GTEST_SKIP() does not exist before GoogleTest 1.10, which breaks the
build on Ubuntu 16.04 with the distro-provided GoogleTest. Wrap it in
a guarded macro that records a success and returns on older versions,
following the pattern already used in osnma_test_vectors.cc.¡
Compensate the Viterbi traceback delay when timestamping decoded SBAS
messages by carrying per-sample reception timestamps through the sample
and symbol aligners (removes a ~140 ms bias), with a deterministic unit
test covering the FIFO pairing.
Protect decoder state with d_setlock in reset(), set_satellite(),
set_channel() and general_work(), following the convention of the other
telemetry decoders.
Share per-PRN EMS dump files through a per-run dump session: the first
open in a run truncates stale data, later opens append, so channel
reassignments no longer wipe previously decoded messages.
Wait until the continuous decoder has accumulated the requested traceback depth before advancing trellis iterators. Add a regression test for the 30-bit SBAS input block versus its 35-bit traceback depth.
Signed-off-by: miguekf <miguel.gomezlopez@uclm.es>
The symbol alignment term of compute_message_timestamp() used the
opposite sign convention to the sample alignment term. In both
aligners, true means the non-shifted hypothesis won (no correction)
and false means the shifted one won (-1 unit), so the symbol term
must be (symbol_aligned ? 0 : -1).
Two of the unit tests added along with that function were failing as
a result, which is what broke the check step of the CI on all three
platforms.
Also express the correction bound in whole code periods rather than
comparing doubles at an exact boundary: the worst case is 3 code
periods (1 from the sample-pairing ambiguity plus 2 from the
symbol-pairing one), not 2, and the floating-point comparison was
fragile at that boundary.
Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
- gnss_satellite.cc: accept the full supported SBAS PRN range (120-138)
instead of a stale 6-PRN whitelist that rejected valid PRNs such as WAAS
PRN 133. Per-PRN satellite/service names are no longer hardcoded, since
that assignment changes over time and cannot be reliably kept up to date
here (fixes review comments on PRN support and outdated satellite info).
- SBAS_L1.h: cap SBAS_L1_MAX_COHERENT_INTEGRATION_SYMBOLS at 1 (1 ms). The
telemetry decoder performs its own unsynchronized sample/symbol pairing,
so extending tracking's coherent integration to 2 ms is unsafe and
corrupts that pairing.
- sbas_l1_telemetry_decoder_gs.{h,cc}: carry an absolute per-sample/per-bit
timestamp through the sample buffer and Frame_Detector, replacing the
buggy offset that anchored the message timestamp to whichever sample was
current when decoding happened, which could be off by up to a full
message duration. Add
sbas_l1_telemetry_decoder_gs::compute_message_timestamp() as a small,
independently testable helper for the residual sub-bit correction, and a
matching deterministic unit test.
- sbas_l1_telemetry_decoder_gs.{h,cc}: implement a real reset() that clears
all decoder buffers/aligners and closes the dump file, so a channel
reassigned to a different PRN never mixes messages into the previous
satellite's file.
- Remove the orphan sbas_l1_telemetry_decoder.cc adapter: it includes a
header that no longer exists and is not part of any CMake target (the
factory instantiates the GNU Radio block directly), so it silently never
compiled.
- Dump file: overwrite instead of append on each run, remove the hardcoded
GNSS-SDR version string, and document that the .ems output is an
EMS-like raw message dump, not a conformant EMS file.
- conf/File_input/SBAS/gnss-sdr_SBAS_EGNOS_rx.conf: drop the outdated
PRN/satellite table and per-channel satellite comments, correct the
coherent-integration note to 1 ms, and clarify that SBAS is not used as
a ranging source in this configuration.
Signed-off-by: miguekf <miguel.gomezlopez@uclm.es>
Put B1C on RTKLIB slot 0 with prefer-B1C XOR and lam[0] override,
align QMBOC quadrature and BCH thresholds with the ICD, fix BDGIM
nearest-odd-hour t_p and CNAV1 ephemeris defaults, tighten math/constants
usage, and drop the non-reproducible LDPC generator script. Move replica,
LDPC, and navigation unit tests into the default test set.
Signed-off-by: OuWenhao16 <104730917+OuWenhao16@users.noreply.github.com>
Update pseudorange outlier rejection
- Gate relative pseudorange rejection behind a new configuration flag
`Observables.reject_outlier_pseudoranges` (default: true) to prevent
premature PVT breakage and improve space compatibility.
Align B1C with unified adapters.
- Fold B1C acquisition/tracking/telemetry into PcpsAcquisitionAdapter,
DllPllTrackingAdapter, and TelemetryDecoderAdapter, and add SPDX author
headers for the B1C/CNAV1 contribution files.
Fix B1C ICD alignment for eph, TGD, UTC, and PR gating.
Gate CNAV1 publish on IODE/IODC, fix gettgd SYS_BDS selection,
correct LS/LSF and UTC scales, and drop the MEO-biased PR median cut.
Signed-off-by: OuWenhao16 <104730917+OuWenhao16@users.noreply.github.com>
Map B1C to its own RTKLIB frequency/wavelength, apply correct TGD/ISC and BDGIM,
and define same-PRN mixed-signal policy with regression tests and conf notes.
Signed-off-by: OuWenhao16 <104730917+OuWenhao16@users.noreply.github.com>
Integrate acquisition, pilot/data tracking, B-CNAV1 telemetry decoding, and
PVT/RINEX hooks on upstream/next with minimal changes to shared blocks.
Includes example configuration, code generators, and unit tests.
Signed-off-by: OuWenhao16 <104730917+OuWenhao16@users.noreply.github.com>
Signed-off-by: Vladslav P <vladisslav2011@gmail.com>
Extend the QZSS L1 C/A LNAV treatment to the L5 CNAV chain: the QZSS-
configured L5 telemetry decoder now publishes dedicated Qzss_CNAV_Iono
and Qzss_CNAV_Utc_Model objects instead of the shared GPS CNAV types,
and PVT keeps them in their own Rtklib_Solver members.
- RINEX 4.02 navigation files get "> STO J CNVX" QZUT records with the
UTC(NICT) identifier and "> ION J CNVX WIDE" Klobuchar records. The
WIDE subtype, compulsory for the QZSS CNVX ION message type, is
correct because CNAV Message Type 30 broadcasts the Wide Area
coefficient set (IS-QZSS-PNT-006; the Japan area set of Message Type
61 is not decoded).
- QZSS CNAV parameters no longer overwrite the GPS CNAV ones in mixed
configurations.
- The QZSS slots of the RTKLIB navigation structure take the LNAV
values with CNAV as fallback, and QZSS-only configurations keep
feeding the broadcast ionospheric model and the leap second count.
- The XML storage output gains qzss_cnav_utc_model.xml and
qzss_cnav_iono.xml.
The Klobuchar coefficients and the UTC(NICT) offset broadcast by QZSS
satellites in LNAV subframe 4 (both the wide-area and Japan-area pages)
were stored in the shared GPS structures, overwriting the GPS-sourced
values in mixed GPS + QZSS configurations and making it impossible to
label them correctly in RINEX output.
New Qzss_Utc_Model and Qzss_Iono storage classes are now published by
the QZSS-configured L1 C/A telemetry decoder and kept in dedicated
Rtklib_Solver members. With this in place:
- RINEX 4.02 navigation files get "> STO J LNAV" QZUT records with the
UTC(NICT) identifier and "> ION J LNAV" Klobuchar records, and the
LEAP SECONDS header is updated from QZSS data in QZSS-only setups.
- QZSS-sourced parameters are no longer mislabeled as GPS corrections
(GPUT / GPS ION or TIME SYSTEM CORR / IONOSPHERIC CORR lines).
- The QZSS slots of the RTKLIB navigation structure (utc_qzs, ion_qzs)
are now populated; QZSS-only configurations keep feeding the broadcast
ionospheric model and the leap second count as before.
- The XML storage output gains qzss_utc_model.xml and qzss_iono.xml.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Activated by setting PVT.rinex_version=4 in the configuration file (or
with the -RINEX_version=4.02 command-line flag). The default behavior
when the parameter is not set remains unchanged (RINEX 3.02).
Observation files are generated in the 4.02 version format. Navigation
files use the data record structure introduced in RINEX 4.00:
- EPH ephemeris records preceded by "> EPH <sat> <msg-type>" header
lines: GPS/QZSS LNAV, GPS/QZSS CNAV (with its own record layout, Table
A10), Galileo INAV/FNAV, GLONASS FDMA (including the new BROADCAST
ORBIT - 4 line with status flags, group delay, URAI and health flags),
and BeiDou D1/D2.
- Ionospheric corrections logged as ION data records (Klobuchar for GPS
and BeiDou, NeQuick-G for Galileo) and time system corrections logged
as STO records (GPUT, GAUT, GAGP, GLUT, GLGP, BDUT) instead of header
lines, written as soon as the corresponding data are received.
- The compulsory LEAP SECONDS header record, written blank if the data
are not available yet and updated in place afterwards.
- Navigation data records use the recommended 'e' exponent indicator
instead of the deprecated FORTRAN 'D' notation.
Also fix update_obs_header() so that the end-of-file position is
preserved after rewriting the header, preventing the destructor from
mistaking an updated observation file for an empty one and deleting it.
Carles Fernandez