/*! * \file galileo_fnav_message.h * \brief Implementation of a Galileo F/NAV Data message * as described in Galileo OS SIS ICD Issue 1.1 (Sept. 2010) * \author Marc Sales, 2014. marcsales92(at)gmail.com * \based on work from: * * * * ----------------------------------------------------------------------------- * * GNSS-SDR is a Global Navigation Satellite System software-defined receiver. * This file is part of GNSS-SDR. * * Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) * SPDX-License-Identifier: GPL-3.0-or-later * * ----------------------------------------------------------------------------- */ #include "galileo_fnav_message.h" #include // for boost::crc_basic, boost::crc_optimal #include #include // for reverse #include // for string, operator<< #include // for back_insert_iterator #if USE_GLOG_AND_GFLAGS #include #else #include #endif using CRC_Galileo_FNAV_type = boost::crc_optimal<24, 0x1864CFBU, 0x0, 0x0, false, false>; void Galileo_Fnav_Message::split_page(const std::string& page_string) { const std::string message_word = page_string.substr(0, 214); const std::string CRC_data = page_string.substr(214, 24); const std::bitset Word_for_CRC_bits(message_word); const std::bitset<24> checksum(CRC_data); if (CRC_test(Word_for_CRC_bits, checksum.to_ulong()) == true) { flag_CRC_test = true; // CRC correct: Decode word decode_page(message_word); } else { flag_CRC_test = false; } } bool Galileo_Fnav_Message::CRC_test(const std::bitset& bits, uint32_t checksum) const { CRC_Galileo_FNAV_type CRC_Galileo; // Galileo FNAV frame for CRC is not an integer multiple of bytes // it needs to be filled with zeroes at the start of the frame. // This operation is done in the transformation from bits to bytes // using boost::dynamic_bitset. // ToDo: Use boost::dynamic_bitset for all the bitset operations in this class boost::dynamic_bitset frame_bits(bits.to_string()); std::vector bytes; boost::to_block_range(frame_bits, std::back_inserter(bytes)); std::reverse(bytes.begin(), bytes.end()); CRC_Galileo.process_bytes(bytes.data(), GALILEO_FNAV_DATA_FRAME_BYTES); const uint32_t crc_computed = CRC_Galileo.checksum(); if (checksum == crc_computed) { return true; } return false; } void Galileo_Fnav_Message::decode_page(const std::string& data) { const std::bitset data_bits(data); page_type = read_navigation_unsigned(data_bits, FNAV_PAGE_TYPE_BIT); switch (page_type) { case 1: // SVID, Clock correction, SISA, Ionospheric correction, BGD, GST, Signal health and Data validity status FNAV_SV_ID_PRN_1 = static_cast(read_navigation_unsigned(data_bits, FNAV_SV_ID_PRN_1_BIT)); FNAV_IODnav_1 = static_cast(read_navigation_unsigned(data_bits, FNAV_IO_DNAV_1_BIT)); FNAV_t0c_1 = static_cast(read_navigation_unsigned(data_bits, FNAV_T0C_1_BIT)); FNAV_t0c_1 *= FNAV_T0C_1_LSB; FNAV_af0_1 = static_cast(read_navigation_signed(data_bits, FNAV_AF0_1_BIT)); FNAV_af0_1 *= FNAV_AF0_1_LSB; FNAV_af1_1 = static_cast(read_navigation_signed(data_bits, FNAV_AF1_1_BIT)); FNAV_af1_1 *= FNAV_AF1_1_LSB; FNAV_af2_1 = static_cast(read_navigation_signed(data_bits, FNAV_AF2_1_BIT)); FNAV_af2_1 *= FNAV_AF2_1_LSB; FNAV_SISA_1 = static_cast(read_navigation_unsigned(data_bits, FNAV_SISA_1_BIT)); FNAV_ai0_1 = static_cast(read_navigation_unsigned(data_bits, FNAV_AI0_1_BIT)); FNAV_ai0_1 *= FNAV_AI0_1_LSB; FNAV_ai1_1 = static_cast(read_navigation_signed(data_bits, FNAV_AI1_1_BIT)); FNAV_ai1_1 *= FNAV_AI1_1_LSB; FNAV_ai2_1 = static_cast(read_navigation_signed(data_bits, FNAV_AI2_1_BIT)); FNAV_ai2_1 *= FNAV_AI2_1_LSB; FNAV_region1_1 = static_cast(read_navigation_unsigned(data_bits, FNAV_REGION1_1_BIT)); FNAV_region2_1 = static_cast(read_navigation_unsigned(data_bits, FNAV_REGION2_1_BIT)); FNAV_region3_1 = static_cast(read_navigation_unsigned(data_bits, FNAV_REGION3_1_BIT)); FNAV_region4_1 = static_cast(read_navigation_unsigned(data_bits, FNAV_REGION4_1_BIT)); FNAV_region5_1 = static_cast(read_navigation_unsigned(data_bits, FNAV_REGION5_1_BIT)); FNAV_BGD_1 = static_cast(read_navigation_signed(data_bits, FNAV_BGD_1_BIT)); FNAV_BGD_1 *= FNAV_BGD_1_LSB; FNAV_E5ahs_1 = static_cast(read_navigation_unsigned(data_bits, FNAV_E5AHS_1_BIT)); FNAV_WN_1 = static_cast(read_navigation_unsigned(data_bits, FNAV_WN_1_BIT)); FNAV_TOW_1 = static_cast(read_navigation_unsigned(data_bits, FNAV_TOW_1_BIT)); FNAV_E5advs_1 = static_cast(read_navigation_unsigned(data_bits, FNAV_E5ADVS_1_BIT)); flag_TOW_1 = true; flag_TOW_set = true; flag_iono_and_GST = true; // set to false externally break; case 2: // Ephemeris (1/3) and GST FNAV_IODnav_2 = static_cast(read_navigation_unsigned(data_bits, FNAV_IO_DNAV_2_BIT)); FNAV_M0_2 = static_cast(read_navigation_signed(data_bits, FNAV_M0_2_BIT)); FNAV_M0_2 *= FNAV_M0_2_LSB; FNAV_omegadot_2 = static_cast(read_navigation_signed(data_bits, FNAV_OMEGADOT_2_BIT)); FNAV_omegadot_2 *= FNAV_OMEGADOT_2_LSB; FNAV_e_2 = static_cast(read_navigation_unsigned(data_bits, FNAV_E_2_BIT)); FNAV_e_2 *= FNAV_E_2_LSB; FNAV_a12_2 = static_cast(read_navigation_unsigned(data_bits, FNAV_A12_2_BIT)); FNAV_a12_2 *= FNAV_A12_2_LSB; FNAV_omega0_2 = static_cast(read_navigation_signed(data_bits, FNAV_OMEGA0_2_BIT)); FNAV_omega0_2 *= FNAV_OMEGA0_2_LSB; FNAV_idot_2 = static_cast(read_navigation_signed(data_bits, FNAV_IDOT_2_BIT)); FNAV_idot_2 *= FNAV_IDOT_2_LSB; FNAV_WN_2 = static_cast(read_navigation_unsigned(data_bits, FNAV_WN_2_BIT)); FNAV_TOW_2 = static_cast(read_navigation_unsigned(data_bits, FNAV_TOW_2_BIT)); flag_TOW_2 = true; flag_TOW_set = true; flag_ephemeris_1 = true; break; case 3: // Ephemeris (2/3) and GST FNAV_IODnav_3 = static_cast(read_navigation_unsigned(data_bits, FNAV_IO_DNAV_3_BIT)); FNAV_i0_3 = static_cast(read_navigation_signed(data_bits, FNAV_I0_3_BIT)); FNAV_i0_3 *= FNAV_I0_3_LSB; FNAV_w_3 = static_cast(read_navigation_signed(data_bits, FNAV_W_3_BIT)); FNAV_w_3 *= FNAV_W_3_LSB; FNAV_deltan_3 = static_cast(read_navigation_signed(data_bits, FNAV_DELTAN_3_BIT)); FNAV_deltan_3 *= FNAV_DELTAN_3_LSB; FNAV_Cuc_3 = static_cast(read_navigation_signed(data_bits, FNAV_CUC_3_BIT)); FNAV_Cuc_3 *= FNAV_CUC_3_LSB; FNAV_Cus_3 = static_cast(read_navigation_signed(data_bits, FNAV_CUS_3_BIT)); FNAV_Cus_3 *= FNAV_CUS_3_LSB; FNAV_Crc_3 = static_cast(read_navigation_signed(data_bits, FNAV_CRC_3_BIT)); FNAV_Crc_3 *= FNAV_CRC_3_LSB; FNAV_Crs_3 = static_cast(read_navigation_signed(data_bits, FNAV_CRS_3_BIT)); FNAV_Crs_3 *= FNAV_CRS_3_LSB; FNAV_t0e_3 = static_cast(read_navigation_unsigned(data_bits, FNAV_T0E_3_BIT)); FNAV_t0e_3 *= FNAV_T0E_3_LSB; FNAV_WN_3 = static_cast(read_navigation_unsigned(data_bits, FNAV_WN_3_BIT)); FNAV_TOW_3 = static_cast(read_navigation_unsigned(data_bits, FNAV_TOW_3_BIT)); flag_TOW_3 = true; flag_TOW_set = true; flag_ephemeris_2 = true; break; case 4: // Ephemeris (3/3), GST-UTC conversion, GST-GPS conversion and TOW FNAV_IODnav_4 = static_cast(read_navigation_unsigned(data_bits, FNAV_IO_DNAV_4_BIT)); FNAV_Cic_4 = static_cast(read_navigation_signed(data_bits, FNAV_CIC_4_BIT)); FNAV_Cic_4 *= FNAV_CIC_4_LSB; FNAV_Cis_4 = static_cast(read_navigation_signed(data_bits, FNAV_CIS_4_BIT)); FNAV_Cis_4 *= FNAV_CIS_4_LSB; FNAV_A0_4 = static_cast(read_navigation_signed(data_bits, FNAV_A0_4_BIT)); FNAV_A0_4 *= FNAV_A0_4_LSB; FNAV_A1_4 = static_cast(read_navigation_signed(data_bits, FNAV_A1_4_BIT)); FNAV_A1_4 *= FNAV_A1_4_LSB; FNAV_deltatls_4 = static_cast(read_navigation_signed(data_bits, FNAV_DELTATLS_4_BIT)); FNAV_t0t_4 = static_cast(read_navigation_unsigned(data_bits, FNAV_T0T_4_BIT)); FNAV_t0t_4 *= FNAV_T0T_4_LSB; FNAV_WNot_4 = static_cast(read_navigation_unsigned(data_bits, FNAV_W_NOT_4_BIT)); FNAV_WNlsf_4 = static_cast(read_navigation_unsigned(data_bits, FNAV_W_NLSF_4_BIT)); FNAV_DN_4 = static_cast(read_navigation_unsigned(data_bits, FNAV_DN_4_BIT)); FNAV_deltatlsf_4 = static_cast(read_navigation_signed(data_bits, FNAV_DELTATLSF_4_BIT)); FNAV_t0g_4 = static_cast(read_navigation_unsigned(data_bits, FNAV_T0G_4_BIT)); FNAV_t0g_4 *= FNAV_T0G_4_LSB; FNAV_A0g_4 = static_cast(read_navigation_signed(data_bits, FNAV_A0G_4_BIT)); FNAV_A0g_4 *= FNAV_A0G_4_LSB; FNAV_A1g_4 = static_cast(read_navigation_signed(data_bits, FNAV_A1G_4_BIT)); FNAV_A1g_4 *= FNAV_A1G_4_LSB; FNAV_WN0g_4 = static_cast(read_navigation_unsigned(data_bits, FNAV_W_N0G_4_BIT)); FNAV_TOW_4 = static_cast(read_navigation_unsigned(data_bits, FNAV_TOW_4_BIT)); flag_TOW_4 = true; flag_TOW_set = true; flag_ephemeris_3 = true; flag_utc_model = true; // set to false externally break; case 5: // Almanac (SVID1 and SVID2(1/2)), Week Number and almanac reference time FNAV_IODa_5 = static_cast(read_navigation_unsigned(data_bits, FNAV_IO_DA_5_BIT)); FNAV_WNa_5 = static_cast(read_navigation_unsigned(data_bits, FNAV_W_NA_5_BIT)); FNAV_t0a_5 = static_cast(read_navigation_unsigned(data_bits, FNAV_T0A_5_BIT)); FNAV_t0a_5 *= FNAV_T0A_5_LSB; FNAV_SVID1_5 = static_cast(read_navigation_unsigned(data_bits, FNAV_SVI_D1_5_BIT)); FNAV_Deltaa12_1_5 = static_cast(read_navigation_signed(data_bits, FNAV_DELTAA12_1_5_BIT)); FNAV_Deltaa12_1_5 *= FNAV_DELTAA12_5_LSB; FNAV_e_1_5 = static_cast(read_navigation_unsigned(data_bits, FNAV_E_1_5_BIT)); FNAV_e_1_5 *= FNAV_E_5_LSB; FNAV_w_1_5 = static_cast(read_navigation_signed(data_bits, FNAV_W_1_5_BIT)); FNAV_w_1_5 *= FNAV_W_5_LSB; FNAV_deltai_1_5 = static_cast(read_navigation_signed(data_bits, FNAV_DELTAI_1_5_BIT)); FNAV_deltai_1_5 *= FNAV_DELTAI_5_LSB; FNAV_Omega0_1_5 = static_cast(read_navigation_signed(data_bits, FNAV_OMEGA0_1_5_BIT)); FNAV_Omega0_1_5 *= FNAV_OMEGA0_5_LSB; FNAV_Omegadot_1_5 = static_cast(read_navigation_signed(data_bits, FNAV_OMEGADOT_1_5_BIT)); FNAV_Omegadot_1_5 *= FNAV_OMEGADOT_5_LSB; FNAV_M0_1_5 = static_cast(read_navigation_signed(data_bits, FNAV_M0_1_5_BIT)); FNAV_M0_1_5 *= FNAV_M0_5_LSB; FNAV_af0_1_5 = static_cast(read_navigation_signed(data_bits, FNAV_AF0_1_5_BIT)); FNAV_af0_1_5 *= FNAV_AF0_5_LSB; FNAV_af1_1_5 = static_cast(read_navigation_signed(data_bits, FNAV_AF1_1_5_BIT)); FNAV_af1_1_5 *= FNAV_AF1_5_LSB; FNAV_E5ahs_1_5 = static_cast(read_navigation_unsigned(data_bits, FNAV_E5AHS_1_5_BIT)); FNAV_SVID2_5 = static_cast(read_navigation_unsigned(data_bits, FNAV_SVI_D2_5_BIT)); FNAV_Deltaa12_2_5 = static_cast(read_navigation_signed(data_bits, FNAV_DELTAA12_2_5_BIT)); FNAV_Deltaa12_2_5 *= FNAV_DELTAA12_5_LSB; FNAV_e_2_5 = static_cast(read_navigation_unsigned(data_bits, FNAV_E_2_5_BIT)); FNAV_e_2_5 *= FNAV_E_5_LSB; FNAV_w_2_5 = static_cast(read_navigation_signed(data_bits, FNAV_W_2_5_BIT)); FNAV_w_2_5 *= FNAV_W_5_LSB; FNAV_deltai_2_5 = static_cast(read_navigation_signed(data_bits, FNAV_DELTAI_2_5_BIT)); FNAV_deltai_2_5 *= FNAV_DELTAI_5_LSB; // TODO check this // Omega0_2 must be decoded when the two pieces are joined omega0_1 = data.substr(210, 4); // omega_flag=true; // // FNAV_Omega012_2_5=static_cast(read_navigation_signed(data_bits, FNAV_Omega012_2_5_bit); flag_almanac_1 = true; break; case 6: // Almanac (SVID2(2/2) and SVID3) FNAV_IODa_6 = static_cast(read_navigation_unsigned(data_bits, FNAV_IO_DA_6_BIT)); // Don't worry about omega pieces. If page 5 has not been received, all_ephemeris // flag will be set to false and the data won't be recorded.*/ const std::string omega0_2 = data.substr(10, 12); const std::string Omega0 = omega0_1 + omega0_2; const std::bitset omega_bits(Omega0); const std::vector> om_bit({{0, 12}}); FNAV_Omega0_2_6 = static_cast(read_navigation_signed(omega_bits, om_bit)); FNAV_Omega0_2_6 *= FNAV_OMEGA0_5_LSB; FNAV_Omegadot_2_6 = static_cast(read_navigation_signed(data_bits, FNAV_OMEGADOT_2_6_BIT)); FNAV_Omegadot_2_6 *= FNAV_OMEGADOT_5_LSB; FNAV_M0_2_6 = static_cast(read_navigation_signed(data_bits, FNAV_M0_2_6_BIT)); FNAV_M0_2_6 *= FNAV_M0_5_LSB; FNAV_af0_2_6 = static_cast(read_navigation_signed(data_bits, FNAV_AF0_2_6_BIT)); FNAV_af0_2_6 *= FNAV_AF0_5_LSB; FNAV_af1_2_6 = static_cast(read_navigation_signed(data_bits, FNAV_AF1_2_6_BIT)); FNAV_af1_2_6 *= FNAV_AF1_5_LSB; FNAV_E5ahs_2_6 = static_cast(read_navigation_unsigned(data_bits, FNAV_E5AHS_2_6_BIT)); FNAV_SVID3_6 = static_cast(read_navigation_unsigned(data_bits, FNAV_SVI_D3_6_BIT)); FNAV_Deltaa12_3_6 = static_cast(read_navigation_signed(data_bits, FNAV_DELTAA12_3_6_BIT)); FNAV_Deltaa12_3_6 *= FNAV_DELTAA12_5_LSB; FNAV_e_3_6 = static_cast(read_navigation_unsigned(data_bits, FNAV_E_3_6_BIT)); FNAV_e_3_6 *= FNAV_E_5_LSB; FNAV_w_3_6 = static_cast(read_navigation_signed(data_bits, FNAV_W_3_6_BIT)); FNAV_w_3_6 *= FNAV_W_5_LSB; FNAV_deltai_3_6 = static_cast(read_navigation_signed(data_bits, FNAV_DELTAI_3_6_BIT)); FNAV_deltai_3_6 *= FNAV_DELTAI_5_LSB; FNAV_Omega0_3_6 = static_cast(read_navigation_signed(data_bits, FNAV_OMEGA0_3_6_BIT)); FNAV_Omega0_3_6 *= FNAV_OMEGA0_5_LSB; FNAV_Omegadot_3_6 = static_cast(read_navigation_signed(data_bits, FNAV_OMEGADOT_3_6_BIT)); FNAV_Omegadot_3_6 *= FNAV_OMEGADOT_5_LSB; FNAV_M0_3_6 = static_cast(read_navigation_signed(data_bits, FNAV_M0_3_6_BIT)); FNAV_M0_3_6 *= FNAV_M0_5_LSB; FNAV_af0_3_6 = static_cast(read_navigation_signed(data_bits, FNAV_AF0_3_6_BIT)); FNAV_af0_3_6 *= FNAV_AF0_5_LSB; FNAV_af1_3_6 = static_cast(read_navigation_signed(data_bits, FNAV_AF1_3_6_BIT)); FNAV_af1_3_6 *= FNAV_AF1_5_LSB; FNAV_E5ahs_3_6 = static_cast(read_navigation_unsigned(data_bits, FNAV_E5AHS_3_6_BIT)); flag_almanac_2 = true; break; } } uint64_t Galileo_Fnav_Message::read_navigation_unsigned(const std::bitset& bits, const std::vector>& parameter) const { uint64_t value = 0ULL; for (const auto& p : parameter) { for (int j = 0; j < p.second; j++) { value <<= 1U; // shift left value |= static_cast(bits[GALILEO_FNAV_DATA_FRAME_BITS - p.first - j]); } } return value; } int64_t Galileo_Fnav_Message::read_navigation_signed(const std::bitset& bits, const std::vector>& parameter) const { int64_t value = (bits[GALILEO_FNAV_DATA_FRAME_BITS - parameter[0].first] == 1) ? -1LL : 0LL; for (const auto& p : parameter) { for (int32_t j = 0; j < p.second; j++) { value = (value << 1) | static_cast(bits[GALILEO_FNAV_DATA_FRAME_BITS - p.first - j]); } } return value; } bool Galileo_Fnav_Message::have_new_ephemeris() // Check if we have a new ephemeris stored in the galileo navigation class { if ((flag_ephemeris_1 == true) and (flag_ephemeris_2 == true) and (flag_ephemeris_3 == true) and (flag_iono_and_GST == true)) { // if all ephemeris pages have the same IOD, then they belong to the same block if ((FNAV_IODnav_1 == FNAV_IODnav_2) and (FNAV_IODnav_3 == FNAV_IODnav_4) and (FNAV_IODnav_1 == FNAV_IODnav_3)) { DLOG(INFO) << "Ephemeris (1, 2, 3) have been received and belong to the same batch"; flag_ephemeris_1 = false; // clear the flag flag_ephemeris_2 = false; // clear the flag flag_ephemeris_3 = false; // clear the flag flag_all_ephemeris = true; IOD_ephemeris = FNAV_IODnav_1; DLOG(INFO) << "Batch number: " << IOD_ephemeris; return true; } } return false; } bool Galileo_Fnav_Message::have_new_iono_and_GST() // Check if we have a new iono data set stored in the galileo navigation class { if ((flag_iono_and_GST == true) and (flag_utc_model == true)) // the condition on flag_utc_model is added to have a time stamp for iono { flag_iono_and_GST = false; // clear the flag } else { return false; } return true; } bool Galileo_Fnav_Message::have_new_utc_model() // Check if we have a new utc data set stored in the galileo navigation class { if (flag_utc_model == true) { flag_utc_model = false; // clear the flag } else { return false; } return true; } bool Galileo_Fnav_Message::have_new_almanac() // Check if we have a new almanac data set stored in the galileo navigation class { if ((flag_almanac_1 == true) and (flag_almanac_2 == true)) { // All Almanac data have been received flag_almanac_1 = false; flag_almanac_2 = false; flag_all_almanac = true; } else { return false; } return true; } Galileo_Ephemeris Galileo_Fnav_Message::get_ephemeris() const { Galileo_Ephemeris ephemeris; ephemeris.flag_all_ephemeris = flag_all_ephemeris; ephemeris.IOD_ephemeris = IOD_ephemeris; ephemeris.PRN = FNAV_SV_ID_PRN_1; ephemeris.M_0 = FNAV_M0_2; // Mean anomaly at reference time [rad] ephemeris.delta_n = FNAV_deltan_3; // Mean motion difference from computed value [rad/sec] ephemeris.ecc = FNAV_e_2; // Eccentricity ephemeris.sqrtA = FNAV_a12_2; // Square root of the semi-major axis [meters^1/2] ephemeris.OMEGA_0 = FNAV_omega0_2; // Longitude of ascending node of orbital plane at weekly epoch [rad] ephemeris.i_0 = FNAV_i0_3; // Inclination angle at reference time [rad] ephemeris.omega = FNAV_w_3; // Argument of perigee [rad] ephemeris.OMEGAdot = FNAV_omegadot_2; // Rate of right ascension [rad/sec] ephemeris.idot = FNAV_idot_2; // Rate of inclination angle [rad/sec] ephemeris.Cuc = FNAV_Cuc_3; // Amplitude of the cosine harmonic correction term to the argument of latitude [radians] ephemeris.Cus = FNAV_Cus_3; // Amplitude of the sine harmonic correction term to the argument of latitude [radians] ephemeris.Crc = FNAV_Crc_3; // Amplitude of the cosine harmonic correction term to the orbit radius [meters] ephemeris.Crs = FNAV_Crs_3; // Amplitude of the sine harmonic correction term to the orbit radius [meters] ephemeris.Cic = FNAV_Cic_4; // Amplitude of the cosine harmonic correction term to the angle of inclination [radians] ephemeris.Cis = FNAV_Cis_4; // Amplitude of the sine harmonic correction term to the angle of inclination [radians] ephemeris.toe = FNAV_t0e_3; // Ephemeris reference time [s] // Clock correction parameters ephemeris.toc = FNAV_t0c_1; // Clock correction data reference Time of Week [sec] ephemeris.af0 = FNAV_af0_1; // SV clock bias correction coefficient [s] ephemeris.af1 = FNAV_af1_1; // SV clock drift correction coefficient [s/s] ephemeris.af2 = FNAV_af2_1; // SV clock drift rate correction coefficient [s/s^2] // GST ephemeris.WN = FNAV_WN_3; // Week number ephemeris.tow = FNAV_TOW_3; // Time of Week // Health status ephemeris.E5a_HS = FNAV_E5ahs_1; ephemeris.E5a_DVS = FNAV_E5advs_1; return ephemeris; } Galileo_Iono Galileo_Fnav_Message::get_iono() const { Galileo_Iono iono; // Ionospheric correction iono.ai0 = FNAV_ai0_1; // Effective Ionisation Level 1st order parameter [sfu] iono.ai1 = FNAV_ai1_1; // Effective Ionisation Level 2st order parameter [sfu/degree] iono.ai2 = FNAV_ai2_1; // Effective Ionisation Level 3st order parameter [sfu/degree] // Ionospheric disturbance flag iono.Region1_flag = FNAV_region1_1; // Ionospheric Disturbance Flag for region 1 iono.Region2_flag = FNAV_region2_1; // Ionospheric Disturbance Flag for region 2 iono.Region3_flag = FNAV_region3_1; // Ionospheric Disturbance Flag for region 3 iono.Region4_flag = FNAV_region4_1; // Ionospheric Disturbance Flag for region 4 iono.Region5_flag = FNAV_region5_1; // Ionospheric Disturbance Flag for region 5 // GST iono.tow = FNAV_TOW_1; iono.WN = FNAV_WN_1; return iono; } Galileo_Utc_Model Galileo_Fnav_Message::get_utc_model() const { Galileo_Utc_Model utc_model; // Word type 6: GST-UTC conversion parameters utc_model.A0 = FNAV_A0_4; utc_model.A1 = FNAV_A1_4; utc_model.Delta_tLS = FNAV_deltatls_4; utc_model.tot = FNAV_t0t_4; utc_model.WNot = FNAV_WNot_4; utc_model.WN_LSF = FNAV_WNlsf_4; utc_model.DN = FNAV_DN_4; utc_model.Delta_tLSF = FNAV_deltatlsf_4; utc_model.flag_utc_model = flag_utc_model; return utc_model; } Galileo_Almanac_Helper Galileo_Fnav_Message::get_almanac() const { Galileo_Almanac_Helper almanac; // FNAV equivalent of INAV Word type 7: Almanac for SVID1 (1/2), almanac reference time and almanac reference week number almanac.IOD_a_7 = FNAV_IODa_5; almanac.WN_a_7 = FNAV_WNa_5; almanac.t0a_7 = FNAV_t0a_5; almanac.SVID1_7 = FNAV_SVID1_5; almanac.DELTA_A_7 = FNAV_Deltaa12_1_5; almanac.e_7 = FNAV_e_1_5; almanac.omega_7 = FNAV_w_1_5; almanac.delta_i_7 = FNAV_deltai_1_5; almanac.Omega0_7 = FNAV_Omega0_1_5; almanac.Omega_dot_7 = FNAV_Omegadot_1_5; almanac.M0_7 = FNAV_M0_1_5; // FNAV equivalent of INAV Word type 8: Almanac for SVID1 (2/2) and SVID2 (1/2) almanac.IOD_a_8 = FNAV_IODa_5; almanac.af0_8 = FNAV_af0_1_5; almanac.af1_8 = FNAV_af1_1_5; almanac.E5a_HS_8 = FNAV_E5ahs_1_5; almanac.SVID2_8 = FNAV_SVID2_5; almanac.DELTA_A_8 = FNAV_Deltaa12_2_5; almanac.e_8 = FNAV_e_2_5; almanac.omega_8 = FNAV_w_2_5; almanac.delta_i_8 = FNAV_deltai_2_5; almanac.Omega0_8 = FNAV_Omega0_2_6; almanac.Omega_dot_8 = FNAV_Omegadot_2_6; // FNAV equivalent of INAV Word type 9: Almanac for SVID2 (2/2) and SVID3 (1/2) almanac.IOD_a_9 = FNAV_IODa_6; almanac.WN_a_9 = FNAV_WNa_5; almanac.t0a_9 = FNAV_t0a_5; almanac.M0_9 = FNAV_M0_2_6; almanac.af0_9 = FNAV_af0_2_6; almanac.af1_9 = FNAV_af1_2_6; almanac.E5a_HS_9 = FNAV_E5ahs_2_6; almanac.SVID3_9 = FNAV_SVID3_6; almanac.DELTA_A_9 = FNAV_Deltaa12_3_6; almanac.e_9 = FNAV_e_3_6; almanac.omega_9 = FNAV_w_3_6; almanac.delta_i_9 = FNAV_deltai_3_6; // FNAV equivalent of INAV Word type 10: Almanac for SVID3 (2/2) almanac.IOD_a_10 = FNAV_IODa_6; almanac.Omega0_10 = FNAV_Omega0_3_6; almanac.Omega_dot_10 = FNAV_Omegadot_3_6; almanac.M0_10 = FNAV_M0_3_6; almanac.af0_10 = FNAV_af0_3_6; almanac.af1_10 = FNAV_af1_3_6; almanac.E5a_HS_10 = FNAV_E5ahs_3_6; return almanac; }