3"); - //rp->rinex_nav_header(rp->navFile, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model); + // rp->rinex_nav_header(rp->navFile, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model); b_rinex_header_written = true; // do not write header anymore } @@ -2504,7 +2504,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item if (beidou_dnav_ephemeris_iter != d_user_pvt_solver->beidou_dnav_ephemeris_map.cend()) { rp->rinex_obs_header(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B3"); - //rp->rinex_nav_header(rp->navFile, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model); + // rp->rinex_nav_header(rp->navFile, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model); b_rinex_header_written = true; // do not write header anymore } @@ -3957,7 +3957,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item { std::shared_ptr monitor_pvt = std::make_shared(d_user_pvt_solver->get_monitor_pvt()); - //publish new position to the gnss_flowgraph channel status monitor + // publish new position to the gnss_flowgraph channel status monitor if (current_RX_time_ms % d_report_rate_ms == 0) { this->message_port_pub(pmt::mp("status"), pmt::make_any(monitor_pvt)); diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h index b9efcc8c5..e9d379521 100644 --- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h +++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h @@ -139,7 +139,6 @@ private: void msg_handler_telemetry(const pmt::pmt_t& msg); - enum StringValue { evGPS_1C, @@ -154,6 +153,7 @@ private: evBDS_B2, evBDS_B3 }; + std::map mapStringValues_; void apply_rx_clock_offset(std::map& observables_map, diff --git a/src/algorithms/PVT/libs/rtklib_solver.cc b/src/algorithms/PVT/libs/rtklib_solver.cc index 45de55b96..0b3bb923f 100644 --- a/src/algorithms/PVT/libs/rtklib_solver.cc +++ b/src/algorithms/PVT/libs/rtklib_solver.cc @@ -3,8 +3,8 @@ * \brief PVT solver based on rtklib library functions adapted to the GNSS-SDR * data flow and structures * \authors
    - *
  • 2017, Javier Arribas - *
  • 2017, Carles Fernandez + *
  • 2017-2019, Javier Arribas + *
  • 2017-2019, Carles Fernandez *
  • 2007-2013, T. Takasu *
* diff --git a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc index 89ac84a67..b3b4ab638 100644 --- a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc +++ b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc @@ -436,8 +436,6 @@ bool hybrid_observables_gs::interp_trk_obs(Gnss_Synchro &interpolated_obs, const // << d_gnss_synchro_history->at(ch, t2_idx).RX_time - d_gnss_synchro_history->at(ch, t1_idx).RX_time // << " trx - t1: " // << T_rx_s - d_gnss_synchro_history->at(ch, t1_idx).RX_time; - - // // std::cout << "Rx samplestamp: " << T_rx_s << " Channel " << ch << " interp buff idx " << nearest_element // << " ,diff: " << old_abs_diff << " samples (" << static_cast(old_abs_diff) / static_cast(d_gnss_synchro_history->at(ch, nearest_element).fs) << " s)\n"; return true; @@ -504,7 +502,7 @@ void hybrid_observables_gs::compute_pranges(std::vector &data) // std::cout.precision(17); // std::cout << " T_rx_TOW_ms: " << static_cast(T_rx_TOW_ms) << std::endl; std::vector::iterator it; - double current_T_rx_TOW_ms = static_cast(T_rx_TOW_ms); + auto current_T_rx_TOW_ms = static_cast(T_rx_TOW_ms); double current_T_rx_TOW_s = current_T_rx_TOW_ms / 1000.0; for (it = data.begin(); it != data.end(); it++) { @@ -662,8 +660,8 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused) if (n_valid > 0) { - // LOG(INFO) << "OBS: diff time: " << out[0][0].RX_time * 1000.0 - old_time_debug; - // old_time_debug = out[0][0].RX_time * 1000.0; + // LOG(INFO) << "OBS: diff time: " << out[0][0].RX_time * 1000.0 - old_time_debug; + // old_time_debug = out[0][0].RX_time * 1000.0; return 1; } else diff --git a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.h b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.h index 7ab5a1d59..6ab2b1955 100644 --- a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.h +++ b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.h @@ -91,7 +91,6 @@ private: uint32_t T_status_report_timer_ms; uint32_t d_nchannels_in; uint32_t d_nchannels_out; - //double T_rx_offset_ms; std::string d_dump_filename; std::ofstream d_dump_file; boost::circular_buffer d_Rx_clock_buffer; // time history