From fda0b93d835aa1615ffe100dac59bbef8b650358 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Tue, 10 May 2016 11:18:41 +0200
Subject: [PATCH] Fix bug in hybrid PVT

The block was not correctly handling satellites from the two constellations, causing problems when receiving two satellites (one GPS and one Galileo) with the same PRN number
---
 src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc | 2 +-
 src/algorithms/PVT/libs/hybrid_ls_pvt.cc            | 8 ++++----
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
index 0fc67001f..ba7545cd7 100644
--- a/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
@@ -323,7 +323,7 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
         {
             if (in[i][0].Flag_valid_pseudorange == true)
                 {
-                    gnss_pseudoranges_map.insert(std::pair<int,Gnss_Synchro>(in[i][0].PRN, in[i][0])); // store valid pseudoranges in a map. PROBLEM: sats with the same PRN!!
+                    gnss_pseudoranges_map.insert(std::pair<int,Gnss_Synchro>(i, in[i][0])); // store valid pseudoranges in a map.
                     //d_rx_time = in[i][0].d_TOW_at_current_symbol; // all the channels have the same RX timestamp (common RX time pseudoranges)
                     d_TOW_at_curr_symbol_constellation = in[i][0].d_TOW_at_current_symbol; // d_TOW_at_current_symbol not corrected by delta t (just for debug)
                     d_rx_time = in[i][0].d_TOW_hybrid_at_current_symbol; // hybrid rx time, all the channels have the same RX timestamp (common RX time pseudoranges)
diff --git a/src/algorithms/PVT/libs/hybrid_ls_pvt.cc b/src/algorithms/PVT/libs/hybrid_ls_pvt.cc
index 53ce94002..520564ab8 100644
--- a/src/algorithms/PVT/libs/hybrid_ls_pvt.cc
+++ b/src/algorithms/PVT/libs/hybrid_ls_pvt.cc
@@ -120,7 +120,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, do
                 {
                     //std::cout << "Satellite System: " << gnss_pseudoranges_iter->second.System <<std::endl;
                     // 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
-                    galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_pseudoranges_iter->first);
+                    galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_pseudoranges_iter->second.PRN);
                     if (galileo_ephemeris_iter != galileo_ephemeris_map.end())
                         {
                             /*!
@@ -166,7 +166,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, do
                             // no valid pseudorange for the current SV
                             W(obs_counter, obs_counter) = 0; // SV de-activated
                             obs(obs_counter) = 1;            // to avoid algorithm problems (divide by zero)
-                            DLOG(INFO) << "No ephemeris data for SV " << gnss_pseudoranges_iter->first;
+                            DLOG(INFO) << "No ephemeris data for SV " << gnss_pseudoranges_iter->second.PRN;
                         }
                 }
 
@@ -174,7 +174,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, do
                 {
                     //std::cout << "Satellite System: " << gnss_pseudoranges_iter->second.System <<std::endl;
                     // 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key
-                    gps_ephemeris_iter = gps_ephemeris_map.find(gnss_pseudoranges_iter->first);
+                    gps_ephemeris_iter = gps_ephemeris_map.find(gnss_pseudoranges_iter->second.PRN);
                     if (gps_ephemeris_iter != gps_ephemeris_map.end())
                         {
                             /*!
@@ -218,7 +218,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, do
                             // no valid pseudorange for the current SV
                             W(obs_counter, obs_counter) = 0; // SV de-activated
                             obs(obs_counter) = 1;            // to avoid algorithm problems (divide by zero)
-                            DLOG(INFO) << "No ephemeris data for SV " << gnss_pseudoranges_iter->first;
+                            DLOG(INFO) << "No ephemeris data for SV " << gnss_pseudoranges_iter->second.PRN;
                         }
                 }
             obs_counter++;