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Fix rtk initialization

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This commit is contained in:
Carles Fernandez 2017-05-15 13:01:48 +02:00
parent 5aec42ddef
commit f07259e31f
1 changed files with 1 additions and 51 deletions
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52
src/algorithms/PVT/adapters/rtklib_pvt.cc
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@ -410,57 +410,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
{} /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */
};
sol_t sol_ = {{0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0}, '0', '0', '0', 0, 0, 0 };
ambc_t ambc_ = { {{0,0}, {0,0}, {0,0}, {0,0}}, {0, 0, 0, 0}, {}, {}, 0, {'0'}};
ssat_t ssat_ = { '0', /* navigation system */
'0', /* valid satellite flag single */
{0.0}, /* azel[2] azimuth/elevation angles {az,el} (rad) */
{0.0}, /* residuals of pseudorange (m) */
{0.0}, /* residuals of carrier-phase (m) */
{'0'}, /* valid satellite flag */
{'0'}, /* signal strength (0.25 dBHz) */
{'0'}, /* ambiguity fix flag (1:fix,2:float,3:hold) */
{'0'}, /* cycle-slip flag */
{'0'}, /* half-cycle valid flag */
{}, /* lock counter of phase */
{}, /* obs outage counter of phase */
{}, /* cycle-slip counter */
{}, /* reject counter */
0.0, /* geometry-free phase L1-L2 (m) */
0.0, /* geometry-free phase L1-L5 (m) */
0.0, /* MW-LC (m) */
0.0, /* phase windup (cycle) */
{{{0,0}},{{0,0}}}, /* previous carrier-phase time */
{{},{}} /* previous carrier-phase observable (cycle) */
};
int nx = 0; /* Number of estimated states */
if(positioning_mode <= PMODE_FIXED) nx = 4 + 3;
if(positioning_mode >= PMODE_PPP_KINEMA) nx = NX_PPP(&rtklib_configuration_options);
int na = NP_PPP(&rtklib_configuration_options);
double x[nx];
double Px[nx*nx];
double xa[na];
double Pa[na*na];
rtk = { sol_, /* RTK solution */
{}, /* base position/velocity (ecef) (m|m/s) */
nx, /* number of float states */
na, /* number of fixed states */
output_rate_ms / 1000.0, /* time difference between current and previous (s) */
x, /* float states */
Px, /* float states covariance */
xa, /* fixed states */
Pa, /* fixed states covariance */
3, /* number of continuous fixes of ambiguity */
{ambc_}, /* ambiguity control */
{ssat_}, /* satellite status */
256, /* bytes in error message buffer */
{'0'}, /* error message buffer */
rtklib_configuration_options /* processing options */
};
rtkinit(&rtk, &rtklib_configuration_options);
// make PVT object
pvt_ = rtklib_make_pvt_cc(in_streams_, dump_, dump_filename_, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, rinex_version, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_msg_rate_ms, rtcm_dump_devname, type_of_receiver, rtk);