[hamradio-commits] [gnss-sdr] 98/126: Adding generation of MSM2, MSM3, MSM4, MSM5, MSM6 and MSM7
Carles Fernandez
carles_fernandez-guest at moszumanska.debian.org
Sat Dec 26 18:38:06 UTC 2015
This is an automated email from the git hooks/post-receive script.
carles_fernandez-guest pushed a commit to branch next
in repository gnss-sdr.
commit 49523f7f9d0d0efb362371794e6d56c7dbcdb711
Author: Carles Fernandez <carles.fernandez at gmail.com>
Date: Wed Dec 9 13:33:28 2015 +0100
Adding generation of MSM2, MSM3, MSM4, MSM5, MSM6 and MSM7
---
src/core/system_parameters/rtcm.cc | 731 +++++++++++++++++++++++++++++++++++--
src/core/system_parameters/rtcm.h | 150 +++++++-
src/tests/formats/rtcm_test.cc | 7 +-
3 files changed, 851 insertions(+), 37 deletions(-)
diff --git a/src/core/system_parameters/rtcm.cc b/src/core/system_parameters/rtcm.cc
index b57903e..f9adf58 100644
--- a/src/core/system_parameters/rtcm.cc
+++ b/src/core/system_parameters/rtcm.cc
@@ -269,11 +269,11 @@ std::string Rtcm::build_message(std::string data)
-// **********************************************
+// ********************************************************
//
// MESSAGE TYPE 1001 (GPS L1 OBSERVATIONS)
//
-// **********************************************
+// ********************************************************
std::bitset<64> Rtcm::get_MT1001_4_header(unsigned int msg_number, const Gps_Ephemeris & gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges,
unsigned int ref_id, unsigned int smooth_int, bool sync_flag, bool divergence_free)
@@ -363,11 +363,11 @@ std::string Rtcm::print_MT1001(const Gps_Ephemeris & gps_eph, double obs_time, c
-// **********************************************
+// ********************************************************
//
// MESSAGE TYPE 1002 (EXTENDED GPS L1 OBSERVATIONS)
//
-// **********************************************
+// ********************************************************
std::string Rtcm::print_MT1002(const Gps_Ephemeris & gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
{
@@ -430,11 +430,11 @@ std::bitset<74> Rtcm::get_MT1002_sat_content(const Gps_Ephemeris & eph, double o
-// **********************************************
+// ********************************************************
//
// MESSAGE TYPE 1003 (GPS L1 & L2 OBSERVATIONS)
//
-// **********************************************
+// ********************************************************
std::string Rtcm::print_MT1003(const Gps_Ephemeris & ephL1, const Gps_CNAV_Ephemeris & ephL2, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
{
@@ -535,11 +535,11 @@ std::bitset<101> Rtcm::get_MT1003_sat_content(const Gps_Ephemeris & ephL1, const
-// **********************************************
+// ******************************************************************
//
// MESSAGE TYPE 1004 (EXTENDED GPS L1 & L2 OBSERVATIONS)
//
-// **********************************************
+// ******************************************************************
std::string Rtcm::print_MT1004(const Gps_Ephemeris & ephL1, const Gps_CNAV_Ephemeris & ephL2, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
{
@@ -646,11 +646,11 @@ std::bitset<125> Rtcm::get_MT1004_sat_content(const Gps_Ephemeris & ephL1, const
-// **********************************************
+// ********************************************************
//
// MESSAGE TYPE 1005 (STATION DESCRIPTION)
//
-// **********************************************
+// ********************************************************
/* Stationary Antenna Reference Point, No Height Information
@@ -818,11 +818,11 @@ std::string Rtcm::print_MT1005_test()
-// **********************************************
+// ********************************************************
//
// MESSAGE TYPE 1019 (GPS EPHEMERIS)
//
-// **********************************************
+// ********************************************************
std::string Rtcm::print_MT1019(const Gps_Ephemeris & gps_eph)
{
@@ -1034,11 +1034,11 @@ int Rtcm::read_MT1019(const std::string & message, Gps_Ephemeris & gps_eph)
-// **********************************************
+// ********************************************************
//
// MESSAGE TYPE 1045 (GALILEO EPHEMERIS)
//
-// **********************************************
+// ********************************************************
std::string Rtcm::print_MT1045(const Galileo_Ephemeris & gal_eph)
{
@@ -1237,14 +1237,14 @@ int Rtcm::read_MT1045(const std::string & message, Galileo_Ephemeris & gal_eph)
-// **********************************************
+// **********************************************************************************************
//
// MESSAGE TYPE MSM1 (COMPACT PSEUDORANGES)
//
-// **********************************************
-
+// **********************************************************************************************
std::string Rtcm::print_MSM_1( const Gps_Ephemeris & gps_eph,
+ const Gps_CNAV_Ephemeris & gps_cnav_eph,
const Galileo_Ephemeris & gal_eph,
double obs_time,
const std::map<int, Gnss_Synchro> & pseudoranges,
@@ -1258,8 +1258,9 @@ std::string Rtcm::print_MSM_1( const Gps_Ephemeris & gps_eph,
{
unsigned int msg_number = 0;
if(gps_eph.i_satellite_PRN != 0) msg_number = 1071;
+ if(gps_cnav_eph.i_satellite_PRN != 0) msg_number = 1071;
if(gal_eph.i_satellite_PRN != 0) msg_number = 1091;
- if((gps_eph.i_satellite_PRN != 0) && (gal_eph.i_satellite_PRN != 0))
+ if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0))
{
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
}
@@ -1269,7 +1270,7 @@ std::string Rtcm::print_MSM_1( const Gps_Ephemeris & gps_eph,
msg_number = 1071;
}
- std::string header = Rtcm::get_MSM_header(msg_number, gps_eph,
+ std::string header = Rtcm::get_MSM_header(msg_number, gps_eph, gps_cnav_eph,
gal_eph,
obs_time,
pseudoranges,
@@ -1291,6 +1292,7 @@ std::string Rtcm::print_MSM_1( const Gps_Ephemeris & gps_eph,
std::string Rtcm::get_MSM_header(unsigned int msg_number, const Gps_Ephemeris & gps_eph,
+ const Gps_CNAV_Ephemeris & gps_cnav_eph,
const Galileo_Ephemeris & gal_eph,
double obs_time,
const std::map<int, Gnss_Synchro> & pseudoranges,
@@ -1308,6 +1310,10 @@ std::string Rtcm::get_MSM_header(unsigned int msg_number, const Gps_Ephemeris &
{
Rtcm::set_DF004(gps_eph, obs_time);
}
+ else if(gps_cnav_eph.i_satellite_PRN != 0)
+ {
+ Rtcm::set_DF004(gps_cnav_eph, obs_time);
+ }
else
{
Rtcm::set_DF248(gal_eph, obs_time);
@@ -1414,21 +1420,681 @@ std::string Rtcm::get_MSM_1_content_signal_data(const std::map<int, Gnss_Synchro
}
-// **********************************************
+// **********************************************************************************************
//
// MESSAGE TYPE MSM2 (COMPACT PHASERANGES)
//
-// **********************************************
+// **********************************************************************************************
+
+std::string Rtcm::print_MSM_2( const Gps_Ephemeris & gps_eph,
+ const Gps_CNAV_Ephemeris & gps_cnav_eph,
+ const Galileo_Ephemeris & gal_eph,
+ double obs_time,
+ const std::map<int, Gnss_Synchro> & pseudoranges,
+ unsigned int ref_id,
+ unsigned int clock_steering_indicator,
+ unsigned int external_clock_indicator,
+ int smooth_int,
+ bool sync_flag,
+ bool divergence_free,
+ bool more_messages)
+{
+ unsigned int msg_number = 0;
+ if(gps_eph.i_satellite_PRN != 0) msg_number = 1072;
+ if(gps_cnav_eph.i_satellite_PRN != 0) msg_number = 1072;
+ if(gal_eph.i_satellite_PRN != 0) msg_number = 1092;
+ if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0))
+ {
+ LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
+ }
+ if(msg_number == 0)
+ {
+ LOG(WARNING) << "Invalid ephemeris provided";
+ msg_number = 1072;
+ }
+
+ std::string header = Rtcm::get_MSM_header(msg_number, gps_eph, gps_cnav_eph,
+ gal_eph,
+ obs_time,
+ pseudoranges,
+ ref_id,
+ clock_steering_indicator,
+ external_clock_indicator,
+ smooth_int,
+ sync_flag,
+ divergence_free,
+ more_messages);
+
+ std::string sat_data = Rtcm::get_MSM_1_content_sat_data(pseudoranges);
+
+ std::string signal_data = Rtcm::get_MSM_2_content_signal_data(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges);
+
+ std::string message = build_message(header + sat_data + signal_data);
+ return message;
+}
+
+
+std::string Rtcm::get_MSM_2_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
+{
+ std::string signal_data;
+ std::string first_data_type;
+ std::string second_data_type;
+ std::string third_data_type;
+
+ unsigned int Ncells = pseudoranges.size();
+
+ std::vector<std::pair<int, Gnss_Synchro> > pseudoranges_vector;
+ std::map<int, Gnss_Synchro>::const_iterator map_iter;
+
+ for(map_iter = pseudoranges.begin();
+ map_iter != pseudoranges.end();
+ map_iter++)
+ {
+ pseudoranges_vector.push_back(*map_iter);
+ }
+
+ std::vector<std::pair<int, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(pseudoranges_vector);
+ std::reverse(ordered_by_signal.begin(), ordered_by_signal.end());
+ std::vector<std::pair<int, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
+
+ for(unsigned int cell = 0; cell < Ncells ; cell++)
+ {
+ Rtcm::set_DF401(ordered_by_PRN_pos.at( cell ).second);
+ Rtcm::set_DF402(ephNAV, ephCNAV, ephFNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
+ Rtcm::set_DF420(ordered_by_PRN_pos.at( cell ).second);
+ first_data_type += DF401.to_string();
+ second_data_type += DF402.to_string();
+ third_data_type += DF420.to_string();
+ }
+
+ signal_data = first_data_type + second_data_type + third_data_type;
+ return signal_data;
+}
+
+
+
+// **********************************************************************************************
+//
+// MESSAGE TYPE MSM3 (COMPACT PSEUDORANGES AND PHASERANGES)
+//
+// **********************************************************************************************
+
+std::string Rtcm::print_MSM_3( const Gps_Ephemeris & gps_eph,
+ const Gps_CNAV_Ephemeris & gps_cnav_eph,
+ const Galileo_Ephemeris & gal_eph,
+ double obs_time,
+ const std::map<int, Gnss_Synchro> & pseudoranges,
+ unsigned int ref_id,
+ unsigned int clock_steering_indicator,
+ unsigned int external_clock_indicator,
+ int smooth_int,
+ bool sync_flag,
+ bool divergence_free,
+ bool more_messages)
+{
+ unsigned int msg_number = 0;
+ if(gps_eph.i_satellite_PRN != 0) msg_number = 1073;
+ if(gps_cnav_eph.i_satellite_PRN != 0) msg_number = 1073;
+ if(gal_eph.i_satellite_PRN != 0) msg_number = 1093;
+ if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0))
+ {
+ LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
+ }
+ if(msg_number == 0)
+ {
+ LOG(WARNING) << "Invalid ephemeris provided";
+ msg_number = 1073;
+ }
+
+ std::string header = Rtcm::get_MSM_header(msg_number, gps_eph, gps_cnav_eph,
+ gal_eph,
+ obs_time,
+ pseudoranges,
+ ref_id,
+ clock_steering_indicator,
+ external_clock_indicator,
+ smooth_int,
+ sync_flag,
+ divergence_free,
+ more_messages);
+
+ std::string sat_data = Rtcm::get_MSM_1_content_sat_data(pseudoranges);
+
+ std::string signal_data = Rtcm::get_MSM_3_content_signal_data(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges);
+
+ std::string message = build_message(header + sat_data + signal_data);
+ return message;
+}
+
+
+std::string Rtcm::get_MSM_3_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
+{
+ std::string signal_data;
+ std::string first_data_type;
+ std::string second_data_type;
+ std::string third_data_type;
+ std::string fourth_data_type;
+
+ unsigned int Ncells = pseudoranges.size();
+
+ std::vector<std::pair<int, Gnss_Synchro> > pseudoranges_vector;
+ std::map<int, Gnss_Synchro>::const_iterator map_iter;
+
+ for(map_iter = pseudoranges.begin();
+ map_iter != pseudoranges.end();
+ map_iter++)
+ {
+ pseudoranges_vector.push_back(*map_iter);
+ }
+
+ std::vector<std::pair<int, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(pseudoranges_vector);
+ std::reverse(ordered_by_signal.begin(), ordered_by_signal.end());
+ std::vector<std::pair<int, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
+
+ for(unsigned int cell = 0; cell < Ncells ; cell++)
+ {
+ Rtcm::set_DF400(ordered_by_PRN_pos.at( cell ).second);
+ Rtcm::set_DF401(ordered_by_PRN_pos.at( cell ).second);
+ Rtcm::set_DF402(ephNAV, ephCNAV, ephFNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
+ Rtcm::set_DF420(ordered_by_PRN_pos.at( cell ).second);
+ first_data_type += DF400.to_string();
+ second_data_type += DF401.to_string();
+ third_data_type += DF402.to_string();
+ fourth_data_type += DF420.to_string();
+ }
+
+ signal_data = first_data_type + second_data_type + third_data_type + fourth_data_type;
+ return signal_data;
+}
+
+
+// **********************************************************************************************
+//
+// MESSAGE TYPE MSM4 (FULL PSEUDORANGES AND PHASERANGES PLUS CNR)
+//
+// **********************************************************************************************
+
+std::string Rtcm::print_MSM_4( const Gps_Ephemeris & gps_eph,
+ const Gps_CNAV_Ephemeris & gps_cnav_eph,
+ const Galileo_Ephemeris & gal_eph,
+ double obs_time,
+ const std::map<int, Gnss_Synchro> & pseudoranges,
+ unsigned int ref_id,
+ unsigned int clock_steering_indicator,
+ unsigned int external_clock_indicator,
+ int smooth_int,
+ bool sync_flag,
+ bool divergence_free,
+ bool more_messages)
+{
+ unsigned int msg_number = 0;
+ if(gps_eph.i_satellite_PRN != 0) msg_number = 1074;
+ if(gps_cnav_eph.i_satellite_PRN != 0) msg_number = 1074;
+ if(gal_eph.i_satellite_PRN != 0) msg_number = 1094;
+ if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0))
+ {
+ LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
+ }
+ if(msg_number == 0)
+ {
+ LOG(WARNING) << "Invalid ephemeris provided";
+ msg_number = 1074;
+ }
+
+ std::string header = Rtcm::get_MSM_header(msg_number, gps_eph, gps_cnav_eph,
+ gal_eph,
+ obs_time,
+ pseudoranges,
+ ref_id,
+ clock_steering_indicator,
+ external_clock_indicator,
+ smooth_int,
+ sync_flag,
+ divergence_free,
+ more_messages);
+
+ std::string sat_data = Rtcm::get_MSM_4_content_sat_data(pseudoranges);
+
+ std::string signal_data = Rtcm::get_MSM_4_content_signal_data(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges);
+
+ std::string message = build_message(header + sat_data + signal_data);
+ return message;
+}
std::string Rtcm::get_MSM_4_content_sat_data(const std::map<int, Gnss_Synchro> & pseudoranges)
{
- //std::map<int, Gnss_Synchro>::const_iterator gnss_synchro_iter;
- std::string data("Not implemented");
- return data;
+ std::string sat_data;
+ std::string first_data_type;
+ std::string second_data_type;
+
+ Rtcm::set_DF394(pseudoranges);
+ unsigned int num_satellites = DF394.count();
+
+ std::vector<std::pair<int, Gnss_Synchro> > pseudoranges_vector;
+ std::map<int, Gnss_Synchro>::const_iterator gnss_synchro_iter;
+ std::vector<unsigned int> pos;
+ std::vector<unsigned int>::iterator it;
+
+ for(gnss_synchro_iter = pseudoranges.begin();
+ gnss_synchro_iter != pseudoranges.end();
+ gnss_synchro_iter++)
+ {
+ it = std::find(pos.begin(), pos.end(), 65 - gnss_synchro_iter->second.PRN);
+ if(it == pos.end())
+ {
+ pos.push_back(65 - gnss_synchro_iter->second.PRN);
+ pseudoranges_vector.push_back(*gnss_synchro_iter);
+ }
+ }
+
+ std::vector<std::pair<int, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(pseudoranges_vector);
+
+ for(unsigned int nsat = 0; nsat < num_satellites; nsat++)
+ {
+ Rtcm::set_DF397( ordered_by_PRN_pos.at(nsat).second );
+ Rtcm::set_DF398( ordered_by_PRN_pos.at(nsat).second );
+ first_data_type += DF397.to_string();
+ second_data_type += DF398.to_string();
+ }
+ sat_data = first_data_type + second_data_type;
+ return sat_data;
+}
+
+
+std::string Rtcm::get_MSM_4_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
+{
+ std::string signal_data;
+ std::string first_data_type;
+ std::string second_data_type;
+ std::string third_data_type;
+ std::string fourth_data_type;
+ std::string fifth_data_type;
+
+ unsigned int Ncells = pseudoranges.size();
+
+ std::vector<std::pair<int, Gnss_Synchro> > pseudoranges_vector;
+ std::map<int, Gnss_Synchro>::const_iterator map_iter;
+
+ for(map_iter = pseudoranges.begin();
+ map_iter != pseudoranges.end();
+ map_iter++)
+ {
+ pseudoranges_vector.push_back(*map_iter);
+ }
+
+ std::vector<std::pair<int, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(pseudoranges_vector);
+ std::reverse(ordered_by_signal.begin(), ordered_by_signal.end());
+ std::vector<std::pair<int, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
+
+ for(unsigned int cell = 0; cell < Ncells ; cell++)
+ {
+ Rtcm::set_DF400(ordered_by_PRN_pos.at( cell ).second);
+ Rtcm::set_DF401(ordered_by_PRN_pos.at( cell ).second);
+ Rtcm::set_DF402(ephNAV, ephCNAV, ephFNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
+ Rtcm::set_DF420(ordered_by_PRN_pos.at( cell ).second);
+ Rtcm::set_DF403(ordered_by_PRN_pos.at( cell ).second);
+ first_data_type += DF400.to_string();
+ second_data_type += DF401.to_string();
+ third_data_type += DF402.to_string();
+ fourth_data_type += DF420.to_string();
+ fifth_data_type += DF403.to_string();
+ }
+
+ signal_data = first_data_type + second_data_type + third_data_type + fourth_data_type + fifth_data_type;
+ return signal_data;
+}
+
+
+// **********************************************************************************************
+//
+// MESSAGE TYPE MSM5 (FULL PSEUDORANGES, PHASERANGES, PHASERANGERATE PLUS CNR)
+//
+// **********************************************************************************************
+
+std::string Rtcm::print_MSM_5( const Gps_Ephemeris & gps_eph,
+ const Gps_CNAV_Ephemeris & gps_cnav_eph,
+ const Galileo_Ephemeris & gal_eph,
+ double obs_time,
+ const std::map<int, Gnss_Synchro> & pseudoranges,
+ unsigned int ref_id,
+ unsigned int clock_steering_indicator,
+ unsigned int external_clock_indicator,
+ int smooth_int,
+ bool sync_flag,
+ bool divergence_free,
+ bool more_messages)
+{
+ unsigned int msg_number = 0;
+ if(gps_eph.i_satellite_PRN != 0) msg_number = 1075;
+ if(gps_cnav_eph.i_satellite_PRN != 0) msg_number = 1075;
+ if(gal_eph.i_satellite_PRN != 0) msg_number = 1095;
+ if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0))
+ {
+ LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
+ }
+ if(msg_number == 0)
+ {
+ LOG(WARNING) << "Invalid ephemeris provided";
+ msg_number = 1075;
+ }
+
+ std::string header = Rtcm::get_MSM_header(msg_number, gps_eph, gps_cnav_eph,
+ gal_eph,
+ obs_time,
+ pseudoranges,
+ ref_id,
+ clock_steering_indicator,
+ external_clock_indicator,
+ smooth_int,
+ sync_flag,
+ divergence_free,
+ more_messages);
+
+ std::string sat_data = Rtcm::get_MSM_5_content_sat_data(pseudoranges);
+
+ std::string signal_data = Rtcm::get_MSM_5_content_signal_data(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges);
+
+ std::string message = build_message(header + sat_data + signal_data);
+ return message;
+}
+
+
+std::string Rtcm::get_MSM_5_content_sat_data(const std::map<int, Gnss_Synchro> & pseudoranges)
+{
+ std::string sat_data;
+ std::string first_data_type;
+ std::string second_data_type;
+ std::string third_data_type;
+ std::string fourth_data_type;
+
+ Rtcm::set_DF394(pseudoranges);
+ unsigned int num_satellites = DF394.count();
+
+ std::vector<std::pair<int, Gnss_Synchro> > pseudoranges_vector;
+ std::map<int, Gnss_Synchro>::const_iterator gnss_synchro_iter;
+ std::vector<unsigned int> pos;
+ std::vector<unsigned int>::iterator it;
+
+ for(gnss_synchro_iter = pseudoranges.begin();
+ gnss_synchro_iter != pseudoranges.end();
+ gnss_synchro_iter++)
+ {
+ it = std::find(pos.begin(), pos.end(), 65 - gnss_synchro_iter->second.PRN);
+ if(it == pos.end())
+ {
+ pos.push_back(65 - gnss_synchro_iter->second.PRN);
+ pseudoranges_vector.push_back(*gnss_synchro_iter);
+ }
+ }
+
+ std::vector<std::pair<int, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(pseudoranges_vector);
+
+ for(unsigned int nsat = 0; nsat < num_satellites; nsat++)
+ {
+ Rtcm::set_DF397( ordered_by_PRN_pos.at(nsat).second );
+ Rtcm::set_DF398( ordered_by_PRN_pos.at(nsat).second );
+ Rtcm::set_DF399( ordered_by_PRN_pos.at(nsat).second );
+ std::bitset<4> reserved = std::bitset<4>("0000");
+ first_data_type += DF397.to_string();
+ second_data_type += reserved.to_string();
+ third_data_type += DF398.to_string();
+ fourth_data_type += DF399.to_string();
+ }
+ sat_data = first_data_type + second_data_type + third_data_type + fourth_data_type;
+ return sat_data;
+}
+
+
+std::string Rtcm::get_MSM_5_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
+{
+ std::string signal_data;
+ std::string first_data_type;
+ std::string second_data_type;
+ std::string third_data_type;
+ std::string fourth_data_type;
+ std::string fifth_data_type;
+ std::string sixth_data_type;
+
+ unsigned int Ncells = pseudoranges.size();
+
+ std::vector<std::pair<int, Gnss_Synchro> > pseudoranges_vector;
+ std::map<int, Gnss_Synchro>::const_iterator map_iter;
+
+ for(map_iter = pseudoranges.begin();
+ map_iter != pseudoranges.end();
+ map_iter++)
+ {
+ pseudoranges_vector.push_back(*map_iter);
+ }
+
+ std::vector<std::pair<int, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(pseudoranges_vector);
+ std::reverse(ordered_by_signal.begin(), ordered_by_signal.end());
+ std::vector<std::pair<int, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
+
+ for(unsigned int cell = 0; cell < Ncells ; cell++)
+ {
+ Rtcm::set_DF400(ordered_by_PRN_pos.at( cell ).second);
+ Rtcm::set_DF401(ordered_by_PRN_pos.at( cell ).second);
+ Rtcm::set_DF402(ephNAV, ephCNAV, ephFNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
+ Rtcm::set_DF420(ordered_by_PRN_pos.at( cell ).second);
+ Rtcm::set_DF403(ordered_by_PRN_pos.at( cell ).second);
+ Rtcm::set_DF404(ordered_by_PRN_pos.at( cell ).second);
+ first_data_type += DF400.to_string();
+ second_data_type += DF401.to_string();
+ third_data_type += DF402.to_string();
+ fourth_data_type += DF420.to_string();
+ fifth_data_type += DF403.to_string();
+ sixth_data_type += DF404.to_string();
+ }
+
+ signal_data = first_data_type + second_data_type + third_data_type + fourth_data_type + fifth_data_type + sixth_data_type;
+ return signal_data;
}
+
+// **********************************************************************************************
+//
+// MESSAGE TYPE MSM6 (FULL PSEUDORANGES AND PHASERANGES PLUS CNR, HIGH RESOLUTION)
+//
+// **********************************************************************************************
+
+std::string Rtcm::print_MSM_6( const Gps_Ephemeris & gps_eph,
+ const Gps_CNAV_Ephemeris & gps_cnav_eph,
+ const Galileo_Ephemeris & gal_eph,
+ double obs_time,
+ const std::map<int, Gnss_Synchro> & pseudoranges,
+ unsigned int ref_id,
+ unsigned int clock_steering_indicator,
+ unsigned int external_clock_indicator,
+ int smooth_int,
+ bool sync_flag,
+ bool divergence_free,
+ bool more_messages)
+{
+ unsigned int msg_number = 0;
+ if(gps_eph.i_satellite_PRN != 0) msg_number = 1076;
+ if(gps_cnav_eph.i_satellite_PRN != 0) msg_number = 1076;
+ if(gal_eph.i_satellite_PRN != 0) msg_number = 1096;
+ if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0))
+ {
+ LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
+ }
+ if(msg_number == 0)
+ {
+ LOG(WARNING) << "Invalid ephemeris provided";
+ msg_number = 1076;
+ }
+
+ std::string header = Rtcm::get_MSM_header(msg_number, gps_eph, gps_cnav_eph,
+ gal_eph,
+ obs_time,
+ pseudoranges,
+ ref_id,
+ clock_steering_indicator,
+ external_clock_indicator,
+ smooth_int,
+ sync_flag,
+ divergence_free,
+ more_messages);
+
+ std::string sat_data = Rtcm::get_MSM_4_content_sat_data(pseudoranges);
+
+ std::string signal_data = Rtcm::get_MSM_6_content_signal_data(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges);
+
+ std::string message = build_message(header + sat_data + signal_data);
+ return message;
+}
+
+
+std::string Rtcm::get_MSM_6_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
+{
+ std::string signal_data;
+ std::string first_data_type;
+ std::string second_data_type;
+ std::string third_data_type;
+ std::string fourth_data_type;
+ std::string fifth_data_type;
+
+ unsigned int Ncells = pseudoranges.size();
+
+ std::vector<std::pair<int, Gnss_Synchro> > pseudoranges_vector;
+ std::map<int, Gnss_Synchro>::const_iterator map_iter;
+
+ for(map_iter = pseudoranges.begin();
+ map_iter != pseudoranges.end();
+ map_iter++)
+ {
+ pseudoranges_vector.push_back(*map_iter);
+ }
+
+ std::vector<std::pair<int, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(pseudoranges_vector);
+ std::reverse(ordered_by_signal.begin(), ordered_by_signal.end());
+ std::vector<std::pair<int, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
+
+ for(unsigned int cell = 0; cell < Ncells ; cell++)
+ {
+ Rtcm::set_DF405(ordered_by_PRN_pos.at( cell ).second);
+ Rtcm::set_DF406(ordered_by_PRN_pos.at( cell ).second);
+ Rtcm::set_DF407(ephNAV, ephCNAV, ephFNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
+ Rtcm::set_DF420(ordered_by_PRN_pos.at( cell ).second);
+ Rtcm::set_DF408(ordered_by_PRN_pos.at( cell ).second);
+ first_data_type += DF405.to_string();
+ second_data_type += DF406.to_string();
+ third_data_type += DF407.to_string();
+ fourth_data_type += DF420.to_string();
+ fifth_data_type += DF408.to_string();
+ }
+
+ signal_data = first_data_type + second_data_type + third_data_type + fourth_data_type + fifth_data_type;
+ return signal_data;
+}
+
+
+
+// **********************************************************************************************
+//
+// MESSAGE TYPE MSM7 (FULL PSEUDORANGES, PHASERANGES, PHASERANGERATE AND CNR, HIGH RESOLUTION)
+//
+// **********************************************************************************************
+
+std::string Rtcm::print_MSM_7( const Gps_Ephemeris & gps_eph,
+ const Gps_CNAV_Ephemeris & gps_cnav_eph,
+ const Galileo_Ephemeris & gal_eph,
+ double obs_time,
+ const std::map<int, Gnss_Synchro> & pseudoranges,
+ unsigned int ref_id,
+ unsigned int clock_steering_indicator,
+ unsigned int external_clock_indicator,
+ int smooth_int,
+ bool sync_flag,
+ bool divergence_free,
+ bool more_messages)
+{
+ unsigned int msg_number = 0;
+ if(gps_eph.i_satellite_PRN != 0) msg_number = 1077;
+ if(gps_cnav_eph.i_satellite_PRN != 0) msg_number = 1077;
+ if(gal_eph.i_satellite_PRN != 0) msg_number = 1097;
+ if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0))
+ {
+ LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
+ }
+ if(msg_number == 0)
+ {
+ LOG(WARNING) << "Invalid ephemeris provided";
+ msg_number = 1076;
+ }
+
+ std::string header = Rtcm::get_MSM_header(msg_number, gps_eph, gps_cnav_eph,
+ gal_eph,
+ obs_time,
+ pseudoranges,
+ ref_id,
+ clock_steering_indicator,
+ external_clock_indicator,
+ smooth_int,
+ sync_flag,
+ divergence_free,
+ more_messages);
+
+ std::string sat_data = Rtcm::get_MSM_5_content_sat_data(pseudoranges);
+
+ std::string signal_data = Rtcm::get_MSM_7_content_signal_data(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges);
+
+ std::string message = build_message(header + sat_data + signal_data);
+ return message;
+}
+
+
+std::string Rtcm::get_MSM_7_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
+{
+ std::string signal_data;
+ std::string first_data_type;
+ std::string second_data_type;
+ std::string third_data_type;
+ std::string fourth_data_type;
+ std::string fifth_data_type;
+ std::string sixth_data_type;
+
+ unsigned int Ncells = pseudoranges.size();
+
+ std::vector<std::pair<int, Gnss_Synchro> > pseudoranges_vector;
+ std::map<int, Gnss_Synchro>::const_iterator map_iter;
+
+ for(map_iter = pseudoranges.begin();
+ map_iter != pseudoranges.end();
+ map_iter++)
+ {
+ pseudoranges_vector.push_back(*map_iter);
+ }
+
+ std::vector<std::pair<int, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(pseudoranges_vector);
+ std::reverse(ordered_by_signal.begin(), ordered_by_signal.end());
+ std::vector<std::pair<int, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
+
+ for(unsigned int cell = 0; cell < Ncells ; cell++)
+ {
+ Rtcm::set_DF405(ordered_by_PRN_pos.at( cell ).second);
+ Rtcm::set_DF406(ordered_by_PRN_pos.at( cell ).second);
+ Rtcm::set_DF407(ephNAV, ephCNAV, ephFNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
+ Rtcm::set_DF420(ordered_by_PRN_pos.at( cell ).second);
+ Rtcm::set_DF408(ordered_by_PRN_pos.at( cell ).second);
+ Rtcm::set_DF404(ordered_by_PRN_pos.at( cell ).second);
+ first_data_type += DF405.to_string();
+ second_data_type += DF406.to_string();
+ third_data_type += DF407.to_string();
+ fourth_data_type += DF420.to_string();
+ fifth_data_type += DF408.to_string();
+ sixth_data_type += DF404.to_string();
+ }
+
+ signal_data = first_data_type + second_data_type + third_data_type + fourth_data_type + fifth_data_type + sixth_data_type;
+ return signal_data;
+}
+
+
+
// *****************************************************************************************************
// Some utilities
// *****************************************************************************************************
@@ -1886,6 +2552,20 @@ int Rtcm::set_DF004(const Gps_Ephemeris & gps_eph, double obs_time)
}
+int Rtcm::set_DF004(const Gps_CNAV_Ephemeris & gps_eph, double obs_time)
+{
+ // TOW in milliseconds from the beginning of the GPS week, measured in GPS time
+ unsigned long int tow = static_cast<unsigned long int>(std::round((obs_time + 604800 * static_cast<double>(gps_eph.i_GPS_week % 1024)) * 1000));
+ if(tow > 604799999)
+ {
+ LOG(WARNING) << "To large TOW! Set to the last millisecond of the week";
+ tow = 604799999;
+ }
+ DF004 = std::bitset<30>(tow);
+ return 0;
+}
+
+
int Rtcm::set_DF005(bool sync_flag)
{
// 0 - No further GNSS observables referenced to the same Epoch Time will be transmitted. This enables the receiver to begin processing
@@ -2529,7 +3209,6 @@ int Rtcm::set_DF303(const Galileo_Ephemeris & gal_eph)
}
-
int Rtcm::set_DF304(const Galileo_Ephemeris & gal_eph)
{
unsigned int toe = static_cast<unsigned int>(std::round(gal_eph.t0e_1 / FNAV_t0e_3_LSB));
@@ -2844,7 +3523,6 @@ std::string Rtcm::set_DF396(const std::map<int, Gnss_Synchro> & pseudoranges)
}
-
int Rtcm::set_DF397(const Gnss_Synchro & gnss_synchro)
{
double meters_to_miliseconds = GPS_C_m_s * 0.001;
@@ -2870,7 +3548,6 @@ int Rtcm::set_DF397(const Gnss_Synchro & gnss_synchro)
}
-
int Rtcm::set_DF398(const Gnss_Synchro & gnss_synchro)
{
double meters_to_miliseconds = GPS_C_m_s * 0.001;
diff --git a/src/core/system_parameters/rtcm.h b/src/core/system_parameters/rtcm.h
index 9c3bfa3..98eeb01 100644
--- a/src/core/system_parameters/rtcm.h
+++ b/src/core/system_parameters/rtcm.h
@@ -47,8 +47,33 @@
/*!
- * \brief This class implements the generation and reading of some Message Types
- * defined in the RTCM 3.2 Standard.
+ * This class implements the generation and reading of some Message Types
+ * defined in the RTCM 3.2 Standard, plus some utilities to handle messages.
+ *
+ * Generation of the following Message Types:
+ * 1001, 1002, 1003, 1004, 1005, 1019, 1045
+ *
+ * Decoding of the following Message Types:
+ * 1019, 1045
+ *
+ * Generation of the following Multiple Signal Messages:
+ * MSM1 (message types 1071, 1091)
+ * MSM2 (message types 1072, 1092)
+ * MSM3 (message types 1073, 1093)
+ * MSM4 (message types 1074, 1094)
+ * MSM5 (message types 1075, 1095)
+ * MSM6 (message types 1076, 1096)
+ * MSM7 (message types 1077, 1097)
+ *
+ * RTCM 3 message format (size in bits):
+ * +----------+--------+-----------+--------------------+----------+
+ * | preamble | 000000 | length | data message | parity |
+ * +----------+--------+-----------+--------------------+----------+
+ * |<-- 8 --->|<- 6 -->|<-- 10 --->|<--- length x 8 --->|<-- 24 -->|
+ * +----------+--------+-----------+--------------------+----------+
+ *
+ *
+ * (C) Carles Fernandez-Prades, 2015. cfernandez(at)cttc.es
*/
class Rtcm
{
@@ -110,6 +135,39 @@ public:
* \brief Prints messages of type MSM1 (Compact GNSS pseudoranges)
*/
std::string print_MSM_1( const Gps_Ephemeris & gps_eph,
+ const Gps_CNAV_Ephemeris & gps_cnav_eph,
+ const Galileo_Ephemeris & gal_eph,
+ double obs_time,
+ const std::map<int, Gnss_Synchro> & pseudoranges,
+ unsigned int ref_id,
+ unsigned int clock_steering_indicator,
+ unsigned int external_clock_indicator,
+ int smooth_int,
+ bool sync_flag,
+ bool divergence_free,
+ bool more_messages);
+
+ /*!
+ * \brief Prints messages of type MSM2 (Compact GNSS phaseranges)
+ */
+ std::string print_MSM_2( const Gps_Ephemeris & gps_eph,
+ const Gps_CNAV_Ephemeris & gps_cnav_eph,
+ const Galileo_Ephemeris & gal_eph,
+ double obs_time,
+ const std::map<int, Gnss_Synchro> & pseudoranges,
+ unsigned int ref_id,
+ unsigned int clock_steering_indicator,
+ unsigned int external_clock_indicator,
+ int smooth_int,
+ bool sync_flag,
+ bool divergence_free,
+ bool more_messages);
+
+ /*!
+ * \brief Prints messages of type MSM3 (Compact GNSS pseudoranges and phaseranges)
+ */
+ std::string print_MSM_3( const Gps_Ephemeris & gps_eph,
+ const Gps_CNAV_Ephemeris & gps_cnav_eph,
const Galileo_Ephemeris & gal_eph,
double obs_time,
const std::map<int, Gnss_Synchro> & pseudoranges,
@@ -121,6 +179,74 @@ public:
bool divergence_free,
bool more_messages);
+ /*!
+ * \brief Prints messages of type MSM4 (Full GNSS pseudoranges and phaseranges plus CNR)
+ */
+ std::string print_MSM_4( const Gps_Ephemeris & gps_eph,
+ const Gps_CNAV_Ephemeris & gps_cnav_eph,
+ const Galileo_Ephemeris & gal_eph,
+ double obs_time,
+ const std::map<int, Gnss_Synchro> & pseudoranges,
+ unsigned int ref_id,
+ unsigned int clock_steering_indicator,
+ unsigned int external_clock_indicator,
+ int smooth_int,
+ bool sync_flag,
+ bool divergence_free,
+ bool more_messages);
+
+ /*!
+ * \brief Prints messages of type MSM5 (Full GNSS pseudoranges, phaseranges, phaserange rate and CNR)
+ */
+ std::string print_MSM_5( const Gps_Ephemeris & gps_eph,
+ const Gps_CNAV_Ephemeris & gps_cnav_eph,
+ const Galileo_Ephemeris & gal_eph,
+ double obs_time,
+ const std::map<int, Gnss_Synchro> & pseudoranges,
+ unsigned int ref_id,
+ unsigned int clock_steering_indicator,
+ unsigned int external_clock_indicator,
+ int smooth_int,
+ bool sync_flag,
+ bool divergence_free,
+ bool more_messages);
+
+ /*!
+ * \brief Prints messages of type MSM6 (Full GNSS pseudoranges and phaseranges plus CNR, high resolution)
+ */
+ std::string print_MSM_6( const Gps_Ephemeris & gps_eph,
+ const Gps_CNAV_Ephemeris & gps_cnav_eph,
+ const Galileo_Ephemeris & gal_eph,
+ double obs_time,
+ const std::map<int, Gnss_Synchro> & pseudoranges,
+ unsigned int ref_id,
+ unsigned int clock_steering_indicator,
+ unsigned int external_clock_indicator,
+ int smooth_int,
+ bool sync_flag,
+ bool divergence_free,
+ bool more_messages);
+
+ /*!
+ * \brief Prints messages of type MSM7 (Full GNSS pseudoranges, phaseranges, phaserange rate and CNR, high resolution)
+ */
+ std::string print_MSM_7( const Gps_Ephemeris & gps_eph,
+ const Gps_CNAV_Ephemeris & gps_cnav_eph,
+ const Galileo_Ephemeris & gal_eph,
+ double obs_time,
+ const std::map<int, Gnss_Synchro> & pseudoranges,
+ unsigned int ref_id,
+ unsigned int clock_steering_indicator,
+ unsigned int external_clock_indicator,
+ int smooth_int,
+ bool sync_flag,
+ bool divergence_free,
+ bool more_messages);
+
+ unsigned int lock_time(const Gps_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro); //<! Returns the time period in which GPS L1 signals have been continually tracked.
+ unsigned int lock_time(const Gps_CNAV_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro); //<! Returns the time period in which GPS L2 signals have been continually tracked.
+ unsigned int lock_time(const Galileo_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro); //<! Returns the time period in which Galileo signals have been continually tracked.
+
std::string bin_to_hex(const std::string& s); //<! Returns a string of hexadecimal symbols from a string of binary symbols
std::string hex_to_bin(const std::string& s); //<! Returns a string of binary symbols from a string of hexadecimal symbols
@@ -137,7 +263,7 @@ public:
private:
//
- // Messages
+ // Generation of messages content
//
std::bitset<64> get_MT1001_4_header(unsigned int msg_number,
const Gps_Ephemeris & gps_eph,
@@ -156,6 +282,7 @@ private:
std::bitset<152> get_MT1005_test();
std::string get_MSM_header(unsigned int msg_number, const Gps_Ephemeris & gps_eph,
+ const Gps_CNAV_Ephemeris & gps_cnav_eph,
const Galileo_Ephemeris & gal_eph,
double obs_time,
const std::map<int, Gnss_Synchro> & pseudoranges,
@@ -168,11 +295,20 @@ private:
bool more_messages);
std::string get_MSM_1_content_sat_data(const std::map<int, Gnss_Synchro> & pseudoranges);
- std::string get_MSM_1_content_signal_data(const std::map<int, Gnss_Synchro> & pseudoranges);
-
std::string get_MSM_4_content_sat_data(const std::map<int, Gnss_Synchro> & pseudoranges);
+ std::string get_MSM_5_content_sat_data(const std::map<int, Gnss_Synchro> & pseudoranges);
+
+ std::string get_MSM_1_content_signal_data(const std::map<int, Gnss_Synchro> & pseudoranges);
+ std::string get_MSM_2_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges);
+ std::string get_MSM_3_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges);
+ std::string get_MSM_4_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges);
+ std::string get_MSM_5_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges);
+ std::string get_MSM_6_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges);
+ std::string get_MSM_7_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges);
+ //
// Utilities
+ //
static std::map<std::string, int> galileo_signal_map;
static std::map<std::string, int> gps_signal_map;
std::vector<std::pair<int, Gnss_Synchro> > sort_by_signal(const std::vector<std::pair<int, Gnss_Synchro> > & synchro_map);
@@ -184,9 +320,6 @@ private:
boost::posix_time::ptime gps_L2_last_lock_time[64];
boost::posix_time::ptime gal_E1_last_lock_time[64];
boost::posix_time::ptime gal_E5_last_lock_time[64];
- unsigned int lock_time(const Gps_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro);
- unsigned int lock_time(const Gps_CNAV_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro);
- unsigned int lock_time(const Galileo_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro);
unsigned int lock_time_indicator(unsigned int lock_time_period_s);
unsigned int msm_lock_time_indicator(unsigned int lock_time_period_s);
unsigned int msm_extended_lock_time_indicator(unsigned int lock_time_period_s);
@@ -215,6 +348,7 @@ private:
std::bitset<30> DF004;
int set_DF004(const Gps_Ephemeris & gps_eph, double obs_time);
+ int set_DF004(const Gps_CNAV_Ephemeris & gps_eph, double obs_time);
std::bitset<1> DF005;
int set_DF005(bool sync_flag);
diff --git a/src/tests/formats/rtcm_test.cc b/src/tests/formats/rtcm_test.cc
index 9aca8a1..5dee39d 100644
--- a/src/tests/formats/rtcm_test.cc
+++ b/src/tests/formats/rtcm_test.cc
@@ -332,6 +332,7 @@ TEST(Rtcm_Test, MSMCell)
gal_eph.i_satellite_PRN = gnss_synchro.PRN;
std::string MSM1 = rtcm->print_MSM_1(gps_eph,
+ {},
gal_eph,
obs_time,
pseudoranges,
@@ -357,6 +358,7 @@ TEST(Rtcm_Test, MSMCell)
pseudoranges2.insert(std::pair<int, Gnss_Synchro>(4, gnss_synchro2));
pseudoranges2.insert(std::pair<int, Gnss_Synchro>(5, gnss_synchro));
std::string MSM1_2 = rtcm->print_MSM_1(gps_eph,
+ {},
gal_eph,
obs_time,
pseudoranges2,
@@ -384,6 +386,7 @@ TEST(Rtcm_Test, MSMCell)
pseudoranges3.insert(std::pair<int, Gnss_Synchro>(5, gnss_synchro5));
std::string MSM1_3 = rtcm->print_MSM_1(gps_eph,
+ {},
gal_eph,
obs_time,
pseudoranges3,
@@ -452,7 +455,7 @@ TEST(Rtcm_Test, MSM1)
gps_eph.i_satellite_PRN = gnss_synchro.PRN;
std::string MSM1 = rtcm->print_MSM_1(gps_eph,
- {},
+ {}, {},
obs_time,
pseudoranges,
ref_id,
@@ -501,7 +504,7 @@ TEST(Rtcm_Test, MSM1)
pseudoranges2.insert(std::pair<int, Gnss_Synchro>(3, gnss_synchro2));
pseudoranges2.insert(std::pair<int, Gnss_Synchro>(4, gnss_synchro));
std::string MSM1_2 = rtcm->print_MSM_1(gps_eph,
- {},
+ {}, {},
obs_time,
pseudoranges2,
ref_id,
--
Alioth's /usr/local/bin/git-commit-notice on /srv/git.debian.org/git/pkg-hamradio/gnss-sdr.git
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