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Update HAS message parameters names

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Carles Fernandez 2021-11-20 04:15:36 +01:00
parent b35e65e0d3
commit f289306f2e
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GPG Key ID: 4C583C52B0C3877D
1 changed files with 43 additions and 43 deletions
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86
src/algorithms/PVT/libs/rtcm.cc
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@ -3428,12 +3428,12 @@ std::string Rtcm::get_IGM01_header(const Galileo_HAS_data& has_data, uint8_t nsy
{ {
std::string header; std::string header;
uint32_t tow = 0; // TODO uint32_t tow = 0; // TODO
uint16_t ssr_provider_id = 0; // ? uint16_t ssr_provider_id = 0; // ?
uint8_t igm_version = 0; // ? uint8_t igm_version = 0; // ?
uint8_t ssr_solution_id = 0; // ? uint8_t ssr_solution_id = 0; // ?
auto iod_ssr = has_data.header.iod_id % 15; // ?? HAS IOD is 0-31 auto iod_ssr = has_data.header.iod_set_id % 15; // ?? HAS IOD is 0-31
bool regional_indicator = false; // ? bool regional_indicator = false; // ?
uint8_t subtype_msg_number = 0; uint8_t subtype_msg_number = 0;
if (has_data.gnss_id_mask[nsys] == 0) // GPS if (has_data.gnss_id_mask[nsys] == 0) // GPS
@ -3477,7 +3477,7 @@ std::string Rtcm::get_IGM01_content_sat(const Galileo_HAS_data& has_data, uint8_
std::vector<int> prn = has_data.get_PRNs_in_mask(nsys_index); std::vector<int> prn = has_data.get_PRNs_in_mask(nsys_index);
std::vector<uint16_t> gnss_iod = has_data.get_gnss_iod(nsys_index); std::vector<uint16_t> gnss_iod = has_data.get_gnss_iod(nsys_index);
std::vector<float> delta_orbit_radial_m = has_data.get_delta_radial_m(nsys_index); std::vector<float> delta_orbit_radial_m = has_data.get_delta_radial_m(nsys_index);
std::vector<float> delta_orbit_along_track_m = has_data.get_delta_along_track_m(nsys_index); std::vector<float> delta_orbit_in_track_m = has_data.get_delta_in_track_m(nsys_index);
std::vector<float> delta_orbit_cross_track_m = has_data.get_delta_cross_track_m(nsys_index); std::vector<float> delta_orbit_cross_track_m = has_data.get_delta_cross_track_m(nsys_index);
const uint8_t num_sats_in_this_system = has_data.get_num_satellites()[nsys_index]; const uint8_t num_sats_in_this_system = has_data.get_num_satellites()[nsys_index];
@ -3486,10 +3486,10 @@ std::string Rtcm::get_IGM01_content_sat(const Galileo_HAS_data& has_data, uint8_
Rtcm::set_IDF011(static_cast<uint8_t>(prn[sat])); Rtcm::set_IDF011(static_cast<uint8_t>(prn[sat]));
Rtcm::set_IDF012(static_cast<uint8_t>(gnss_iod[sat] % 255)); // 8 LSBs Rtcm::set_IDF012(static_cast<uint8_t>(gnss_iod[sat] % 255)); // 8 LSBs
Rtcm::set_IDF013(delta_orbit_radial_m[sat]); Rtcm::set_IDF013(delta_orbit_radial_m[sat]);
Rtcm::set_IDF014(delta_orbit_along_track_m[sat]); Rtcm::set_IDF014(delta_orbit_in_track_m[sat]);
Rtcm::set_IDF016(0.0); // dot_orbit_delta_track_m_s Rtcm::set_IDF016(0.0); // dot_orbit_delta_track_m_s
Rtcm::set_IDF015(delta_orbit_cross_track_m[sat]); Rtcm::set_IDF015(delta_orbit_cross_track_m[sat]);
Rtcm::set_IDF017(0.0); // dot_orbit_delta_along_track_m_s Rtcm::set_IDF017(0.0); // dot_orbit_delta_in_track_m_s
Rtcm::set_IDF018(0.0); // dot_orbit_delta_cross_track_m_s Rtcm::set_IDF018(0.0); // dot_orbit_delta_cross_track_m_s
content += IDF011.to_string() + IDF012.to_string() + IDF013.to_string() + content += IDF011.to_string() + IDF012.to_string() + IDF013.to_string() +
@ -3505,11 +3505,11 @@ std::string Rtcm::get_IGM02_header(const Galileo_HAS_data& has_data, uint8_t nsy
{ {
std::string header; std::string header;
uint32_t tow = 0; // TODO uint32_t tow = 0; // TODO
uint16_t ssr_provider_id = 0; // ? uint16_t ssr_provider_id = 0; // ?
uint8_t igm_version = 0; // ? uint8_t igm_version = 0; // ?
uint8_t ssr_solution_id = 0; // ? uint8_t ssr_solution_id = 0; // ?
auto iod_ssr = has_data.header.iod_id % 15; // ?? HAS IOD is 0-31 auto iod_ssr = has_data.header.iod_set_id % 15; // ?? HAS IOD is 0-31
uint8_t subtype_msg_number = 0; uint8_t subtype_msg_number = 0;
if (has_data.gnss_id_mask[nsys] == 0) // GPS if (has_data.gnss_id_mask[nsys] == 0) // GPS
@ -3576,12 +3576,12 @@ std::string Rtcm::get_IGM03_header(const Galileo_HAS_data& has_data, uint8_t nsy
{ {
std::string header; std::string header;
uint32_t tow = 0; // TODO uint32_t tow = 0; // TODO
uint16_t ssr_provider_id = 0; // ? uint16_t ssr_provider_id = 0; // ?
uint8_t igm_version = 0; // ? uint8_t igm_version = 0; // ?
uint8_t ssr_solution_id = 0; // ? uint8_t ssr_solution_id = 0; // ?
auto iod_ssr = has_data.header.iod_id % 15; // ?? HAS IOD is 0-31 auto iod_ssr = has_data.header.iod_set_id % 15; // ?? HAS IOD is 0-31
bool regional_indicator = false; // ? bool regional_indicator = false; // ?
uint8_t subtype_msg_number = 0; uint8_t subtype_msg_number = 0;
if (has_data.gnss_id_mask[nsys] == 0) // GPS if (has_data.gnss_id_mask[nsys] == 0) // GPS
@ -3627,7 +3627,7 @@ std::string Rtcm::get_IGM03_content_sat(const Galileo_HAS_data& has_data, uint8_
std::vector<int> prn = has_data.get_PRNs_in_mask(nsys_index); std::vector<int> prn = has_data.get_PRNs_in_mask(nsys_index);
std::vector<uint16_t> gnss_iod = has_data.get_gnss_iod(nsys_index); std::vector<uint16_t> gnss_iod = has_data.get_gnss_iod(nsys_index);
std::vector<float> delta_orbit_radial_m = has_data.get_delta_radial_m(nsys_index); std::vector<float> delta_orbit_radial_m = has_data.get_delta_radial_m(nsys_index);
std::vector<float> delta_orbit_along_track_m = has_data.get_delta_along_track_m(nsys_index); std::vector<float> delta_orbit_in_track_m = has_data.get_delta_in_track_m(nsys_index);
std::vector<float> delta_orbit_cross_track_m = has_data.get_delta_cross_track_m(nsys_index); std::vector<float> delta_orbit_cross_track_m = has_data.get_delta_cross_track_m(nsys_index);
std::vector<float> delta_clock_c0 = has_data.get_delta_clock_c0_m(nsys_index); std::vector<float> delta_clock_c0 = has_data.get_delta_clock_c0_m(nsys_index);
std::vector<float> delta_clock_c1(num_sats_in_this_system); std::vector<float> delta_clock_c1(num_sats_in_this_system);
@ -3638,10 +3638,10 @@ std::string Rtcm::get_IGM03_content_sat(const Galileo_HAS_data& has_data, uint8_
Rtcm::set_IDF011(static_cast<uint8_t>(prn[sat])); Rtcm::set_IDF011(static_cast<uint8_t>(prn[sat]));
Rtcm::set_IDF012(static_cast<uint8_t>(gnss_iod[sat] % 255)); // 8 LSBs Rtcm::set_IDF012(static_cast<uint8_t>(gnss_iod[sat] % 255)); // 8 LSBs
Rtcm::set_IDF013(delta_orbit_radial_m[sat]); Rtcm::set_IDF013(delta_orbit_radial_m[sat]);
Rtcm::set_IDF014(delta_orbit_along_track_m[sat]); Rtcm::set_IDF014(delta_orbit_in_track_m[sat]);
Rtcm::set_IDF015(delta_orbit_cross_track_m[sat]); Rtcm::set_IDF015(delta_orbit_cross_track_m[sat]);
Rtcm::set_IDF016(0.0); // dot_orbit_delta_track_m_s Rtcm::set_IDF016(0.0); // dot_orbit_delta_track_m_s
Rtcm::set_IDF017(0.0); // dot_orbit_delta_along_track_m_s Rtcm::set_IDF017(0.0); // dot_orbit_delta_in_track_m_s
Rtcm::set_IDF018(0.0); // dot_orbit_delta_cross_track_m_s Rtcm::set_IDF018(0.0); // dot_orbit_delta_cross_track_m_s
Rtcm::set_IDF019(delta_clock_c0[sat]); Rtcm::set_IDF019(delta_clock_c0[sat]);
Rtcm::set_IDF020(delta_clock_c1[sat]); Rtcm::set_IDF020(delta_clock_c1[sat]);
@ -3661,11 +3661,11 @@ std::string Rtcm::get_IGM05_header(const Galileo_HAS_data& has_data, uint8_t nsy
{ {
std::string header; std::string header;
uint32_t tow = 0; // TODO uint32_t tow = 0; // TODO
uint16_t ssr_provider_id = 0; // ? uint16_t ssr_provider_id = 0; // ?
uint8_t igm_version = 0; // ? uint8_t igm_version = 0; // ?
uint8_t ssr_solution_id = 0; // ? uint8_t ssr_solution_id = 0; // ?
auto iod_ssr = has_data.header.iod_id % 15; // ?? HAS IOD is 0-31 auto iod_ssr = has_data.header.iod_set_id % 15; // ?? HAS IOD is 0-31
uint8_t subtype_msg_number = 0; uint8_t subtype_msg_number = 0;
if (has_data.gnss_id_mask[nsys] == 0) // GPS if (has_data.gnss_id_mask[nsys] == 0) // GPS
@ -6489,20 +6489,20 @@ void Rtcm::set_IDF013(float delta_orbit_radial_m)
} }
void Rtcm::set_IDF014(float delta_orbit_along_track_m) void Rtcm::set_IDF014(float delta_orbit_in_track_m)
{ {
const float scale = 2500.0; const float scale = 2500.0;
const int32_t max_value = 524287; const int32_t max_value = 524287;
auto delta_orbit_along_track = static_cast<int32_t>((delta_orbit_along_track_m * scale)); auto delta_orbit_in_track = static_cast<int32_t>((delta_orbit_in_track_m * scale));
if (delta_orbit_along_track > max_value) if (delta_orbit_in_track > max_value)
{ {
delta_orbit_along_track = max_value; delta_orbit_in_track = max_value;
} }
if (delta_orbit_along_track < -max_value) if (delta_orbit_in_track < -max_value)
{ {
delta_orbit_along_track = -max_value; delta_orbit_in_track = -max_value;
} }
IDF014 = std::bitset<20>(delta_orbit_along_track); IDF014 = std::bitset<20>(delta_orbit_in_track);
} }
@ -6540,20 +6540,20 @@ void Rtcm::set_IDF016(float dot_orbit_delta_track_m_s)
} }
void Rtcm::set_IDF017(float dot_orbit_delta_along_track_m_s) void Rtcm::set_IDF017(float dot_orbit_delta_in_track_m_s)
{ {
const float scale = 250000.0; const float scale = 250000.0;
const int32_t max_value = 262143; const int32_t max_value = 262143;
auto dot_orbit_delta_along_track = static_cast<int32_t>((dot_orbit_delta_along_track_m_s * scale)); auto dot_orbit_delta_in_track = static_cast<int32_t>((dot_orbit_delta_in_track_m_s * scale));
if (dot_orbit_delta_along_track > max_value) if (dot_orbit_delta_in_track > max_value)
{ {
dot_orbit_delta_along_track = max_value; dot_orbit_delta_in_track = max_value;
} }
if (dot_orbit_delta_along_track < -max_value) if (dot_orbit_delta_in_track < -max_value)
{ {
dot_orbit_delta_along_track = -max_value; dot_orbit_delta_in_track = -max_value;
} }
IDF017 = std::bitset<19>(dot_orbit_delta_along_track); IDF017 = std::bitset<19>(dot_orbit_delta_in_track);
} }