[hamradio-commits] [gnss-sdr] 149/303: Add generation of RTCM messages for more receiver configurations
Carles Fernandez
carles_fernandez-guest at moszumanska.debian.org
Mon Feb 13 22:35:56 UTC 2017
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carles_fernandez-guest pushed a commit to branch master
in repository gnss-sdr.
commit 19d212065bb56ab95034456966b9de41405118d7
Author: Carles Fernandez <carles.fernandez at gmail.com>
Date: Fri Nov 4 09:19:31 2016 +0100
Add generation of RTCM messages for more receiver configurations
---
.../PVT/gnuradio_blocks/hybrid_pvt_cc.cc | 59 +++++++++++++++++++---
src/algorithms/PVT/libs/rtcm_printer.cc | 16 ++++++
src/algorithms/PVT/libs/rtcm_printer.h | 2 +
3 files changed, 70 insertions(+), 7 deletions(-)
diff --git a/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
index 436dc98..b255ebd 100644
--- a/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
@@ -366,7 +366,6 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items __attribute__((unused)))
{
d_sample_counter++;
- bool arrived_galileo_almanac = false;
unsigned int gps_channel = 0;
unsigned int gal_channel = 0;
@@ -743,8 +742,17 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
}
}
+ if((d_sample_counter % d_rtcm_MSM_rate_ms) == 0)
+ {
+ std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
+ gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
+ if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
+ {
+ d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+ }
+ }
}
- if(type_of_rx == 4) // Galileo E1B
+ if((type_of_rx == 4) || (type_of_rx == 5) || (type_of_rx == 6) || (type_of_rx == 14) || (type_of_rx == 15)) // Galileo
{
if((d_sample_counter % (d_rtcm_MT1045_rate_ms / 4) ) == 0)
{
@@ -763,6 +771,27 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
}
}
}
+ if(type_of_rx == 7) // GPS L1 C/A + GPS L2C
+ {
+ if((d_sample_counter % d_rtcm_MT1019_rate_ms) == 0)
+ {
+ for(std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ )
+ {
+ d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
+ }
+ }
+ if((d_sample_counter % d_rtcm_MSM_rate_ms) == 0)
+ {
+ std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
+ gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
+ std::map<int,Gps_CNAV_Ephemeris>::iterator gps_cnav_ephemeris_iter;
+ gps_cnav_ephemeris_iter = d_ls_pvt->gps_cnav_ephemeris_map.begin();
+ if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end()) )
+ {
+ d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+ }
+ }
+ }
if(type_of_rx == 9) // GPS L1 C/A + Galileo E1B
{
if(((d_sample_counter % (d_rtcm_MT1019_rate_ms / 4)) == 0) && (d_rtcm_MT1019_rate_ms != 0))
@@ -833,7 +862,23 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
if(!b_rtcm_writing_started) // the first time
{
- if(type_of_rx == 4) // Galileo E1B
+ if(type_of_rx == 1) // GPS L1 C/A
+ {
+ for(std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ )
+ {
+ d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
+ }
+
+ std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
+
+ if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
+ {
+ d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+ }
+ b_rtcm_writing_started = true;
+ }
+
+ if((type_of_rx == 4) || (type_of_rx == 5) || (type_of_rx == 6) || (type_of_rx == 14) || (type_of_rx == 15)) // Galileo
{
for(std::map<int,Galileo_Ephemeris>::iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); gal_ephemeris_iter++ )
{
@@ -848,7 +893,7 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
}
b_rtcm_writing_started = true;
}
- if(type_of_rx == 1) // GPS L1 C/A
+ if(type_of_rx == 7) // GPS L1 C/A + GPS L2C
{
for(std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ )
{
@@ -856,10 +901,11 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
}
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
+ std::map<int,Gps_CNAV_Ephemeris>::iterator gps_cnav_ephemeris_iter = d_ls_pvt->gps_cnav_ephemeris_map.begin();
- if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
+ if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end()))
{
- d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+ d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
}
b_rtcm_writing_started = true;
}
@@ -880,7 +926,6 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
}
}
-
unsigned int i = 0;
for (gnss_observables_iter = gnss_observables_map.begin(); gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter++)
{
diff --git a/src/algorithms/PVT/libs/rtcm_printer.cc b/src/algorithms/PVT/libs/rtcm_printer.cc
index 4832a42..c20d6ef 100644
--- a/src/algorithms/PVT/libs/rtcm_printer.cc
+++ b/src/algorithms/PVT/libs/rtcm_printer.cc
@@ -161,6 +161,22 @@ bool Rtcm_Printer::Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_ti
}
+bool Rtcm_Printer::Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables)
+{
+ std::string m1003 = rtcm->print_MT1003(gps_eph, cnav_eph, obs_time, observables, station_id);
+ Rtcm_Printer::Print_Message(m1003);
+ return true;
+}
+
+
+bool Rtcm_Printer::Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables)
+{
+ std::string m1003 = rtcm->print_MT1004(gps_eph, cnav_eph, obs_time, observables, station_id);
+ Rtcm_Printer::Print_Message(m1003);
+ return true;
+}
+
+
bool Rtcm_Printer::Print_Rtcm_MT1019(const Gps_Ephemeris & gps_eph)
{
std::string m1019 = rtcm->print_MT1019(gps_eph);
diff --git a/src/algorithms/PVT/libs/rtcm_printer.h b/src/algorithms/PVT/libs/rtcm_printer.h
index 30b4a90..0b59001 100644
--- a/src/algorithms/PVT/libs/rtcm_printer.h
+++ b/src/algorithms/PVT/libs/rtcm_printer.h
@@ -57,6 +57,8 @@ public:
bool Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables);
bool Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables);
+ bool Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables);
+ bool Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables);
bool Print_Rtcm_MT1019(const Gps_Ephemeris & gps_eph); //<! GPS Ephemeris, should be broadcast in the event that the IODC does not match the IODE, and every 2 minutes.
bool Print_Rtcm_MT1045(const Galileo_Ephemeris & gal_eph); //<! Galileo Ephemeris, should be broadcast every 2 minutes
--
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